An electric power steering apparatus comprising: a steering torque detecting unit for detecting a steering torque input to a steering mechanism; a first torque command calculating unit for calculating a first torque command based on the steering torque detected by the steering torque detecting unit; an electric motor for generating a steering assist torque to be supplied to the steering mechanism; a torque detecting unit error detecting unit for detecting error of the steering torque detecting unit; a road wheel rotation speed detecting unit for detecting a road wheel rotation speed of a vehicle; a motor rotation information detecting unit for detecting motor rotation information of the electric motor; a second torque command calculating unit for calculating a second torque command based on the road wheel rotation speed detected by the road wheel rotation speed detecting unit; an emergency switching unit for selecting the first torque command, when an error of the torque detecting unit is not detected by the torque detecting unit error detecting unit, and for selecting the second torque command calculating unit, when an error of the torque detecting unit is detected by the torque detecting unit error detecting unit; a motor control unit for drive controlling the electric motor based on the torque command selected by the emergency switching unit; characterized in that the apparatus further comprises a road wheel rotation speed error detecting unit for detecting an error of the road wheel rotation speed based on at least one of the wheel rotation speed detected by the road wheel rotation speed detecting unit, the steering torque detected when the steering torque detecting unit is normal, and the motor rotation information detected by the motor rotation information detecting unit; and an emergency command limiting unit for limiting the second torque command when the second torque command is selected by the emergency switching unit, where the error of the wheel rotation speed is detected by the wheel rotation speed error detecting unit. a steering torque detecting unit for detecting a steering torque input to a steering mechanism; a first torque command calculating unit for calculating a first torque command based on the steering torque detected by the steering torque detecting unit; an electric motor for generating a steering assist torque to be supplied to the steering mechanism; a torque detecting unit error detecting unit for detecting error of the steering torque detecting unit; a road wheel rotation speed detecting unit for detecting a road wheel rotation speed of a vehicle; a motor rotation information detecting unit for detecting motor rotation information of the electric motor; a second torque command calculating unit for calculating a second torque command based on the road wheel rotation speed detected by the road wheel rotation speed detecting unit; an emergency switching unit for selecting the first torque command, when an error of the torque detecting unit is not detected by the torque detecting unit error detecting unit, and for selecting the second torque command calculating unit, when an error of the torque detecting unit is detected by the torque detecting unit error detecting unit; a motor control unit for drive controlling the electric motor based on the torque command selected by the emergency switching unit; characterized in that the apparatus further comprises a road wheel rotation speed error detecting unit for detecting an error of the road wheel rotation speed based on at least one of the wheel rotation speed detected by the road wheel rotation speed detecting unit, the steering torque detected when the steering torque detecting unit is normal, and the motor rotation information detected by the motor rotation information detecting unit; and an emergency command limiting unit for limiting the second torque command when the second torque command is selected by the emergency switching unit, where the error of the wheel rotation speed is detected by the wheel rotation speed error detecting unit.