aparelho d direção por energia elétrica

[Problem] An object of the present invention is to provide an electric power steering apparatus that improves reliability by means of a redundant system, performs comparison diagnoses of independent detection signals, also concurrently performs individual diagnoses of each detection signal and is capable of continuing functions without spoiling reliability. [Means for solving the problem] An electric power steering apparatus that performs an assist control of a steering system, comprising: at least two respectively independent torque sensors and angle sensors, wherein having a function that respectively calculates steering angles from the torque sensors and the angle sensors to utilize, wherein comparison diagnoses of independent signals are performed and also concurrently individual diagnoses of each individual signal are performed, in a case that it is judged that there is an abnormality in the comparison diagnoses, the angle sensor signals are not used, in a case that it is judged that at least one of the individual diagnoses is abnormal, the angle sensor signal is treated as downgrading, and in a case that it is judged that two or more of the individual diagnoses are abnormal, the angle sensor signals are not used.