Electric power steering apparatus

An electric power steering apparatus that comprises a torque sensor to detect a steering torque which is inputted into a steering mechanism of a vehicle, a current command value calculating section to calculate a current command value based on at least said steering torque, a motor to generate a steering assist torque applied to said steering mechanism, and a motor control section to driving-control said motor based on said current command value, comprising:

• a steering angle estimating calculating section to vary a front-wheel weight X of a front-wheel estimated steering angle and a rear-wheel weight Y of a rear-wheel estimated steering angle corresponding to a running state of said vehicle and calculate a four-wheel estimated steering angle based on said front-wheel weight X and said rear-wheel weight Y (X+Y=1.0),
• wherein in a case that said running state of said vehicle is an acceleration running or a deceleration running, said electric power steering apparatus further comprises:
• an acceleration and deceleration calculating section to calculate an acceleration and deceleration estimated value from a vehicle speed;
• and
• an acceleration and deceleration sensitive-table to calculate said front-wheel weight X and said rear-wheel weight Y based on said acceleration and deceleration estimated value.