JP2018008652A - Steering device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a steering device capable of more securely informing a driver of an abnormality of a detection section.SOLUTION: An ECU 21 includes a control section 40, a drive circuit 41, a storage section 42 and an abnormality determination section 43. The control section 40 generates a motor control signal that is a signal for controlling a motor 20. The storage section 42 stores the number of diagnoses output from a failure diagnostic device 31 provided outside the ECU 21. The abnormality determination section 43 detects an abnormality of a torque sensor 30 on the basis of the number of diagnoses and steering torque Th. When determining that an abnormality occurs in the torque sensor 30, the abnormality determination section 43 generates a command signal relative to the control section 40 to slightly vibrate a steering wheel. When receiving the command signal, the control section 40 slightly vibrates the steering wheel through control of the motor 20, so as to inform a driver that an abnormality occurs in the torque sensor 30.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a steering device.

  2. Description of the Related Art Conventionally, a steering device that assists a driver's steering operation by converting the rotational motion of a motor into linear motion of a steered shaft is known. In such a steering device, a control device for controlling the motor is provided based on the state quantity of the vehicle obtained through various sensors (detection units) including a torque sensor.

  By the way, in order to control the motor, it is necessary to reliably detect the state quantity of the vehicle through various sensors. For this reason, for example, as shown in Patent Document 1, the control device determines whether or not an abnormality has occurred in various sensors after the ignition switch is turned on. When the control device determines that an abnormality has occurred in the various sensors, the control device notifies the driver that the abnormality has occurred in the various sensors by turning on a warning lamp.

JP 2009-61851 A

  According to the control device of Patent Literature 1, by turning on the warning lamp, it is possible to surely notify the driver that an abnormality has occurred in various sensors. However, for the driver, since the warning light only keeps lighting, the driver may not notice the lighting of the warning light.

  An object of the present invention is to provide a steering device that can more reliably notify a driver of an abnormality of a detection unit.

  A steering device that can achieve the above object includes a motor that generates torque applied to a steering wheel in a check including a start-up check performed after an ignition switch of a vehicle is turned on, and a detection unit provided in the vehicle A control device that controls the motor based on a vehicle state quantity detected through the detection device, a diagnosis device that detects abnormality of the detection unit and generates abnormality information indicating the abnormality when the abnormality is detected, and the abnormality And an alarm generation unit that vibrates the steering wheel based on the information. The control device includes: a control unit that controls a motor that generates torque based on a vehicle state quantity detected through the detection unit; and the detection that is generated before the current ignition switch is turned on. A storage unit that stores abnormality information of the unit, and an abnormality determination unit that determines abnormality of the detection unit based on the abnormality information stored in the storage unit. The alarm generation unit vibrates the steering wheel when the abnormality determination unit determines that an abnormality has occurred in the detection unit.

  According to this configuration, when the abnormality determination unit determines that an abnormality has occurred in the detection unit based on the abnormality information generated before the current ignition switch is turned on, the alarm generation unit Vibrate the steering wheel. Since the steering wheel vibrates, the driver can be surely notified of the abnormality of the detection unit.

  In the above steering device, the alarm generation unit determines that the abnormality determination unit has determined that an abnormality has occurred in the detection unit, and the abnormality determination unit has not generated a zero-point abnormality in the detection unit. When the determination is made, it is preferable to vibrate the steering wheel.

  According to this configuration, when the abnormality determination unit has an abnormality other than the zero point abnormality in the detection unit, the alarm generation unit causes the steering wheel to vibrate so that the driver can more appropriately detect the abnormality of the detection unit. Can be notified in any situation.

  In the steering apparatus, the motor generates a steering assist force that assists a steering operation, and the alarm generation unit determines that the abnormality determination unit determines that an abnormality has occurred in the detection unit. It is preferable that the control unit vibrate the steering wheel by changing the steering assist force applied by the control unit.

  According to this configuration, the steering wheel can be vibrated by changing the steering assist force applied by the motor by the control unit. Since the steering wheel vibrates, the driver can be surely notified of the abnormality of the detection unit.

  In the above steering apparatus, the abnormality information stored in the storage unit is the number of times diagnostic information indicating that an abnormality has occurred in the detection unit is generated, and the abnormality determination unit performs the check during the check. It is preferable to detect an abnormality in the detection unit based on whether or not the number of times the diagnosis information is generated is greater than a predetermined threshold.

  According to this configuration, it is possible to determine the abnormality of the detection unit based on whether or not the number of times the diagnosis information is generated is greater than the threshold value. Thereby, it can suppress that abnormality of a detecting part is judged when diagnostic information has been generated for some reason.

  In the steering apparatus, the detection unit includes a first detection unit and a second detection unit, and the abnormality determination unit causes an abnormality in at least one of the first detection unit and the second detection unit. When it is determined that the steering wheel has been detected, the alarm generation unit preferably vibrates the steering wheel.

  According to this configuration, the alarm generator vibrates the steering wheel when an abnormality has occurred in at least one of the first detector and the second detector. As a result, even if the application of torque by the control unit is continued because one of the detection units remains, the steering wheel is vibrated, thereby causing at least one abnormality of the first detection unit and the second detection unit. The driver can be surely notified. Accordingly, it is possible to prompt the driver to investigate, replace, and repair at least one of the first detection unit and the second detection unit.

  According to the steering device of the present invention, it is possible to more reliably notify the driver of the abnormality of the detection unit.

The block diagram which shows schematic structure of a steering device. The block diagram which shows schematic structure of a control apparatus. The flowchart which shows the abnormality detection method of the torque sensor by a control apparatus.

Hereinafter, an EPS (electric power steering apparatus) according to an embodiment of the steering apparatus will be described.
As shown in FIG. 1, the EPS 1 includes a steering mechanism 2 for turning the steered wheels 15 based on an operation of the driver's steering wheel 10 and an assist mechanism 3 for assisting the driver's steering operation.

  The steering mechanism 2 includes a steering wheel 10 and a steering shaft 11 that rotates integrally with the steering wheel 10. The steering shaft 11 includes a column shaft 11a connected to the steering wheel 10, an intermediate shaft 11b connected to the lower end portion of the column shaft 11a, and a pinion shaft 11c connected to the lower end portion of the intermediate shaft 11b. doing. A lower end portion of the pinion shaft 11c is connected to a rack shaft 12 which is a ball screw shaft through a rack and pinion mechanism 13. The lower end portion (pinion teeth) of the pinion shaft 11c is meshed with the rack shaft 12 (rack teeth). Therefore, the rotational movement of the steering shaft 11 is caused by the axial direction of the rack shaft 12 (see FIG. 5) via the rack and pinion mechanism 13 including pinion teeth provided at the tip of the pinion shaft 11c and rack teeth provided on the rack shaft 12. 1 in the left-right direction). The reciprocating linear motion is transmitted to the left and right steered wheels 15 via tie rods 14 respectively connected to both ends of the rack shaft 12, thereby changing the steered angle of the steered wheels 15.

  The assist mechanism 3 includes a motor 20 and an ECU 21 as a control device. The motor 20 generates torque as an assist force to be applied to the steering mechanism 2. The rotating shaft 22 of the motor 20 is connected to the column shaft 11a via a speed reduction mechanism 23. The deceleration mechanism 23 decelerates the rotation of the rotating shaft 22 of the motor 20 and transmits the reduced rotational force to the column shaft 11a. That is, the turning force (torque) of the motor 20 is applied to the steering shaft 11 as an assist force, thereby assisting the driver's steering operation.

  The ECU 21 controls the motor 20 based on detection results (for example, vehicle state quantities) of various sensors. As various sensors, for example, a torque sensor 30 (detection unit) is used. The torque sensor 30 is provided on the column shaft 11a. The torque sensor 30 detects a steering torque Th applied to the steering shaft 11 in accordance with the driver's steering operation. The ECU 21 sets a target assist force based on the steering torque Th detected through the torque sensor 30.

Next, the torque sensor 30 will be described in detail.
As shown in FIG. 2, the torque sensor 30 includes two torque sensors, a first torque sensor 30a and a second torque sensor 30b. The first torque sensor 30a and the second torque sensor 30b are the same product and detect the steering torque Th (steering torque Th1, Th2) applied to the steering shaft 11 in accordance with the steering operation of the driver. However, steering torques Th1 and Th2 having different values may be detected due to individual differences between the first torque sensor 30a and the second torque sensor 30b, differences in the influence of noise, occurrence of abnormality, and the like. In the torque sensor 30, for example, the steering torque Th1 detected by the first torque sensor 30a is equal to the steering torque Th2 detected by the second torque sensor 30b (the difference between the steering torque Th1 and the steering torque Th2 is smaller than the threshold value). ), The steering torque Th1 or the steering torque Th2 is output to the ECU 21 as the steering torque Th. Further, when the steering torque Th1 and the steering torque Th2 are different (the difference between the steering torque Th1 and the steering torque Th2 is larger than a threshold value), the torque sensor 30 (a determination unit provided in the torque sensor 30) includes the first torque sensor 30a, It is determined that an abnormality has occurred in at least one of the second torque sensors 30b. The torque sensor 30 does not use the steering torque detected by the torque sensor determined to be abnormal, and uses the steering torque detected by the torque sensor determined not to be abnormal as the steering torque Th. It outputs to ECU21. When it is determined that both the first torque sensor 30a and the second torque sensor 30b are abnormal, the correct steering torque cannot be detected, so the torque sensor 30 sends a stop signal indicating that to the ECU 21. Output. The ECU 21 stops applying the assist force to the steering shaft 11 by the motor 20 based on the stop signal from the torque sensor 30 (see FIG. 1).

  By the way, as abnormalities occurring in the first torque sensor 30a and the second torque sensor 30b, for example, a zero point abnormality in which the positions of the reference points of the steering torques Th1 and Th2 are deviated, and the steering torques Th1 and Th2 are apparent from their original values. It is conceivable that the deviation is excessive, such as an excessively large value, and the communication path between the first torque sensor 30a and the second torque sensor 30b and the ECU 21 is interrupted. Due to these factors, the steering torque Th1 and the steering torque Th2 may become different values.

Next, the ECU 21 will be described in detail.
The ECU 21 includes a control unit 40, a drive circuit 41, a storage unit 42, and an abnormality determination unit 43.

  The control unit 40 calculates a target assist force according to the steering torque Th based on various information including the steering torque Th (for example, a steering angle and a vehicle speed in the case of a vehicle), and the target assist force. The current command value corresponding to is calculated. The control unit 40 generates a motor control signal by performing feedback control according to the deviation between the calculated current command value and the actual current value flowing through the motor 20.

The drive circuit 41 supplies power to the motor 20 based on the motor control signal calculated by the control unit 40.
The storage unit 42 stores the number of times of diagnosis output from a failure diagnosis device 31 (diagnosis device) provided outside the ECU 21. The number of diagnosis times refers to the number of times the diagnosis information is generated by the failure diagnosis device 31. The failure diagnosis device 31 generates a diagnosis indicating the presence or absence of an abnormality such as the torque sensor 30 based on the presence or absence of an abnormality such as the torque sensor 30. Here, the failure diagnosis apparatus 31 generates a diagnosis when it is detected that there is an abnormality in the torque sensor 30, and does not generate a diagnosis when it is detected that there is no abnormality in the torque sensor 30. The failure diagnosis device 31 may detect the presence or absence of an abnormality such as the torque sensor 30 every predetermined time while the ignition switch of the vehicle is turned on, or immediately after the ignition switch is turned off. An abnormality may be detected. The number of times of diagnosis is already counted and stored in the storage unit 42 when the ignition switch is turned on this time.

  The abnormality determination unit 43 detects an abnormality of the torque sensor 30 (the first torque sensor 30a and the second torque sensor 30b) based on the number of diagnosis times and the steering torque Th stored in the storage unit 42.

The abnormality determination unit 43 detects an abnormality in the torque sensor 30 or the like not only during the initial check (check at startup) but also during assist control.
When it is determined that an abnormality has occurred in the torque sensor 30, the abnormality determination unit 43 generates a command signal that causes the control unit 40 to slightly vibrate the steering wheel 10. When the control unit 40 receives the command signal generated by the abnormality determination unit 43, the control unit 40 notifies the driver that an abnormality has occurred in the torque sensor 30 by causing the steering wheel 10 to vibrate as an alarm to the driver. To do.

  When receiving a command signal from the abnormality determination unit 43, the control unit 40 varies the assist force applied to the steering wheel 10 by varying the current command value (motor control signal). As an example, the control unit 40 includes an assist command value calculation unit 40a, a current command value calculation unit 40b, a vibration component output unit 40c, an adder 40d, and a motor control signal generation unit 40e. The assist command value calculation unit 40a calculates an assist command value corresponding to the assist torque to be generated by the motor 20 based on the steering torque Th. The current command value calculation unit 40b calculates a current command value corresponding to the assist command value. When receiving a command signal from the abnormality determination unit 43, the vibration component output unit 40c outputs a minute vibration component to the adder 40d to vibrate the steering wheel 10. The motor control signal generation unit 40e performs the feedback control according to the deviation between the value obtained by adding the current command value and the minute vibration component by the adder 40d and the actual current value of the motor 20, thereby obtaining the motor control signal. Generate. Thereby, a minute vibration component is given to the rotation of the motor 20. The steering wheel 10 vibrates when an assist force that changes in vibration is applied. The driver can recognize the abnormality of the torque sensor 30 through the sense of touch. The control unit 40 corresponds to an alarm generation unit.

  Further, when the abnormality determination unit 43 determines that an abnormality has occurred in the torque sensor 30, and when it has determined that a zero-point correction abnormality has occurred in the torque sensor 30, the vehicle-mounted warning lamp 50 is turned on. Thus, the driver is notified of abnormality of the torque sensor 30 through vision.

  The control for causing the control unit 40 to vibrate the steering wheel 10 preferably ends when the driver starts the steering operation, that is, before the vehicle starts to travel. For example, when the driver holds the steering wheel 10, the control unit 40 slightly vibrates the steering wheel 10, but the steering torque Th output from the torque sensor 30 is larger than a threshold value (the driver has operated the steering wheel). ), The control unit 40 ends the fine vibration control of the steering wheel 10.

Next, the procedure of the abnormality detection process of the torque sensor 30 executed by the ECU 21 will be described.
As shown in the flowchart of FIG. 3, when the ignition switch is turned on (step S <b> 1), the ECU 21 (abnormality determination unit 43) starts an initial check. Note that when the ignition switch is OFF, the ECU 21 is stopped because no electric power is supplied to the ECU 21.

  Next, during the initial check, the ECU 21 determines whether or not the number of diagnosis stored in the storage unit 42 is greater than a threshold value (step S2). For example, if the threshold value is about once, diagnostic information may be generated due to noise or the like. Therefore, it can be assumed that diagnostic information is generated due to an abnormality in the torque sensor 30. Set to a value. The number of diagnosis stored in the storage unit 42 may be the number of diagnosis corresponding to each of the first torque sensor 30a and the second torque sensor 30b.

  When the number of times of diagnosis is greater than the threshold (YES in step S2), the ECU 21 determines whether or not there is an abnormality in the zero point correction of the torque sensor 30 that is the inspection target (step S3).

  When the ECU 21 determines that there is an abnormality in the zero point correction of the torque sensor 30 (YES in step S3), the ECU 21 turns on the warning lamp 50 (step S4). Thereafter, the assist control by the ECU 21 is stopped (step S5), and the process is terminated. By turning on the warning lamp, the driver can be notified visually that an abnormality has occurred in the torque sensor 30. Thereby, it is possible to prompt the driver or the like to replace or repair the torque sensor 30. The case where an abnormality has occurred in the zero point correction of the torque sensor 30 is a case where an abnormality has occurred in at least one of the first torque sensor 30a and the second torque sensor 30b.

  When the ECU 21 determines that there is no abnormality in the zero point correction of the torque sensor 30 (NO in step S3), the ECU 21 executes fine vibration control for causing the steering wheel 10 to vibrate (step S6). Then, after starting execution of the fine vibration control of the steering wheel 10, the ECU 21 starts executing the assist control (step S7) and ends the process. When the assist control is started, the initial check is finished.

  Moreover, ECU21 starts assist control, when the frequency | count of a diagnosis is smaller than a threshold value (NO of step S2) (step S8). When the assist control is started, the initial check ends.

  Even after the assist control is started, the ECU 21 determines whether or not an abnormality has occurred in the torque sensor 30 (step S9). For example, when the difference between the steering torque Th1 detected by the first torque sensor 30a and the steering torque Th2 detected by the second torque sensor 30b is larger than a threshold, the ECU 21 causes an abnormality in the torque sensor 30. Judge that there is. This threshold value is set to a value that can normally occur due to individual differences between the first torque sensor 30a and the second torque sensor 30b.

If it is not determined that an abnormality has occurred in the torque sensor 30 (NO in step S9), the ECU 21 continues the assist control (step S10) and ends the process.
When it is determined that an abnormality has occurred in the torque sensor 30 (YES in step S9), the ECU 21 determines whether there is an abnormality in only one system of the torque sensor 30 (the first torque sensor 30a or the second torque sensor 30b). Is determined (step S11).

  If there is an abnormality in only one system of the torque sensor 30 (YES in step 11), the ECU 21 continues assist control using the remaining one system of torque sensors in which no abnormality has occurred (step S12).

  If there is no abnormality in only one system of the torque sensor 30, that is, both of the two systems of the torque sensor 30 are abnormal (NO in step S11), the ECU 21 stops the assist control (step S13) and ends the process.

The effect of this embodiment will be described.
When the initial check is performed, the driver senses that the abnormality is occurring in the torque sensor 30 by slightly vibrating the steering wheel 10 and turning on the warning lamp based on the number of diagnosis calculated in the past. And can be notified through vision. In particular, if there is no abnormality in the zero point correction even though the number of diagnosis is greater than the threshold value, it is considered that some abnormality other than the zero point abnormality has occurred in the torque sensor 30, and therefore the steering wheel 10 It is possible to further prompt the driver to investigate, replace, and repair the torque sensor 30 by making the motor vibrate slightly. After the ignition is turned on, it is considered that the driver often holds the steering wheel 10 to operate the vehicle. When the steering wheel 10 is slightly vibrated, the driver's hand holding the steering wheel 10 is also vibrated. Therefore, the driver feels different from a normal feeling (when the steering wheel 10 is not slightly vibrated), It is thought that it can recognize more reliably that abnormality has occurred. Note that when the abnormality determination unit 43 determines that an abnormality has occurred in the torque sensor 30, even when the driver is not holding the steering wheel 10, the steering wheel 10 is vibrated to drive the vehicle. The person can recognize that an abnormality has occurred.

  Further, during the initial check, the abnormality of the torque sensor 30 can be determined more quickly by determining the abnormality of the torque sensor 30 by using the number of diagnosis times that is the number of times the past diagnosis information has been generated. Moreover, even if a diagnosis is generated by mistake for some reason, it is possible to suppress the abnormality determination unit 43 from immediately determining that the torque sensor 30 is abnormal.

  Further, in the event of a failure in one system in the torque sensor 30, even if the warning lamp 50 is lit, the assist control in the remaining one system can be continued. And you may feel that you do not have to repair. Even if the torque sensor 30 is not investigated, the warning lamp 50 is merely lit. Therefore, if the driver does not care about the lighting of the warning lamp 50, the torque sensor 30 is not investigated. The sensor 30 may continue to be used. However, in this embodiment, even when one system fails, if NO in step S3 of FIG. 3, the fine vibration control of the steering wheel 10 is executed. Vibration is transmitted. As the driver's hand slightly vibrates, the driver can recognize the abnormality of the torque sensor 30 more reliably, and can further encourage the driver to perform an investigation of the torque sensor 30 and the like.

In addition, you may change this embodiment as follows. The following other embodiments can be combined with each other within a technically consistent range.
-In this embodiment, although the torque sensor 30 was comprised by the 1st torque sensor 30a and the 2nd torque sensor 30b which were provided redundantly, it is not necessary to provide redundantly. That is, only the first torque sensor 30a (second torque sensor 30b) may be provided as the torque sensor 30. Even in this case, when the abnormality determination unit 43 determines that an abnormality has occurred in the first torque sensor 30a, the abnormality of the first torque sensor 30a is notified to the driver by vibrating the steering wheel 10. can do.

  In the present embodiment, the storage unit 42 stores the number of times of diagnosis, which is the number of times the diagnosis information is generated by the failure diagnosis device 31, but is not limited thereto. For example, the diagnostic information itself may be stored, and information about the abnormality of the torque sensor 30 (abnormal information) may be stored.

  In the present embodiment, the abnormality determination unit 43 performs the determinations in steps S2 and S3 in FIG. 3 and the handle fine vibration control in step S6 during the initial check. However, the present invention is not limited to this. For example, from the end of the initial check until the driver starts the operation, that is, during a certain check time after the ignition is turned on including the initial check, the determination in steps S2 and S3 in FIG. Etc. should just be performed.

  In the present embodiment, the abnormality determination unit 43 determines the abnormality of the torque sensor 30 based on whether or not the number of diagnosis stored in the storage unit 42 is larger than the threshold during the initial check (see FIG. Step S2 of 3) is not limited to this. For example, the abnormality determination unit 43 may determine the abnormality of the torque sensor 30 based on whether diagnosis information is stored in the storage unit 42.

  -During the initial check, the processes of steps S2 to S4 and step S6 of FIG. 3 were performed, but this is not a limitation. For example, the process of step S5 may be performed during the initial check, or the processes of step S3 and step S4 may not be performed during the initial check. In other words, at least the process of step S2 may be performed during the initial check.

  In the present embodiment, when the abnormality determination unit 43 determines that the number of diagnosis stored in the storage unit 42 is greater than the threshold value and that there is no abnormality in the zero point correction of the torque sensor 30, the control unit Although the control for causing the steering wheel 10 to vibrate slightly is executed by 40, the present invention is not limited to this. For example, the abnormality determination unit 43 may cause the control unit 40 to perform control to slightly vibrate the steering wheel 10 when the number of diagnosis stored in the storage unit 42 is larger than a threshold value.

  In the present embodiment, the determination is made based on whether or not a zero point abnormality has occurred in the torque sensor 30 in step S3 of FIG. 3, but is not limited thereto. For example, the abnormality determination may be performed based on the communication interruption of the torque sensor 30 or the excessive deviation of the output value of the torque sensor 30.

  -In this embodiment, although the control part 40 fluctuated the assist force provided to the steering wheel 10 by fluctuating the calculated electric current command value, it is not restricted to this. For example, the control unit 40 may slightly vibrate the steering wheel 10 by vibrating the motor 20 regardless of the assist force applied to the steering wheel 10. Alternatively, the steering wheel 10 may be slightly vibrated by attaching the vibration generator 60 to the steering wheel 10.

-In this embodiment, although the abnormality determination part 43 determined the abnormality of the torque sensor 30, it is not restricted to this. For example, another sensor (detection unit) such as a rotation angle sensor may be used.
In the present embodiment, the EPS 20 that gives the assist force to the rack shaft 12 by the motor 20 having the rotating shaft 22 arranged in parallel to the rack shaft 12 is shown, but the present invention is not limited thereto. For example, the assist force may be applied to the steering shaft 11 by the motor 20. In addition, although the electric power steering device that assists the linear motion of the rack shaft 12 interlocked with the steering operation by using the rotational force of the motor 20 is described as an example, it may be applied to a steer-by-wire (SBW). It should be noted that, when embodied in SBW, not only as a front wheel steering device, but also as a rear wheel steering device or a four wheel steering device (4WS).

  DESCRIPTION OF SYMBOLS 1 ... EPS, 2 ... Steering mechanism, 3 ... Assist mechanism, 10 ... Steering wheel, 11a ... Column shaft, 11b ... Intermediate shaft, 11c ... Pinion shaft, 12 ... Rack shaft, 13 ... Rack and pinion mechanism, 14 ... Tie rod , 15 ... steered wheel, 20 ... motor, 21 ... ECU (control device), 22 ... rotating shaft, 23 ... deceleration mechanism, 30 ... torque sensor (detection unit), 30a ... first torque sensor, 30b ... second torque sensor 31 ... Failure diagnosis device (diagnosis device), 40 ... Control unit (alarm generating unit), 40a ... Assist command value calculation unit, 40b ... Current command value calculation unit, 40c ... Vibration component output unit, 40d ... Adder, 40e ... motor control signal generation unit, 41 ... drive circuit, 42 ... storage unit, 43 ... determination unit, 50 ... warning lamp, 60 ... vibration generation Device (alert generator), Th, Th1, Th2 ... steering torque.

Claims (5)

In a check including a start-up check that is performed after the vehicle ignition switch is turned on, based on a motor that generates torque applied to the steering wheel and a vehicle state quantity detected through a detection unit provided in the vehicle A control device that controls the motor; a detection device that detects an abnormality of the detection unit and detects abnormality when the abnormality is detected; and vibrates the steering wheel based on the abnormality information An alarm generation unit,
The controller is
A control unit that controls a motor that generates torque based on a state quantity of the vehicle detected through the detection unit;
A storage unit for storing abnormality information of the detection unit generated before the ignition switch is turned on;
An abnormality determination unit that determines an abnormality of the detection unit based on the abnormality information stored in the storage unit;
The alarm generation unit is a steering device that vibrates the steering wheel when the abnormality determination unit determines that an abnormality has occurred in the detection unit. The steering apparatus according to claim 1, wherein
The alarm generation unit, when the abnormality determination unit determines that an abnormality has occurred in the detection unit, and when the abnormality determination unit has determined that no zero-point abnormality has occurred in the detection unit, A steering device that vibrates the steering wheel. The steering apparatus according to claim 1 or 2,
The motor generates a steering assist force for assisting a steering operation,
When the abnormality determination unit determines that an abnormality has occurred in the detection unit, the alarm generation unit controls the vibration of the steering wheel by changing the steering assist force applied by the motor. Steering device that is. In the steering device according to any one of claims 1 to 3,
The abnormality information stored in the storage unit is the number of times that diagnostic information indicating that an abnormality has occurred in the detection unit is generated,
The abnormality determination unit is a steering device that detects an abnormality of the detection unit based on whether or not the number of times the diagnosis information is generated during the check is greater than a predetermined threshold. In the steering device according to any one of claims 1 to 4,
The detection unit includes a first detection unit and a second detection unit,
When the abnormality determination unit determines that an abnormality has occurred in at least one of the first detection unit and the second detection unit, the alarm generation unit is a steering device that vibrates the steering wheel.