Steering system, abnormality determination method and non-transient storage medium

Abstract

The invention relates to a steering system, an abnormality determination method and a non-transient storage medium. The steering system (100) comprises: a first operating device (110), which comprises a first shifting mechanism (111), a first electric drive source (112) and a first detector; a second operating device (120), which comprises a second shifting mechanism (121), a second electric drive source (122) and a second detector; and a determiner (150), which is configured to determine that the first operating device (110) and the second operating device (120) have no faults when the determiner (150) determines that the first operating device (110) has an abnormality based on first operating information related to the operation of the first operating device (110) and determines that the second operating device (120) has an abnormality based on second operating information related to the operation of the second operating device (120).

Description

Technical Field

[0001] The present invention relates to a steering system, an abnormality determination method, and a non-transitory storage medium configured to electrically change the position of an operating member. Background Art

[0002] In an autonomous vehicle driving state of level 3 or above where the system has full responsibility, the driver does not need to be responsible for the operation of the vehicle, and does not even need to hold an operating member such as a steering wheel. If the steering wheel moves during autonomous driving to ensure a wide space in front of the driver, the driver's comfort can be improved. There are proposals for a technology for moving the steering wheel to a retraction area on the front side of the vehicle during autonomous driving (for example, see Japanese Unexamined Patent Application Publication No. 2017-206153 (JP 2017-206153 A)). Summary of the invention

[0003] When the operating member is moved by the electric motor, an abnormality may occur in a sensor configured to obtain the position of the operating member or in a mechanism configured to operate the operating member. In addition, when the operating member is operated by the electric motor, the driver or the like may interfere with the operating member.

[0004] The present invention realizes the identification of the type of abnormality based on, for example, existing sensors.

[0005] A first aspect of the present invention relates to a steering system. The steering system includes a first operating device, a second operating device and a determiner. The first operating device includes a first shifting mechanism, a first electric drive source and a first detector. The first shifting mechanism is configured to change the position of an operating member operated by a driver. The first electric drive source is configured to operate the first shifting mechanism. The first detector is configured to detect first position information, which indicates the position of the operating member based on the first shifting mechanism. The second operating device includes a second shifting mechanism, a second electric drive source and a second detector. The second shifting mechanism is different from the first shifting mechanism. The second electric drive source is configured to operate the second shifting mechanism. The second detector is configured to detect second position information, which indicates the position of the operating member based on the second shifting mechanism. The determiner is configured to determine that the first operating device and the second operating device have no faults when the determiner determines that the first operating device has an abnormality based on the first operating information related to the operation of the first operating device and determines that the second operating device has an abnormality based on the second operating information related to the operation of the second operating device.

[0006] A second aspect of the present invention relates to an abnormality determination method for a steering system. The steering system includes a first operating device, a second operating device and a determiner. The first operating device includes a first shifting mechanism, a first electric drive source and a first detector. The first shifting mechanism is configured to change the position of an operating member operated by a driver. The first electric drive source is configured to operate the first shifting mechanism. The first detector is configured to detect first position information, the first position information indicating the position of the operating member based on the first shifting mechanism. The second operating device includes a second shifting mechanism, a second electric drive source and a second detector. The second shifting mechanism is different from the first shifting mechanism. The second electric drive source is configured to operate the second shifting mechanism. The second detector is configured to detect second position information, the second position information indicating the position of the operating member based on the second shifting mechanism. The abnormality determination method includes: when the determiner determines that the first operating device has an abnormality based on the first operating information related to the operation of the first operating device and determines that the second operating device has an abnormality based on the second operating information related to the operation of the second operating device, the determiner determines that the first operating device and the second operating device have no fault.

[0007] A third aspect of the present invention relates to a non-transitory storage medium storing instructions, which can be executed by one or more processors and cause the one or more processors to perform the following functions. The function includes: when a determination is made that the first operating device has an abnormality based on first operation information related to the operation of the first operating device and a determination is made that the second operating device has an abnormality based on second operation information related to the operation of the second operating device, it is determined that the first operating device and the second operating device have no fault. The first operating device includes a first shifting mechanism, a first electric drive source and a first detector. The first shifting mechanism is configured to change the position of an operating member operated by a driver. The first electric drive source is configured to operate the first shifting mechanism. The first detector is configured to detect first position information, which indicates the position of the operating member based on the first shifting mechanism. The second operating device includes a second shifting mechanism, a second electric drive source and a second detector. The second shifting mechanism is different from the first shifting mechanism. The second electric drive source is configured to operate the second shifting mechanism. The second detector is configured to detect second position information, which indicates the position of the operating member based on the second shifting mechanism.

[0008] According to the configuration described above, it is possible to appropriately discriminate that an abnormality has occurred based on information from, for example, a sensor used for the operation of the operating member. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which:

[0010] Figure 1 is a block diagram showing a functional configuration of a steering system;

[0011] Figure 2 is a schematic diagram showing various stages of moving the operating member;

[0012] Figure 3 is a graph showing abnormal operation and normal operation in combination;

[0013] Figure 4 is a graph showing a state in which it is determined that the shift mechanism has an abnormality;

[0014] Figure 5 is a flow chart showing a process of identifying an abnormal site in a steering system;

[0015] Figure 6 is a flowchart showing a first other process of the process of identifying an abnormal position in a steering system; and

[0016] Figure 7 1 is a flowchart showing a second other process of the process of identifying an abnormal position in the steering system. DETAILED DESCRIPTION

[0017] The following describes a steering system, an abnormality determination method, and a non-transient storage medium according to an embodiment of the present invention with reference to the accompanying drawings. The numerical values, shapes, materials, constituent elements, positional relationships and connection states between constituent elements, steps and the order of steps, etc. described in the following embodiments are examples and are not intended to limit the present invention. Although multiple inventions may be described as one embodiment below, constituent elements not described in any claim are described as optional constituent elements of the invention according to the claim. The accompanying drawings are schematic diagrams in which objects are appropriately emphasized, omitted, or adjusted in proportion to their proportions to illustrate the present invention. Therefore, the shapes, positional relationships, and proportions may be different from the actual shapes, positional relationships, and proportions.

[0018] Figure 11 is a block diagram showing the functional configuration of a steering system. The steering system 100 is configured so that an operating member 200 for turning a steering wheel of a vehicle including the steering system 100 is movable relative to a driver 210. The steering system 100 includes a first operating device 110, a second operating device 120, and a determiner 150. In this embodiment, the steering system 100 is used as a so-called steer-by-wire (SBW) system, in which the operating member 200 is not mechanically connected to the steering wheel of the vehicle, and the steering wheel turns based on a signal indicating the operation amount of the operating member 200. The steering system 100 includes a third operating device 130, a fourth operating device 140, and an operation controller 160. The determiner 150 and the operation controller 160 are implemented by causing an abnormality determination device 151 as a computer to execute a program.

[0019] The operating member 200 is operated by the driver 210 to turn the steering wheel of the vehicle including the steering system 100. There is no particular limitation on the shape of the operating member 200. In this embodiment, a ring-shaped member called a "steering wheel" is used as the operating member 200, but the operating member 200 may have a rectangular ring shape or a rod shape.

[0020] The first operating device 110 moves along a predetermined direction ( Figure 1 The first operating device 110 changes the position of the operating member 200 operated by the driver 210 (in the Y-axis direction). The first operating device 110 includes a first shift mechanism 111, a first electric drive source 112, and a first detector (not shown).

[0021] The first shift mechanism 111 is one of the mechanisms configured to change the position of the operating member 200 operated by the driver 210. In this embodiment, the first shift mechanism 111 is configured to change the position of the operating member 200 as shown in FIG. Figure 1 and Figure 2 To the front of the vehicle ( Figure 1 and Figure 2 "Y+" side in the figure) or the rear side of the vehicle ( Figure 1 and Figure 2The first shifting mechanism 111 includes a retractable mechanism having a plurality of stages. Specifically, the first shifting mechanism 111 includes a base rail 113, an intermediate movable body 114, and an end movable body 115. The base rail 113 is fixed to the vehicle. The intermediate movable body 114 is guided to move in the front-rear direction of the vehicle along the base rail 113. The end movable body 115 is guided to move in the front-rear direction of the vehicle along the intermediate movable body 114. The first shifting mechanism 111 can move the operating member 200 forward toward the driver 210, and can move the operating member 200 backward toward the dashboard 220 of the vehicle. The vehicle including the steering system 100 is an autonomous vehicle in which the system can perform overall operations at a specific position. As Figure 2 As shown in the following figure, the first displacement mechanism 111 can make the operating member 200 retract into the instrument panel 220. The first displacement mechanism 111 itself can also be retracted into the instrument panel 220.

[0022] The first electric drive source 112 generates a driving force for operating the first shifting mechanism 111. In this embodiment, the first electric drive source 112 is a three-phase brushless motor, which is an electric motor configured to rotate by pulse power supplied from an inverter. The first electric drive source 112 is attached to the intermediate movable body 114. The first electric drive source 112 generates a propulsion force for the intermediate movable body 114 relative to the base rail 113 and a propulsion force for the terminal movable body 115 relative to the intermediate movable body 114. The attachment position of the first electric drive source 112 is not particularly limited. A plurality of first electric drive sources 112 can be provided to independently drive the intermediate movable body 114 and the terminal movable body 115.

[0023] The first detector detects first position information, and the first position information indicates the position of the operating member 200 based on the first shifting mechanism 111. The type of the first detector is not particularly limited. In this embodiment, the first detector is a rotation angle detector such as a rotary encoder or a resolver that is arranged on the first electric drive source 112 and detects the rotation angle of the first electric drive source 112. The first detector can be a linear encoder attached to the first shifting mechanism 111, etc. If there are multiple first electric drive sources 112, the first detector can obtain the positions of the intermediate movable body 114 and the terminal movable body 115, and detect those detection results as the first position information indicating the position of the operating member 200.

[0024] The second operating device 120 changes the position of the operating member 200 in a direction different from that of the first operating device 110. The second operating device 120 includes a second shift mechanism 121, a second electric drive source 122, and a second detector (not shown).

[0025] The second shift mechanism 121 changes the position of the operation member 200 in a direction different from that of the first shift mechanism 111. In this embodiment, the second shift mechanism 121 is a so-called tilt mechanism configured to tilt the end movable body 115 around the width direction ( Figure 1 and Figure 2 The first rotating shaft 123 extending in the X-axis direction (in the X-axis direction) is rotated relative to the intermediate movable body 114 to move the operating member 200 upward or downward relative to the driver 210.

[0026] The second electric drive source 122 generates a driving force for operating the second shift mechanism 121. In this embodiment, the second electric drive source 122 is a three-phase brushless motor. The second electric drive source 122 is attached to the end movable body 115. The second electric drive source 122 may be attached to the intermediate movable body 114.

[0027] The second detector detects second position information indicating the position of the operating member 200 based on the second shift mechanism 121. The type of the second detector is not particularly limited. In this embodiment, the type of the second detector is the same as that of the first detector.

[0028] The third operating device 130 changes the position of the operating member 200 in a direction different from the first operating device 110 and the second operating device 120. The third operating device 130 includes a third shift mechanism 131, a third electric drive source 132, and a third detector (not shown).

[0029] The third shift mechanism 131 changes the position of the operating member 200 in a direction different from the first shift mechanism 111 and the second shift mechanism 121. In this embodiment, the third shift mechanism 131 causes the operating member 200 to rotate in a direction intersecting the rotation direction of the operating member 200, that is, in the width direction of the vehicle ( Figure 1 and Figure 2 The rotation shaft 133 extending in the X-axis direction (in the X-axis direction)-is rotated relative to the end movable body 115 of the first shift mechanism 111, changing the position of the operating member 200 to a position where the operating member 200 is easily accommodated in the instrument panel 220.

[0030] The third electric drive source 132 generates a driving force for operating the third shift mechanism 131. In this embodiment, the third electric drive source 132 is a three-phase brushless motor.

[0031] The third detector detects third position information indicating the position of the operating member 200 based on the third shift mechanism 131. The type of the third detector is not particularly limited. In this embodiment, the type of the third detector is the same as that of the first detector.

[0032] The fourth operating device 140 changes the position (posture) of the operating member 200 in a different direction from the first operating device 110, the second operating device 120, and the third operating device 130. The fourth operating device 140 includes a fourth shift mechanism (not shown), a fourth electric drive source 142, and a fourth detector (not shown).

[0033] The fourth shift mechanism includes a rotation shaft and a bearing. The rotation shaft couples the operating member 200 to the fourth electric drive source 142 so that the operating member 200 is rotatable. The bearing supports the rotation shaft so that the rotation shaft is rotatable. Since the operating member 200 has an annular shape, the fourth shift mechanism changes the posture of the operating member 200, that is, the rotation angle of the operating member 200 around the rotation shaft, as the operating member 200 is positioned.

[0034] The fourth electric drive source 142 is a so-called reaction force motor configured to generate a driving force for rotating the operating member 200 around the rotation axis. In this embodiment, the fourth electric drive source 142 is a three-phase brushless motor. For example, the fourth electric drive source 142 generates a torque for reproducing a mechanical steering feel for the operating torque applied to the operating member 200 by the driver 210. In addition, the fourth electric drive source 142 rotates the operating member 200 into a posture suitable for the housing.

[0035] The fourth detector detects fourth position information, and the fourth position information indicates the position (posture) of the operating member 200 based on the fourth shift mechanism. The type of the fourth detector is not particularly limited. The fourth detector may include a rotation angle detector configured to detect the rotation angle of the fourth electric drive source 142, a rotation angle detector configured to detect the rotation angle of the operating member 200, and at least one of a torque sensor configured to detect the torque input to the operating member 200.

[0036] The determiner 150 is a processor, which is configured to: when the determiner 150 determines that the first operating device 110 has an abnormality based on first operating information related to the operation of the first operating device 110 and determines that the second operating device 120 has an abnormality based on second operating information related to the operation of the second operating device 120, determine that the first operating device 110 and the second operating device 120 have no faults.

[0037] The first operation information acquired by the determiner 150 is not particularly limited as long as the information is related to, for example, the operation of the first operating device 110. The first operation information includes at least one of the first drive information for operating the first electric drive source 112 and the first position information acquired from the first detector. For example, the first drive information includes at least one of a first command value for a first inverter configured to supply power to the first electric drive source 112 and a first actual power value supplied to the first electric drive source 112. For example, the first actual power value is represented by using at least one of an actual current value, an actual voltage value, and a duty cycle supplied to the first electric drive source 112.

[0038] The second operation information is not particularly limited as long as the information is related to, for example, the operation of the second operating device 120. The second operation information includes at least one of the second drive information for operating the second electric drive source 122 and the second position information obtained from the second detector. For example, the second drive information includes at least one of the second command value for the second inverter configured to supply power to the second electric drive source 122 and the second actual power value supplied to the second electric drive source 122. The third operation information and the fourth operation information are similar to the second operation information.

[0039] The determination method of the determiner 150 is not particularly limited. For example, when the first position information indicates that it is not a predetermined normal operation ( Figure 3 The abnormal operation of the long dashed double-short dashed line in Figure 3 ), the determiner 150 determines that the first operating device 110 has an abnormality. Specifically, when the displacement of the operating member indicated by the first position information falls within a predetermined range including a substantially constant value for a predetermined period of time, the determiner 150 determines that the first operating device 110 has an abnormality.

[0040] When the first position information falls within a predetermined range for a predetermined period of time and the first drive information included in the first operation information does not indicate an abnormality, the determiner 150 can determine that the first detector has an abnormality. Examples of situations where the first drive information does not indicate an abnormality include a situation where a first command value (indicated current value) is supplied to a first inverter configured to supply power to the first electric drive source 112 and the first actual power value (actual current value) supplied to the first electric drive source 112 does not follow the first command value. Specifically, the determiner 150 obtains the difference between the first command value and the first actual power value, and makes a determination based on a second threshold. When the difference is equal to or greater than the second threshold, the determiner 150 determines that the first detector has an abnormality. As Figure 4As shown by the dotted line, when the difference between the first command value and the first actual power value is not equal to or greater than the second threshold and the first actual power value continues to increase and exceeds the first threshold set for the first actual power value, the determiner 150 determines that the operation of the first operating device 110 is abnormal.

[0041] The determiner 150 can determine whether an abnormality occurs in the second operating device 120, the third operating device 130, and the fourth operating device 140 by a similar determination method. In the respective operating devices, threshold values ​​and the like for determining whether an abnormality occurs are different from each other.

[0042] The operation controller 160 is a processor configured to cause at least one of the second operation device 120, the third operation device 130, and the fourth operation device 140 to perform a predetermined operation to determine whether the operation of the first operation device 110 has an abnormality through the determiner 150. The second operation device 120, the third operation device 130, and the fourth operation device 140 do not operate in association with the operation of the first operation device 110. For example, when the second operation device 120 stops, the operation controller 160 causes the second operation device 120 to perform an operation of vibrating with a predetermined stroke as a predetermined operation. The operation controller 160 may cause another operation device to operate after an abnormality occurs in the first operation device 110, or, for abnormality determination, may cause another operation device to operate before the abnormality occurs.

[0043] The determiner 150 determines whether the second operating device 120 has an abnormality by acquiring the second operation information of the second operating device 120 that performs a predetermined operation under the control of the operation controller 160. The operation controller 160 can make each operating device perform a predetermined operation when the operating device is in a normal state, and the determiner 150 can acquire and store the operation information in the normal state. The determiner 150 can determine whether an abnormality occurs based on the stored operation information in the normal state.

[0044] Figure 5 is a flowchart showing a flow of distinguishing an abnormal position in a steering system. In this embodiment, a description is given of a case where an abnormal position of the first operating device 110 is distinguished by using the second operating device 120. There is no limitation on the operating device subject to determination and the operating device used for determination.

[0045] The first operating device 110 starts operation in response to receiving a first operating command for shifting the operating member 200 to a predetermined position (S101). During the operation of the first operating device 110, the determiner 150 determines whether an abnormality occurs by monitoring the first position information output from the first detector (S102). When the operating member 200 reaches the target position without abnormality, the process ends (S103).

[0046] When the determiner 150 determines in step S102 that the first operating device 110 has an abnormality (S102: Yes), the determiner 150 determines whether it is necessary to operate the second operating device 120 as another device to obtain the second operation information (S104). When the determiner 150 determines that the second operating device 120 needs to perform a predetermined operation (S104: Yes), the operation controller 160 controls the second operating device 120 to perform the predetermined operation (S105).

[0047] The determiner 150 determines whether the second operating device 120 has abnormality based on the second operating information (S106). When the second operating device 120 has abnormality (S106: Yes), the determiner 150 determines that the driver 210 or any obstacle interferes with the operating member 200 and reports interference information (S107).

[0048] The determiner 150 also determines whether the first shift mechanism 111 has an abnormality based on the first drive information (S108). For example, when the first drive information for operating the first electric drive source 112 in the first operation information exceeds Figure 4 , specifically, when the actual current value contained in the first driver information exceeds the current threshold value, the possibility of interference with the operating member 200 is excluded in step S106. Therefore, the determiner 150 determines that the first shift mechanism 111 has an abnormality due to the occurrence of a fault (S108: Yes). Examples of the fault of the first shift mechanism 111 include a condition in which the first shift mechanism 111 cannot operate due to a foreign object being stuck between meshing gears of the first shift mechanism 111 or between a screw shaft and a nut. The determiner 150 reports the fault information about the first shift mechanism 111 as a determination result (S109).

[0049] When the determiner 150 determines that the first shift mechanism 111 has not failed (S108: No), the determiner 150 reports failure information about the first detector (S110). When the difference between the indicated current value and the actual current value included in the first drive information is equal to or greater than the second threshold, the determiner 150 may determine that the first detector has failed.

[0050] In the steering system 100 according to the embodiment, the abnormality determination device 151 acquires position information and drive information for shifting the operating member 200 to a specified position, and the determiner 150 performs determination. Therefore, it is possible to distinguish an abnormality caused by an external force input to the operating member 200, an abnormality caused by a failure of the shift mechanism, and an abnormality caused by a failure of the detector without using, for example, a detector only for distinguishing an abnormal position.

[0051] When information for discriminating a fault position is insufficient, an operating device other than the operating device in which the abnormality is detected is operated by the operation controller 160. Thus, the determiner 150 can acquire necessary information.

[0052] The present invention is not limited to the above-described embodiments. For example, embodiments of the present invention may be other embodiments implemented by any combination of the constituent elements described herein or by omitting some of the constituent elements. The present invention encompasses modified examples obtained by making various modifications to the embodiments conceived by a person of ordinary skill in the art without departing from the spirit of the present invention, i.e., the meaning of the description of the claims.

[0053] For example, the steering system 100 may be used as a steering system in which a steering wheel is mechanically connected to the operating member 200 instead of a steer-by-wire system. For example, the steering system 100 may be configured to change the position of the operating member 200 according to the size of the driver 210 by using the driving force of the electric motor.

[0054] A description is given of a case where the operating member 200 is accommodated by rotating around a rotation axis extending in the width direction of the vehicle and intersecting the moving direction. However, there is no limitation on the manner of accommodating the operating member 200. For example, in the absence of the fourth operating device 140, the operating member 200 may be embedded in the instrument panel 220 while maintaining the posture of the operating member 200.

[0055] like Figure 6 As shown in FIG. 1 , the operation controller 160 may cause the second operation device 120 to operate in advance to identify an abnormality of the first operation device 110. Figure 5 The same processing (steps) as those of the present invention will be described in detail below.

[0056] The first operating device 110 starts operating in response to a first operating command (S101). In response to the operation of the first operating device 110, the operation controller 160 controls the second operating device 120 to perform a predetermined operation (S105).

[0057] During the operation of the first operating device 110, the determiner 150 determines whether an abnormality occurs by monitoring the first position information output from the first detector (S102). When the operating member 200 reaches the target position without abnormality, the process ends (S103).

[0058] When the determiner 150 determines in step S102 that the first operating device 110 has an abnormality ( S102 : Yes), the determiner 150 determines whether the second operating device 120 has an abnormality based on the second operating information ( S106 ).

[0059] In the case where the second operating device 120 operates in association with the first operating device 110, as shown in FIG. Figure 7 As shown in , the control step ( S105 ) of the operation controller 160 may not be performed, and the abnormal position may be identified based on, for example, whether the second operation device 120 has an abnormality.

[0060] The present invention is applicable to a steering system configured to electrically change the position of an operating member.

Claims

1. A steering system (100), characterized in that include: The first operating device (110) comprises: a first shifting mechanism (111) configured to change the position of an operating member (200) operated by a driver, a first electric drive source (112) configured to operate the first displacement mechanism, and A first detector configured to detect first position information indicating the position of the operating member (200) after being changed by the first shift mechanism (111); and a second operating device (120), comprising: a second shifting mechanism (121), different from the first shifting mechanism (111), for changing the position of the operating member (200) along a direction different from that of the first shifting mechanism (111); a second electric drive source (122) configured to operate the second displacement mechanism (121), and a second detector configured to detect second position information indicating a position of the operating member (200) after being changed by the second shift mechanism (121); and A determiner (150) is configured to determine that the first operating device (110) and the second operating device (120) are not faulty when the determiner (150) determines that the first operating device (110) has an abnormality based on first operating information related to the operation of the first operating device (110) and determines that the second operating device (120) has an abnormality based on second operating information related to the operation of the second operating device (120).

2. The steering system (100) according to claim 1, characterized in that: The first displacement mechanism (111) is an advance and retreat mechanism configured to enable the operating member (200) to advance or retreat relative to the driver; and The second shifting mechanism (121) is a tilting mechanism configured to move the operating member (200) upward and downward.

3. The steering system (100) according to claim 1 or 2, characterized in that: The determiner (150) is configured to determine that the first operating device (110) has an abnormality when the first position information included in the first operating information indicates an abnormal operation that is not a predetermined normal operation.

4. The steering system (100) according to claim 1 or 2, characterized in that: The determiner (150) is configured to determine that the first detector has an abnormality when the first position information falls within a predetermined range for a predetermined period of time and the first drive information for operating the first electric drive source (112) in the first operation information does not indicate an abnormality.

5. The steering system (100) according to claim 4, characterized in that: The determiner (150) is configured to determine that the first detector has failed when a difference between an indicated current value included in the first drive information and an actual current value is equal to or greater than a second threshold.

6. The steering system (100) according to claim 1 or 2, characterized in that: The determiner (150) is configured to determine that the first shifting mechanism (111) has failed when first drive information for operating the first electric drive source (112) in the first operation information exceeds a power threshold.

7. The steering system (100) according to claim 1 or 2, characterized in that: The determiner (150) is configured to determine that the operation of the first operating device (110) is abnormal when first drive information for operating the first electric drive source (112) in the first operation information exceeds a first threshold.

8. The steering system (100) according to claim 1 or 2, characterized in that: The invention also includes an operation controller (160) configured to cause the second operating device (120) to perform a predetermined operation so as to determine whether the operation of the first operating device (110) is abnormal through the determiner (150).

9. A method for determining an abnormality of a steering system (100), the steering system (100) comprising: The first operating device (110) comprises: a first shifting mechanism (111) configured to change the position of an operating member (200) operated by a driver, a first electric drive source (112) configured to operate the first displacement mechanism (111), and A first detector configured to detect first position information indicating the position of the operating member (200) after being changed by the first shift mechanism (111); and a second operating device (120), comprising: a second shifting mechanism (121), different from the first shifting mechanism (111), for changing the position of the operating member (200) along a direction different from that of the first shifting mechanism (111); a second electric drive source (122) configured to operate the second displacement mechanism (121), and a second detector configured to detect second position information indicating a position of the operating member (200) after being changed by the second shift mechanism (121); and A determiner (150), The abnormality determination method is characterized in that it includes: when the determiner (150) determines that the first operating device (110) has an abnormality based on first operation information related to the operation of the first operating device (110) and determines that the second operating device (120) has an abnormality based on second operation information related to the operation of the second operating device (120), the determiner (150) determines that the first operating device (110) and the second operating device (120) have no faults.

10. The abnormality determination method according to claim 9, characterized in that: Also includes: When the determiner (150) determines that the operation of the first operating device (110) is abnormal, the operation controller (160) causes the second operating device (120) to perform a predetermined operation.

11. A non-transitory storage medium storing instructions, the instructions being executable by one or more processors and causing the one or more processors to perform functions comprising: determining that the first operating device (110) and the second operating device (120) have no faults when a determination is made that the first operating device (110) has an abnormality based on first operating information related to the operation of the first operating device (110) and a determination is made that the second operating device (120) has an abnormality based on second operating information related to the operation of the second operating device (120), The first operating device (110) comprises: a first shifting mechanism (111) configured to change a position of an operating member operated by a driver; a first electric drive source (112) configured to operate the first displacement mechanism (111); as well as A first detector is configured to detect first position information, wherein the first position information indicates the position of the operating member (200) after being changed by the first shift mechanism (111), and the second operating device (120) comprises: a second shifting mechanism (121), different from the first shifting mechanism (111), for changing the position of the operating member (200) along a direction different from that of the first shifting mechanism (111); a second electric drive source (122) configured to operate the second displacement mechanism (121); and A second detector is configured to detect second position information indicating a position of the operating member (200) after being changed by the second displacement mechanism (121).

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