DEVICE FOR DETERMINING FAILURE AND DEVICE FOR CONTROLLING VEHICLE

PROBLEM TO BE SOLVED: To prevent a steering angle sensor from erroneously determining in the diagnosis thereof.SOLUTION: A first diagnosis device 21 includes: a first change amount calculator 21A for calculating an absolute value of a difference between currently-obtained and previously-obtained steering angle values acquired from the steering angle sensor 92, as a change amount; a first storage section 21B for storing a normal threshold; a reference steering angle setting section 21C for setting the previous steering angle value as a reference steering angle when the change amount exceeds the normal threshold; an incrementing section 21E for gradually incrementing the normal threshold till the end of a first determination time after the change amount exceeds the normal threshold; a deviation comparator 21F for comparing a deviation between a steering angle and the reference steering angle with the normal threshold during the first determination time and counting up (counting) a first counter 21G when the deviation is larger than the normal threshold; and a first determination section 21H for determining that the steering angle sensor 92 is in a failure state when the first counter 21G reaches a predetermined value.