Electric power steering apparatus and control method of this

Electric power steering device, comprising: a steering torque detection device (1) for detecting a steering force of a driver; a motor (4) to support the driver's steering force; and a motor current detecting circuit (8) for detecting a motor current; wherein a third motor target current (It3) is determined determined from a based on the detection torque from the steering torque detecting apparatus (1) target motor current (It1) and using at least a detection value of the motor current detecting circuit (8) as an input variable determined second target motor current (It2), and a motor drive signal (Sd) is calculated based on the third target motor current (It3) and a sense current (Id) of the motor current detecting circuit (8) for controlling a motor current (Im), and wherein the electric power steering device further comprises a motor current sensing circuit failure judging means (9) for judging a failure of the motor current detecting circuit (8), and when a judgment of an error is made, at least the second motor target current (It2) is limited.