ELECTRIC POWER STEERING DEVICE

[Problem] An object of the present invention is to provide an electric power steering apparatus that detects that a driver steers the handle by using a steering torque from the torque sensor, switches to the manual steering mode due to a capacity (an integrated value) corresponding to a generated torque, and does not give an uncomfortable feeling to the driver [Means for solving the problem] An electric power steering apparatus comprises a steering angle control section to calculates a motor current command value 2, a torque integral judging section to output a steering torque judging signal by integrating the steering torque and comparing with a threshold, and a switching section that inputs the motor current command values 1 and 2 and is switched by a switching signal or the steering torque judging signal, wherein the torque integral judging section comprises a torque value comparing section, a torque-sensitive or a motor-state information-sensitive type gain section, an integral calculating section and a switch judging section, wherein the switching section is switched in correspondence with a switching command of the automatic steering mode and the manual steering mode, or the steering torque judging signal.