Steering control apparatus and steering control method

A steering control apparatus and steering control method thereof to reduce discomfort during steering by pulsed change in the steering assist torque (short abrupt change) in the case of on-off control, such as steering wheel return control, two or more from the steering assist torque, the fluctuation of the steering assist torque by selecting one of the steering assist torque, thereby alleviating the low pass filter processing, by correcting the low-pass filtering process depending on the amount of change of the selected steering assist torque, in the case that requires a high response of the control is also to obtain a sufficient control effect.