Electric power steering device

An electric power steering device performing assist control of a steering system by calculating a first current command value, based on at least steering torque and driving a motor, based on the first current command value, comprising:

• a control rotational displacement calculation unit configured to calculate a control rotational displacement when a steering angle of the steering system is in an angular range from a maximum allowable steering angle for the steering system to a predetermined threshold steering angle, the control rotational displacement being a steering angular displacement of the steering angle with the threshold steering angle as a reference;
• a feedforward control unit configured to output a second current command value based on a shift control steering angle and a steering velocity in order to suppress impact and abnormal noise at the time of end-abutting at a rack end, and
• a control steering angle shifting unit configured to calculate the control rotational displacement dynamically corrected by a correction amount based on one of the steering torque and rack axial force and a sign of one of the control rotational displacement and the steering angle as the shift control steering angle in such a way that the absolute value of the shift control steering angle to be decreased for reducing the magnitude of the second current command value, wherein
• the electric power steering device calculates a third current command value by adding the second current command value to the first current command value and performs the assist control, using the third current command value.