A method and apparatus for limiting assisting steering torque in a steering system having electronic power assisted steering is provided. In accordance with the method and apparatus, a steering angle change desired by the driver is determined and a range of valid steering angle changes dependent upon the steering angle change desired by the driver are defined. Subsequently it is determined whether a current steering angle change is included in the range of valid steering angle changes, and if the current steering angle change is not included in the range of the valid steering angle changes, the assisting steering torque is limited.