JP2024001566A - Fluid pressure control unit and diagnosis method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To appropriately diagnose an abnormality of a power supply line.

SOLUTION: In a fluid pressure control unit and a diagnosis method according to the present invention, in a power supply line diagnosis, a diagnosis unit of a control device generates one rectangular wave pulse current in which a current value of current applied to a solenoid valve transitions in the order of a first current value, a second current value larger than the first current value, and a third current value smaller than the second current value. The diagnosis unit diagnoses an abnormality of a power supply line based on results of a first resistance value evaluation in which a resistance value of the power supply line is evaluated based on a voltage change amount of the power supply line before and after the current value transitions from the first current value to the second current value, and a second resistance value evaluation in which the resistance value is evaluated based on the voltage change amount before and after the current value transitions from the second current value to the third current value. In at least one of the first resistance value evaluation and the second resistance value evaluation, a plurality of voltage change amounts in which at least one of a start time point and an end time point of the voltage change is different from each other are acquired, and a plurality of resistance value evaluations are performed.

SELECTED DRAWING: Figure 8

COPYRIGHT: (C)2024,JPO&INPIT

Description

This disclosure relates to a hydraulic control unit and a diagnostic method that can appropriately diagnose abnormalities in a power supply line.

A vehicle is provided with a hydraulic pressure control unit for controlling the braking force generated in the wheels (see, for example, Patent Document 1). In the hydraulic pressure control unit, the hydraulic pressure of brake fluid is controlled by a hydraulic control mechanism including a solenoid valve.

JP 2018-8674 Publication

The hydraulic control unit is electrically connected to a power source via a power line such as a wire harness. Each device such as a solenoid valve in the hydraulic control unit operates using electric power supplied from a power source via a power line. If the resistance value of the power supply line becomes excessively large due to an abnormality (for example, deterioration over time) of the power supply line, it becomes difficult to operate the hydraulic control unit normally. Therefore, it is desired to appropriately diagnose abnormalities in the power supply line.

The present invention has been made against the background of the above-mentioned problems, and aims to provide a hydraulic control unit and a diagnostic method that can appropriately diagnose abnormalities in a power supply line.

The hydraulic control unit according to the present invention is a hydraulic pressure control unit used in a vehicle brake system, and is a solenoid valve that is electrically connected to a power source via a power line and controls hydraulic pressure generated in a wheel cylinder. and a control device that controls the operation of the hydraulic pressure control mechanism, the control device changing the current applied to the electromagnetic valve from the power source via the power line. a diagnostic unit that performs a power line diagnosis for diagnosing an abnormality in the power line based on a voltage change in the power line when generates one rectangular wave-like pulse current in which the current value changes in the order of a first current value, a second current value larger than the first current value, and a third current value smaller than the second current value, and performing a first resistance value evaluation of evaluating the resistance value of the power supply line based on the amount of voltage change of the power supply line before and after the current value changes from the first current value to the second current value; A second resistance value evaluation is performed to evaluate the resistance value based on the amount of voltage change before and after the current value changes from the second current value to the third current value in the pulse current, and Based on the results of the resistance value evaluation and the second resistance value evaluation, an abnormality in the power supply line is diagnosed, and in at least one of the first resistance value evaluation and the second resistance value evaluation, a start point and an end point of the voltage change are determined. A plurality of voltage change amounts in which at least one of the voltage changes is different from each other are obtained, and the resistance value is evaluated in a plurality of ways.

A diagnostic method according to the present invention is a method for diagnosing a hydraulic pressure control unit used in a vehicle brake system, wherein the hydraulic pressure control unit is electrically connected to a power source via a power line, and the hydraulic pressure control unit is electrically connected to a power source via a power line. a hydraulic pressure control mechanism including a solenoid valve that controls hydraulic pressure, and a control device that controls the operation of the hydraulic control mechanism; A power line diagnosis for diagnosing an abnormality in the power line is performed based on a voltage change in the power line when the current applied to the electromagnetic valve is changed; One rectangular waveform pulse in which the current value of the current applied to the solenoid valve changes in the order of a first current value, a second current value larger than the first current value, and a third current value smaller than the second current value. generating a current, and evaluating the resistance value of the power supply line based on the amount of voltage change of the power supply line before and after the current value changes from the first current value to the second current value in the pulse current; a second resistance value evaluation of evaluating the resistance value based on the amount of voltage change before and after the current value changes from the second current value to the third current value in the pulse current; and diagnose an abnormality in the power supply line based on the results of the first resistance value evaluation and the second resistance value evaluation, and in at least one of the first resistance value evaluation and the second resistance value evaluation, the voltage A plurality of voltage change amounts having at least one of a start point and an end point of the change being different from each other are obtained, and the resistance value is evaluated in a plurality of ways.

In the hydraulic control unit and diagnostic method according to the present invention, the hydraulic control unit is electrically connected to a power source via a power line, and includes a hydraulic control mechanism including a solenoid valve that controls hydraulic pressure generated in the wheel cylinder. and a control device that controls the operation of the hydraulic pressure control mechanism, wherein a diagnostic section of the control device changes the voltage of the power line when changing the current applied from the power source to the solenoid valve via the power line. A power line diagnosis for diagnosing an abnormality in the power line is performed based on the power line diagnosis. A power source that generates one rectangular wave-like pulse current that changes in the order of two current values and a third current value that is smaller than the second current value, and before and after the current value changes from the first current value to the second current value in the pulse current. A first resistance value evaluation is performed to evaluate the resistance value of the power supply line based on the amount of voltage change in the line, and based on the amount of voltage change before and after the current value changes from the second current value to the third current value in the pulse current. Then, a second resistance value evaluation is performed to evaluate the resistance value. Based on the results of the first resistance value evaluation and the second resistance value evaluation, an abnormality in the power supply line is diagnosed, and the first resistance value evaluation and the second resistance value are evaluated. In at least one of the evaluations, a plurality of voltage change amounts in which at least one of a start point and an end point of voltage change are different from each other are acquired, and the resistance value is evaluated in a plurality of ways. Thereby, many resistance values can be evaluated using one pulse current. Therefore, it is possible to appropriately diagnose abnormalities in the power supply line.

1 is a schematic diagram showing a schematic configuration of a vehicle according to an embodiment of the present invention. 1 is a schematic diagram showing a schematic configuration of a brake system according to an embodiment of the present invention. FIG. 2 is a diagram showing an example of an electrical connection relationship between components including a hydraulic control unit according to an embodiment of the present invention. 1 is a block diagram showing an example of a functional configuration of a control device according to an embodiment of the present invention. 2 is a flowchart illustrating an example of the flow of processing related to power line diagnosis performed by the control device according to the embodiment of the present invention. 5 is a graph showing an example of changes in various state quantities in a first example of power line diagnosis according to an embodiment of the present invention. It is a graph which shows an example of the transition of various state quantities in the comparative example with respect to the 1st example of the power line diagnosis based on embodiment of this invention. 7 is a graph showing an example of changes in various state quantities in a second example of power line diagnosis according to an embodiment of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A hydraulic control unit and diagnostic method according to the present invention will be described below with reference to the drawings.

Note that although a hydraulic pressure control unit used in a two-wheeled motorcycle is described below (see vehicle 100 in FIG. 1), the vehicle to which the hydraulic pressure control unit according to the present invention is applicable is a two-wheeled motorcycle. The vehicle may be a saddle type vehicle other than the motorcycle. A saddle type vehicle refers to a vehicle in which a rider rides astride. Examples of saddle-riding vehicles include motorcycles (two-wheeled vehicles, three-wheeled vehicles), bicycles, buggies, and the like. Motorcycles include vehicles that use an engine as a power source, vehicles that use an electric motor as a power source, and the like. Motorcycles include, for example, motorcycles, scooters, electric scooters, and the like. A bicycle refers to a vehicle that can be propelled on a road by a rider's pedaling force applied to the pedals. Bicycles include regular bicycles, electrically assisted bicycles, electric bicycles, etc. Note that, as will be described later, some of the embodiments described below may be applied to other vehicles (for example, four-wheeled motor vehicles) other than saddle-ride vehicles.

Further, the configuration, operation, etc. described below are merely examples, and the hydraulic pressure control unit and diagnostic method according to the present invention are not limited to such a configuration, operation, etc.

Further, below, the same or similar explanations are simplified or omitted as appropriate. Furthermore, in each figure, the same or similar members or portions are omitted or given the same reference numerals. Further, detailed structures are simplified or omitted as appropriate.

<Vehicle configuration>
The configuration of a vehicle 100 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4.

FIG. 1 is a schematic diagram showing a schematic configuration of a vehicle 100. Vehicle 100 is a two-wheeled motorcycle that is an example of a vehicle according to the present invention. As shown in FIG. 1, the vehicle 100 includes a body 1, a handle 2, front wheels 3, rear wheels 4, a hydraulic control unit 5, and a notification device 6. The vehicle 100 also includes a brake system 10. The brake system 10 includes a first brake operating section 11 , a front wheel braking mechanism 12 , a second brake operating section 13 , and a rear wheel braking mechanism 14 .

The handle 2 is rotatably held by the body 1. The front wheel 3 is rotatably held in the body 1 together with the handle 2. The rear wheel 4 is rotatably held by the body 1. The hydraulic pressure control unit 5 is for controlling the braking force generated in the wheels of the vehicle 100. Hydraulic pressure control unit 5 is included in brake system 10 . Details of the hydraulic pressure control unit 5 will be described later. The notification device 6 notifies various information. As the notification device 6, for example, a display device such as a lamp, an audio output device, or the like is used.

Specifically, the brake system 10 includes a hydraulic control unit 5 in addition to a first brake operating section 11, a front wheel braking mechanism 12, a second brake operating section 13, and a rear wheel braking mechanism 14. The first brake operating section 11 is provided on the handlebar 2, for example, and is operated by the rider's hands. The first brake operating section 11 is, for example, a brake lever. The front wheel braking mechanism 12 brakes the front wheels 3 in conjunction with at least the first brake operating section 11 . The second brake operating section 13 is provided, for example, at the lower part of the body 1, and is operated by the rider's feet. The second brake operating section 13 is, for example, a brake pedal. The rear wheel braking mechanism 14 brakes the rear wheel 4 in conjunction with at least the second brake operating section 13 . The hydraulic control unit 5 is a unit that controls the braking force applied to the front wheels 3 by the front wheel braking mechanism 12 and the braking force applied to the rear wheels 4 by the rear wheel braking mechanism 14.

FIG. 2 is a schematic diagram showing a schematic configuration of the brake system 10. As shown in FIG. 2, each of the front wheel braking mechanism 12 and the rear wheel braking mechanism 14 includes a master cylinder 21 containing a piston (not shown), a reservoir 22 attached to the master cylinder 21, and a body. 1 and has a brake pad (not shown); a wheel cylinder 24 provided on the brake caliper 23; and a main channel 25 through which brake fluid from the master cylinder 21 flows to the wheel cylinder 24. and a sub-flow path 26 through which brake fluid from the wheel cylinder 24 escapes. As shown in FIG. 2, in the brake system 10, the number of wheel cylinders 24 communicating with one master cylinder 21 is one.

However, the number of wheel cylinders 24 communicating with one master cylinder 21 may be two or more. Further, a supply flow path for supplying brake fluid from the master cylinder 21 to the sub flow path 26 may be further provided. Further, one of the front wheel braking mechanism 12 and the rear wheel braking mechanism 14 may be omitted.

The main flow path 25 is a flow path that communicates the master cylinder 21 and the wheel cylinder 24. The main flow path 25 is provided with an entry valve (EV) 31 . The sub flow path 26 bypasses the main flow path 25 between the wheel cylinder 24 side and the master cylinder 21 side with respect to the filling valve 31. The sub flow path 26 is provided with a release valve (AV) 32, an accumulator 33, and a pump 34 in this order from the upstream side.

The filling valve 31 and the releasing valve 32 are electromagnetic valves that control the hydraulic pressure generated in the wheel cylinder 24. The filling valve 31 is a solenoid valve that is open when no electricity is applied. The filling valve 31 is brought into a closed state by being energized. Specifically, when the current applied to the charging valve 31 becomes large to a certain extent, the charging valve 31 enters the closed state. The current applied to the charging valve 31 in the closed state is controlled to a plurality of different values. In other words, the current applied to the charging valve 31 can be changed while maintaining the charging valve 31 in a closed state. The relief valve 32 is a solenoid valve that is closed when power is not applied. The loosening valve 32 is brought into an open state by being energized. Specifically, when the current applied to the relief valve 32 becomes large to a certain extent, the relief valve 32 becomes open.

The hydraulic pressure control unit 5 includes a hydraulic pressure control mechanism 51 for controlling the hydraulic pressure of brake fluid, and a control device 52 for controlling the operation of the hydraulic pressure control mechanism 51. The hydraulic pressure control mechanism 51 includes components such as the filling valve 31, the releasing valve 32, the accumulator 33, and the pump 34 described above. The hydraulic control mechanism 51 includes a base body 51a in which channels such as the main flow channel 25 and the sub flow channel 26 described above are formed, and the components described above are provided on the base body 51a. As the control device 52, for example, a control board is used.

Note that the base body 51a may be formed of one member or may be formed of a plurality of members. Moreover, when the base body 51a is formed of a plurality of members, each component may be provided separately from different members.

By controlling the operation of the hydraulic control mechanism 51 by the control device 52, the braking force generated on the front wheels 3 by the front wheel braking mechanism 12 and the braking force generated on the rear wheels 4 by the rear wheel braking mechanism 14 are controlled. The control device 52 controls the operation of the hydraulic pressure control mechanism 51 according to, for example, the driving state of the vehicle 100.

For example, in a normal state (that is, a state in which anti-lock brake control, etc., which will be described later) is not executed, the control device 52 opens the filling valve 31 and closes the releasing valve 32. In this state, when the first brake operation part 11 is operated, the piston (not shown) of the master cylinder 21 is pushed in in the front wheel braking mechanism 12, and the hydraulic pressure of the brake fluid in the wheel cylinder 24 increases, causing the brake caliper to move. Brake pads 23 (not shown) are pressed against the rotor 3a of the front wheel 3, and braking force is applied to the front wheel 3. Furthermore, when the second brake operating section 13 is operated, the piston (not shown) of the master cylinder 21 is pushed in in the rear wheel braking mechanism 14, and the hydraulic pressure of the brake fluid in the wheel cylinder 24 increases, causing the brake caliper 23 to increase. The brake pad (not shown) is pressed against the rotor 4a of the rear wheel 4, and braking force is applied to the rear wheel 4.

Anti-lock brake control is executed, for example, when a wheel (specifically, front wheel 3 or rear wheel 4) is locked or has the possibility of locking, and the braking force applied to the wheel is controlled by the rider's brake operation. This is a control that reduces the amount without depending on the operation of the unit. For example, when anti-lock brake control is being executed, the control device 52 closes the filling valve 31 and opens the releasing valve 32. In this state, the pump 34 is driven by the control device 52, so that the hydraulic pressure of the brake fluid in the wheel cylinder 24 decreases, and the braking force applied to the wheels decreases.

Control device 52 uses various types of information detected in vehicle 100 to execute various controls. For example, as shown in FIG. 1, the vehicle 100 includes a front wheel speed sensor 41 and a rear wheel speed sensor 42. The detection results of these sensors are output to the control device 52.

The front wheel speed sensor 41 is a wheel speed sensor that detects the wheel speed of the front wheel 3 (for example, the number of revolutions per unit time [rpm] of the front wheel 3 or the moving distance per unit time [km/h], etc.), Output the detection results. The front wheel speed sensor 41 may detect another physical quantity that can be substantially converted into the wheel speed of the front wheels 3. The front wheel speed sensor 41 is provided on the front wheel 3.

The rear wheel speed sensor 42 is a wheel speed sensor that detects the wheel speed of the rear wheel 4 (for example, the number of revolutions per unit time [rpm] of the rear wheel 4 or the moving distance per unit time [km/h], etc.). and outputs the detection results. The rear wheel speed sensor 42 may detect another physical quantity that can be substantially converted into the wheel speed of the rear wheels 4. The rear wheel speed sensor 42 is provided on the rear wheel 4.

FIG. 3 is a diagram showing an example of the electrical connection relationship between components including the hydraulic control unit 5. As shown in FIG. As shown in FIG. 3, the hydraulic control unit 5 is electrically connected to a power source B1 via a power line L1 such as a wire harness. Each device in the hydraulic control unit 5 operates using electric power supplied from a power source B1 via a power line L1. In FIG. 3, only a portion related to the charging valve 31, which is one of the parts of the hydraulic control unit 5 that operates using electric power supplied from the power source B1, is extracted and shown. The filling valve 31 is electrically connected to a power source B1 via a power line L1. However, other components in the hydraulic control unit 5 other than the filling valve 31 (for example, the releasing valve 32, etc.) are also electrically connected to the power source B1 via the power source line L1.

As shown in FIG. 3, the hydraulic control unit 5 includes a switching element 35 and a voltage sensor 43. Signals can be input and output between each device of the charging valve 31, the switching element 35, and the voltage sensor 43 and the control device 52.

The charging valve 31 is electrically connected to the power source B1 via a switching element 35. The switching element 35 switches whether or not electricity is supplied at the installation position. When the switching element 35 is in the closed state, a current can pass through the switching element 35. On the other hand, when the switching element 35 is in the open state, the current cannot pass through the switching element 35. The switching element 35 is, for example, a semiconductor relay including a field effect transistor (FET). However, the configuration of the switching element 35 is not particularly limited, and may not be a semiconductor relay.

The control device 52 can stop the application of current from the power source B1 to the filling valve 31 by maintaining the switching element 35 in the closed state. On the other hand, the control device 52 can apply current to the charging valve 31 from the power source B1 by opening the switching element 35. The control device 52 controls the current applied to the charging valve 31 by, for example, switching the switching element 35 between an open state and a closed state and adjusting the duration of the open state of the switching element 35 per unit time. Can be controlled to multiple different values.

Voltage sensor 43 detects the voltage of power line L1. Specifically, the voltage sensor 43 detects the voltage on the power line connecting the power line L1 and the filling valve 31 in the hydraulic control unit 5 as the voltage of the power line L1. In other words, the voltage detected by the voltage sensor 43 is the voltage obtained by subtracting the amount of voltage drop due to the resistance value of the power supply line L1 from the voltage of the power supply B1 (in other words, the voltage at the end of the power supply line L1 on the hydraulic pressure control unit 5 side voltage). Therefore, when the resistance value of the power supply line L1 increases, the voltage after subtracting the amount of voltage drop decreases. In the example of FIG. 3, the voltage on the power line L1 side with respect to the switching element 35 is detected by the voltage sensor 43, but the voltage sensor 43 detects the voltage on the charging valve 31 side with respect to the switching element 35. It's okay.

FIG. 4 is a block diagram showing an example of the functional configuration of the control device 52. As shown in FIG. For example, part or all of the control device 52 is composed of a microcomputer, a microprocessor unit, or the like. Further, for example, part or all of the control device 52 may be configured with something that can be updated, such as firmware, or may be a program module or the like that is executed by a command from a CPU or the like. For example, there may be one control device 52, or there may be a plurality of control devices 52.

As shown in FIG. 4, the control device 52 includes, for example, an acquisition section 52a, a control section 52b, and a diagnosis section 52c.

The acquisition unit 52a acquires information from each device mounted on the vehicle 100. For example, the acquisition unit 52a acquires information from the front wheel speed sensor 41, the rear wheel speed sensor 42, and the voltage sensor 43.

Control unit 52b controls operations of various devices within vehicle 100. For example, the control unit 52b performs a notification operation to the rider by controlling the operation of the notification device 6. Further, for example, the control unit 52b controls the operation of the vehicle 100 by controlling the operation of each component of the hydraulic control unit 5 (specifically, the filling valve 31, the releasing valve 32, the pump 34, and the switching element 35). Controls the braking force generated on the wheels.

The diagnostic unit 52c performs a power line diagnosis to diagnose an abnormality in the power line L1. As described above, if the resistance value of the power line L1 becomes excessively large due to an abnormality in the power line L1, it becomes difficult to operate the hydraulic pressure control unit 5 normally. In this embodiment, as will be described later, by devising power line diagnosis, it is possible to appropriately diagnose abnormalities in the power line L1.

<Operation of hydraulic control unit>
The operation of the hydraulic control unit 5 according to the embodiment of the present invention will be described with reference to FIGS. 5 to 8.

FIG. 5 is a flowchart illustrating an example of the flow of processing related to power line diagnosis performed by the control device 52 (specifically, the diagnosis unit 52c). Step S101 in FIG. 5 corresponds to the start of the control flow shown in FIG. Step S108 in FIG. 5 corresponds to the end of the control flow shown in FIG. Note that details of the power line diagnosis will be described later with reference to FIGS. 6 to 8.

When the control flow shown in FIG. 5 starts, in step S102, the diagnostic unit 52c determines whether the start condition for power line diagnosis is satisfied. As a starting condition for power line diagnosis, for example, a condition that the vehicle speed of vehicle 100 exceeds a reference vehicle speed after vehicle 100 starts is used. The vehicle speed of the vehicle 100 can be determined, for example, based on the detection results of the front wheel speed sensor 41 and the rear wheel speed sensor 42. The reference vehicle speed is set, for example, to a vehicle speed at which it can be determined that the rider has an intention to accelerate the vehicle 100.

If it is determined that the power line diagnosis start condition is not satisfied (step S102/NO), step S102 is repeated. On the other hand, if it is determined that the power line diagnosis start condition is satisfied (step S102/YES), the process advances to step S103.

In step S103, the diagnostic unit 52c determines whether the voltage of the power line L1 is stable. For example, the diagnostic unit 52c determines that the voltage of the power line L1 is stable when the difference between the minimum value and the maximum value of the voltage of the power line L1 within the set time is equal to or less than a reference value. On the other hand, the diagnostic unit 52c determines that the voltage of the power line L1 is not stable when the difference between the minimum value and the maximum value of the voltage of the power line L1 within the set time is larger than the reference value.

If it is determined that the voltage of the power supply line L1 is not stable (step S103/NO), the process returns to step S102. On the other hand, if it is determined that the voltage of the power supply line L1 is stable (step S103/YES), the process advances to step S104.

In step S104, the diagnostic unit 52c performs power line diagnosis. In the power line diagnosis, the diagnostic unit 52c determines the voltage of the power line L1 based on the voltage change of the power line L1 when changing the current applied to the solenoid valve (for example, filling valve 31) of the hydraulic control unit 5. Diagnose abnormalities. In the power line diagnosis, it is diagnosed whether the power line L1 is normal. When the power supply line L1 is normal, this corresponds to a case where the resistance value of the power supply line L1 is not excessively large. On the other hand, when the power supply line L1 is abnormal, this corresponds to a case where the resistance value of the power supply line L1 is excessively large. Note that details of the power line diagnosis will be described later with reference to FIGS. 6 to 8.

In step S105, the diagnostic unit 52c determines whether the power line L1 is diagnosed as normal. If the power line L1 is diagnosed as normal (step S105/YES), the control flow shown in FIG. 5 ends. On the other hand, if the power line L1 is not diagnosed as normal (step S105/NO), the process advances to step S106.

In step S106, the diagnostic unit 52c determines whether the voltage of the power line L1 is stable. The process in step S106 is similar to the process in step S103 described above. If it is determined that the voltage of the power supply line L1 is not stable (step S106/NO), the process returns to step S102. On the other hand, if it is determined that the voltage of the power line L1 is stable (step S106/YES), the process advances to step S107. In step S107, the diagnostic unit 52c diagnoses that the power line L1 is abnormal, and the control flow shown in FIG. 5 ends. When it is diagnosed that the power line L1 is abnormal, for example, the notification device 6 notifies the rider that the power line L1 is abnormal.

Details of the power line diagnosis will be explained below with reference to FIGS. 6 to 8. Specifically, after a first example of power line diagnosis will be described with reference to FIGS. 6 and 7, a second example of power line diagnosis will be described with reference to FIG.

The diagnostic unit 52c changes the current (specifically, the current value) applied to the charging valve 31 in the power line diagnosis. Then, the diagnostic unit 52c diagnoses an abnormality in the power supply line L1 based on the voltage change that is the change in the voltage of the power supply line L1 at that time. Specifically, in the power line diagnosis, the diagnosis unit 52c applies a current to the charging valve 31 of the rear wheel braking mechanism 14. In the following, an example in which a current is applied to the charge valve 31 of the rear wheel braking mechanism 14 in the power line diagnosis will be mainly explained. The filling valve 31 may be used, or the release valve 32 of the front wheel braking mechanism 12 or the rear wheel braking mechanism 14 may be used.

FIG. 6 is a graph showing an example of changes in various state quantities in the first example of power line diagnosis. In FIG. 6, time t is plotted on the horizontal axis, and changes in various state quantities are shown. In FIG. 6, the voltage V of the power line L1 (specifically, the voltage detected by the voltage sensor 43) and the current value C of the current applied to the charging valve 31 are shown as state quantities. .

As shown in FIG. 6, in the first example of the power line diagnosis, the diagnostic unit 52c applies a voltage to the charging valve 31 so that the opening/closing state of the charging valve 31 is switched between the open state and the closed state. The current (specifically, the current value C) is changed. Specifically, the diagnostic unit 52c causes the current (specifically, the current value C) to change in a rectangular waveform. In the example of FIG. 6, the diagnostic unit 52c sequentially generates four rectangular wave-like pulse currents P1, P2, P3, and P4 in which the current value C changes in the order of minimum value Cmin, maximum value Cmax, and minimum value Cmin. Note that the number of pulse currents to be generated may be other than four. The minimum value Cmin is 0A. In other words, when the current value C is the minimum value Cmin, no current is applied to the charging valve 31 and the charging valve 31 is in the open state, and when the current value C is the maximum value Cmax, the charging valve 31 is in the closed state. become.

In the example of FIG. 6, the current value C is the minimum value Cmin before time t1. Between time t1 and time t2, the current value C is the maximum value Cmax. Between time t2 and time t3, the current value C is the minimum value Cmin. Between time t3 and time t4, the current value C is the maximum value Cmax. Between time t4 and time t5, the current value C is the minimum value Cmin. Between time t5 and time t6, the current value C is the maximum value Cmax. Between time t6 and time t7, the current value C is the minimum value Cmin. Between time t7 and time t8, the current value C is the maximum value Cmax. After time t8, the current value C has reached the minimum value Cmin.

That is, in the example of FIG. 6, the filling valve 31 is in the open state before time t1. Between time t1 and time t2, the charging valve 31 is in a closed state. Between time t2 and time t3, the charging valve 31 is in an open state. Between time t3 and time t4, the charging valve 31 is in a closed state. Between time t4 and time t5, the filling valve 31 is in an open state. Between time t5 and time t6, the charging valve 31 is in a closed state. Between time t6 and time t7, the charging valve 31 is in an open state. Between time t7 and time t8, the charging valve 31 is in a closed state. After time t8, the charging valve 31 is in the open state.

As described above, in the example of FIG. 6, the filling valve 31 is switched to the closed state four times by sequentially generating four rectangular waveform pulse currents P1, P2, P3, and P4. In the example of FIG. 6, the duration of the closed state of the charging valve 31 is the same every time the charging valve 31 is switched to the closed state. That is, the pulse widths of the four rectangular wave pulse currents P1, P2, P3, and P4 are the same. However, as will be described later, the duration of the closed state of the charging valve 31 may be different at some times when the charging valve 31 switches to the closed state from at some other times.

When the current value C is the minimum value Cmin and no current is applied to the charging valve 31, no voltage drop occurs due to the resistance value of the power supply line L1. Therefore, the voltage V of the power supply line L1 detected by the voltage sensor 43 becomes approximately equal to the voltage of the power supply B1. On the other hand, when the current value C is the maximum value Cmax and a current is being applied to the charging valve 31, a voltage drop occurs due to the resistance value of the power supply line L1. Therefore, when the current value C is the maximum value Cmax, the voltage V of the power supply line L1 detected by the voltage sensor 43 is lower than when the current value C is the minimum value Cmin. Therefore, in the example of FIG. 6, the power supply line L1 The voltage V is lower than at other times.

In the first example of the power line diagnosis, the diagnostic unit 52c determines whether the current applied to the charging valve 31 (specifically, the current value C) switches the charging valve 31 between the open state and the closed state. A power line diagnosis is performed based on the voltage change of the power line L1 when the power line L1 changes accordingly. Specifically, the diagnostic unit 52c performs power line diagnosis based on the amount of voltage change in the power line L1 before and after the charging valve 31 switches between the open state and the closed state. Amount of voltage change in the power supply line L1 before and after the filling valve 31 switches between the open state and the closed state (for example, the difference between the voltage V before time t1 and the voltage V between time t1 and time t2) corresponds to the amount of voltage drop due to the resistance value of the power supply line L1. Therefore, the diagnostic unit 52c can evaluate the resistance value of the power supply line L1 based on the amount of voltage change. The diagnostic unit 52c then diagnoses an abnormality in the power line L1 based on the evaluation result of the resistance value of the power line L1.

In FIG. 6, the acquisition timing of the voltage V acquired to specify the amount of voltage change in the power supply line L1 is indicated by dots (for example, dots D1, D2, D3, and D4). The difference between the two voltages V obtained at the timings indicated by the two dots paired with the dashed-dotted lines in FIG. 6 is obtained as the amount of voltage change. In the example of FIG. 6, the diagnostic unit 52c acquires the amount of voltage change in the power line L1 before and after the locking valve 31 switches between the open state and the closed state due to the generation of the pulse current.

For example, in the example of FIG. 6, the diagnostic unit 52c detects the voltage V acquired at the acquisition timing of dot D1 before time t1, and the voltage V acquired at the acquisition timing of dot D2 between time t1 and time t2. The difference from V is obtained as the amount of voltage change. This voltage change amount corresponds to the voltage change amount of the power supply line L1 before and after the charging valve 31 switches from the open state to the closed state in response to the generation of the pulse current P1.

Next, the diagnostic unit 52c determines the voltage V acquired at the acquisition timing of dot D3 between time t1 and time t2, and the voltage V acquired at the acquisition timing of dot D4 between time t2 and time t3. Obtain the difference between the two as the amount of voltage change. This voltage change amount corresponds to the voltage change amount of the power supply line L1 before and after the charging valve 31 switches from the closed state to the open state due to the generation of the pulse current P1.

The diagnostic unit 52c similarly detects the amount of voltage change in the power line L1 before and after the charging valve 31 switches from the open state to the closed state, and the amount of voltage change of the charging valve 31 from the closed state to the open state for the pulse currents P2, P3, and P4. The amount of voltage change in the power line L1 before and after switching to is acquired. In this way, the diagnostic unit 52c obtains two voltage change amounts corresponding to the two dashed-dotted lines for each pulse current. Thereby, the diagnostic unit 52c uses the four pulse currents P1, P2, P3, and P4 to obtain eight voltage changes corresponding to the eight dashed-dotted lines.

The diagnostic unit 52c evaluates the resistance value of the power line L1 with respect to each acquired voltage change amount. In the example of FIG. 6, the diagnostic unit 52c evaluates the resistance value of the power supply line L1 for each of eight voltage changes. That is, the diagnostic unit 52c evaluates the resistance value of the power supply line L1 in eight ways. In evaluating the resistance value, the diagnostic unit 52c evaluates that the resistance value is normal when the amount of voltage change is smaller than the reference amount of change (that is, the value obtained by replacing the reference resistance value with the amount of voltage change). Then, if the number of resistance values evaluated as normal among the eight resistance value evaluations is equal to or greater than the reference number, the diagnostic unit 52c diagnoses that the power line L1 is normal, and Finish the diagnosis. The reference number is a number smaller than the total number of resistance value evaluations (eight in the above example) and can be any number.

Note that, if the number of resistance values evaluated as normal among the eight resistance value evaluations is less than the reference number, the diagnostic unit 52c may diagnose that the power line L1 is abnormal. . Alternatively, in this case, the diagnostic unit 52c does not need to immediately diagnose that the power line L1 is abnormal. For example, the diagnostic unit 52c generates a plurality of (four in the above example) pulse currents P1, P2, P3, and P4, and evaluates the resistance value in a plurality of ways (in the above example, eight ways). The evaluation set described above may be performed again. If the number of resistance values evaluated as normal in the second evaluation set is equal to or greater than the reference number, the diagnostic unit 52c diagnoses that the power line L1 is normal, and ends the power line diagnosis. Good too. In this case, for example, if the power line L1 is not diagnosed as normal in any of the evaluation sets as a result of performing the upper limit number of evaluation sets (for example, 3 times), the diagnostic unit 52c is diagnosed as abnormal and ends the power line diagnosis.

In the above example, as described with reference to FIG. 5, the power line diagnosis is performed when it is determined that the voltage V of the power line L1 is stable. Thereby, the reliability of power line diagnosis can be improved. However, the diagnostic unit 52c may perform the power line diagnosis regardless of whether the voltage V of the power line L1 is determined to be stable. In this case, if the duration of the closed state of the charging valve 31 is the same every time the charging valve 31 switches to the closed state (that is, if the pulse widths of the plurality of rectangular wave pulse currents are the same), The reliability of power line diagnosis tends to decrease due to the influence of noise from other signals within vehicle 100. Therefore, from the viewpoint of improving the reliability of power line diagnosis, in this case, the duration of the closed state of the charging valve 31 is different from some times when the charging valve 31 is switched to the closed state. Preferably, they are different. That is, it is preferable that some pulse widths of the plurality of rectangular wave pulse currents are different from other pulse widths.

In the above example, the current value C changes in the order of the minimum value Cmin, the maximum value Cmax, and the minimum value Cmin in each pulse current. However, in each pulse current, the current value C may change in the order of the current value at which the charging valve 31 is in the open state, the current value at which the charging valve 31 is in the closed state, and the current value at which the charging valve 31 is in the open state. , the values taken by the current value C are not limited to the above example. For example, the current value C from time t1 to time t2, from time t3 to time t4, from time t5 to time t6, and from time t7 to time t8 is smaller than the maximum value Cmax. It can also be a value. Further, for example, the current value C from time t2 to time t3, from time t4 to time t5, and from time t6 to time t7 may be larger than the minimum value Cmin.

FIG. 7 is a graph showing an example of changes in various state quantities in a comparative example with respect to the first example of power line diagnosis. In FIG. 7, as in FIG. 6, time t is plotted on the horizontal axis, and changes in the voltage V of the power supply line L1 and the current value C of the current applied to the charging valve 31 are shown as changes in various state quantities. has been done.

The comparative example shown in FIG. 7 is an example of power line diagnosis in a vehicle other than a saddle type vehicle, which is different from the vehicle 100. In the above-described power line diagnosis shown in FIG. 6, the opening/closing state of the filling valve 31 is instantaneously switched between the open state and the closed state. As a result, the operating sound of the charging valve 31 becomes louder to some extent. However, the vehicle 100 is a saddle type vehicle, and surrounding noise directly reaches the rider of the saddle type vehicle. Therefore, for a rider of a saddle-ride type vehicle, the operating sound of the filling valve 31 is difficult to perceive as noise. The fact that the rider of the saddle type vehicle may be wearing a helmet is also cited as a factor that makes it difficult for the operating sound of the filling valve 31 to be perceived as noise. On the other hand, in vehicles other than saddle-ride type vehicles, the operating sound of the charging valve 31 is easily perceived as noise, and quietness inside the vehicle is required.

Therefore, in the comparative example, the diagnostic unit 52c first gradually increases the current value C from the minimum value Cmin to the intermediate value Cmid. In the example of FIG. 7, the current value C gradually increases from the minimum value Cmin to the intermediate value Cmid before time t11. Here, although the intermediate value Cmid is smaller than the maximum value Cmax, when the current value C is the intermediate value Cmid, the charging valve 31 is in a closed state. Therefore, before time t11, the filling valve 31 takes a certain amount of time to be in the closed state.

In the comparative example, the diagnostic unit 52c changes the current value C so that the charging valve 31 is maintained in the closed state. In the example of FIG. 7, the diagnostic unit 52c sequentially generates four rectangular wave-like pulse currents P11, P12, P13, and P14 in which the current value C changes in the order of intermediate value Cmid, maximum value Cmax, and intermediate value Cmid.

In the example of FIG. 7, the current value C is the intermediate value Cmid between time t11 and time t12. Between time t12 and time t13, the current value C is the maximum value Cmax. Between time t13 and time t14, the current value C is the intermediate value Cmid. Between time t14 and time t15, the current value C is the maximum value Cmax. Between time t15 and time t16, the current value C is the intermediate value Cmid. Between time t16 and time t17, the current value C is the maximum value Cmax. Between time t17 and time t18, the current value C is the intermediate value Cmid. Between time t18 and time t19, the current value C is the maximum value Cmax. Between time t19 and time t20, the current value C is the intermediate value Cmid.

As described above, the filling valve 31 is in the closed state both when the current value C is the intermediate value Cmid and when the current value C is the maximum value Cmax. Therefore, the charging valve 31 is maintained in the closed state while the four rectangular wave pulse currents P11, P12, P13, and P14 are generated. Similar to the example of FIG. 6, the diagnostic unit 52c acquires the difference between the two voltages V acquired at the timings indicated by the two dots paired by the dashed-dotted line in FIG. 7 as the amount of voltage change. . Then, similarly to the example of FIG. 6, the diagnostic unit 52c determines the resistance value of the power line L1 for each of the eight voltage changes obtained using the four pulse currents P11, P12, P13, and P14. Evaluate.

After time t20, the diagnostic unit 52c gradually lowers the current value C from the intermediate value Cmid to the minimum value Cmin. Therefore, after time t20, the filling valve 31 takes a certain amount of time to be in the open state.

As described above, in the comparative example shown in FIG. 7, at the start of power line diagnosis, the current value C gradually increases from the minimum value Cmin to the intermediate value Cmid, and at the end of the power line diagnosis, the current value It gradually falls from the value Cmid to the minimum value Cmin. As a result, at the start of the power line diagnosis, the charge valve 31 changes from the open state to the closed state over a certain period of time, and at the end of the power line diagnosis, the charge valve 31 changes from the closed state to the open state over a certain period of time. become. Therefore, since the operating noise of the filling valve 31 can be reduced, quietness inside the vehicle is ensured.

As explained above, in the first example of the power line diagnosis, the diagnostic unit 52c determines whether the current applied to the charging valve 31 (specifically, the current value C) is in the open state or the closed state of the charging valve 31. A power line diagnosis is performed based on the voltage change of the power line L1 when changing with switching between. Thereby, the time required to change the current applied to the charging valve 31 at the start and end of the power line diagnosis can be reduced, so the time required for the power line diagnosis can be reduced. Therefore, an abnormality in the power line L1 can be appropriately diagnosed.

Furthermore, in the first example of power line diagnosis, the charging valve 31 switches between the open state and the closed state even while a plurality of pulse currents are occurring. Therefore, it is possible to create a state in which the charging valve 31 is in an open state while a plurality of pulse currents are being generated. For example, in the example of FIG. 6, while four rectangular wave pulse currents P1, P2, P3, and P4 are occurring, from time t2 to time t3, from time t4 to time t5, and from time t4 to time t5, Between t6 and time t7, the charging valve 31 is in an open state.

Here, in the brake system 10, as described above, the number of wheel cylinders 24 communicating with one master cylinder 21 is one. Further, as described above, in the power line diagnosis, specifically, a current is applied to the charging valve 31 of the rear wheel braking mechanism 14. Therefore, if the charging valve 31 of the rear wheel braking mechanism 14 is in the closed state in the power line diagnosis, the hydraulic pressure of the brake fluid in the wheel cylinder 24 of the rear wheel 4 cannot be increased by the rider's brake operation. On the other hand, in the first example of the power line diagnosis, it is possible to cause the charging valve 31 to be in the open state while a plurality of pulse currents are occurring, so that the wheel cylinder 24 of the rear wheel 4 A situation in which the hydraulic pressure of the brake fluid cannot be increased by the rider's brake operation is suppressed.

FIG. 8 is a graph showing an example of changes in various state quantities in the second example of power line diagnosis. In FIG. 8, as in FIGS. 6 and 7, time t is plotted on the horizontal axis, and the changes in the voltage V of the power supply line L1 and the current value C of the current applied to the filling valve 31 are expressed by various state quantities. It is shown as a transition.

As shown in FIG. 8, in the second example of the power line diagnosis, the diagnostic unit 52c determines that the current value C of the current applied to the charging valve 31 is larger than the first current value C1, the first current value C1. One rectangular wave-like pulse current P is generated that changes in the order of a second current value C2 and a third current value C3 smaller than the second current value C2. In the example of FIG. 8, the first current value C1 and the third current value C3 are the minimum value Cmin, and the second current value C2 is the maximum value Cmax. That is, in the example of FIG. 8, the diagnostic unit 52c generates one rectangular wave-like pulse current P in which the current value C changes in the order of minimum value Cmin, maximum value Cmax, and minimum value Cmin. However, as will be described later, the values of the first current value C1, second current value C2, and third current value C3 are not limited to this example. Moreover, the first current value C1 and the third current value C3 may be different from each other.

In the example of FIG. 8, the current value C is the minimum value Cmin before time t21. Between time t21 and time t22, the current value C is the maximum value Cmax. After time t22, the current value C has reached the minimum value Cmin. That is, in the example of FIG. 8, the filling valve 31 is in the open state before time t21. Between time t21 and time t22, the filling valve 31 is in a closed state. After time t22, the charging valve 31 is in the open state.

In the example of FIG. 8, from time t21 to time t22, the voltage V of the power line L1 is lower than at other times due to a voltage drop due to the resistance value of the power line L1. The voltage V of the power supply line L1 obtained when the current value C is the first current value C1 is referred to as a first voltage V1. That is, the first voltage V1 is the voltage V acquired before time t21. The voltage V of the power supply line L1 acquired while the current value C is the second current value C2 is referred to as a second voltage V2. That is, the second voltage V2 is the voltage V obtained between time t21 and time t22. The voltage V of the power supply line L1 obtained when the current value C is the third current value C3 is referred to as a third voltage V3. That is, the third voltage V3 is a voltage V acquired after time t22.

In the second example of the power line diagnosis, the diagnostic unit 52c performs the power line diagnosis based on the amount of voltage change in the power line L1 before and after the current value C switches in the pulse current P. Specifically, the diagnostic unit 52c determines that the current value C in the pulse current P changes from the first current value C1 (in the example of FIG. 8, the minimum value Cmin) to the second current value C2 (in the example of FIG. 8, the maximum value Cmax). ) A first resistance value evaluation is performed to evaluate the resistance value of the power supply line L1 based on the amount of change in the voltage of the power supply line L1 before and after the transition. The diagnostic unit 52c also detects that the current value C in the pulse current P changes from the second current value C2 (in the example of FIG. 8, the maximum value Cmax) to the third current value C3 (in the example of FIG. 8, the minimum value Cmin). A second resistance value evaluation is performed to evaluate the resistance value of the power supply line L1 based on the amount of voltage change before and after. The diagnostic unit 52c then diagnoses an abnormality in the power line L1 based on the results of the first resistance value evaluation and the second resistance value evaluation.

In FIG. 8, similarly to FIG. 6, the acquisition timing of the voltage V acquired to specify the amount of voltage change in the power supply line L1 is indicated by dots (for example, dots D11, D12, etc.). The difference between the two voltages V obtained at the timings indicated by the two dots paired with the dashed-dotted lines in FIG. 8 is obtained as the amount of voltage change.

Note that in FIG. 8, for ease of understanding, a part of the dashed-dotted line indicating two paired dots is omitted. In addition, in FIG. 8, there are six dots (dots D11 to D16) indicating the acquisition timing of the first voltage V1, four dots (dots D21 to D24) indicating the acquisition timing of the second voltage V2, and a third dot (dots D21 to D24) indicating the acquisition timing of the second voltage V2. Although an example is shown in which there are six dots (dots D31 to D36) indicating the acquisition timing of voltage V3, the number and arrangement of dots are not limited to the example in FIG. 8, as will be described later.

In the first resistance value evaluation, the diagnostic unit 52c obtains the amount of voltage change based on the first voltage V1 and the second voltage V2. For example, in the example of FIG. 8, the diagnostic unit 52c acquires the first voltage V1 at each acquisition timing of the dots D11, D12, D13, D14, D15, and D16 before time t21. Furthermore, the diagnostic unit 52c acquires the second voltage V2 at each acquisition timing of the dots D21, D22, D23, and D24 between time t21 and time t22.

Then, the diagnostic unit 52c calculates the difference between the first voltage V1 acquired at the acquisition timing of dot D11 and the second voltage V2 acquired at each acquisition timing of dots D21, D22, D23, and D24. Obtain each as the amount of change. That is, the diagnostic unit 52c obtains four voltage change amounts for the first voltage V1 obtained at the timing of obtaining the dot D11. Similarly, four voltage change amounts are acquired for the first voltage V1 acquired at each acquisition timing of dots D12, D13, D14, D15, and D16. As a result, the diagnostic unit 52c obtains a total of 24 voltage change amounts.

The diagnostic unit 52c evaluates the resistance value of the power supply line L1 for each of the total 24 voltage change amounts obtained in the first resistance value evaluation. That is, in the first resistance value evaluation, the resistance value of the power supply line L1 is evaluated in 24 ways. In each evaluation of the first resistance value evaluation, the resistance value is evaluated to be normal when the amount of voltage change is smaller than the reference amount of change, similarly to the first example of the power line diagnosis described above.

In the second resistance value evaluation, the diagnostic unit 52c obtains the amount of voltage change based on the second voltage V2 and the third voltage V3. For example, in the example of FIG. 8, in addition to the second voltage V2 acquired in the first resistance value evaluation, the diagnostic unit 52c acquires each of the dots D31, D32, D33, D34, D35, and D36 after time t22. The third voltage V3 is acquired at the timing.

The diagnostic unit 52c then calculates the difference between the third voltage V3 acquired at the acquisition timing of dot D31 and the second voltage V2 acquired at each acquisition timing of dots D21, D22, D23, and D24. Obtain each as the amount of change. That is, the diagnostic unit 52c acquires four voltage change amounts for the third voltage V3 acquired at the acquisition timing of the dot D31. Similarly, four voltage change amounts are acquired for the third voltage V3 acquired at each acquisition timing of dots D32, D33, D34, D35, and D36. As a result, the diagnostic unit 52c obtains a total of 24 voltage change amounts.

The diagnostic unit 52c evaluates the resistance value of the power supply line L1 for each of the total 24 voltage change amounts acquired in the second resistance value evaluation. That is, in the second resistance value evaluation, the resistance value of the power supply line L1 is evaluated in 24 ways. In each evaluation of the second resistance value evaluation, the resistance value is evaluated to be normal when the amount of voltage change is smaller than the reference amount of change, similarly to the first example of the power line diagnosis described above.

The diagnostic unit 52c determines if the number of resistance values evaluated as normal among a total of 48 resistance value evaluations performed through the first resistance value evaluation and the second resistance value evaluation is equal to or greater than the reference number. , the diagnostic unit 52c diagnoses that the power line L1 is normal, and ends the power line diagnosis.

Note that, if the number of resistance values evaluated as normal among a total of 48 resistance value evaluations is less than the reference number, the diagnostic unit 52c may diagnose that the power line L1 is abnormal. good. Alternatively, in this case, the diagnostic unit 52c does not need to immediately diagnose that the power line L1 is abnormal. For example, the diagnostic unit 52c may re-perform the evaluation set described above in which one pulse current P is generated and resistance values are evaluated in a plurality of ways (48 ways in total in the above example). If the number of resistance values evaluated as normal in the second evaluation set is equal to or greater than the reference number, the diagnostic unit 52c diagnoses that the power line L1 is normal, and ends the power line diagnosis. Good too. In this case, for example, if the power line L1 is not diagnosed as normal in any of the evaluation sets as a result of performing the upper limit number of evaluation sets (for example, 3 times), the diagnostic unit 52c is diagnosed as abnormal and ends the power line diagnosis.

As explained above, in the second example of power line diagnosis, the diagnostic unit 52c determines whether the current value C in the pulse current P is from the first current value C1 (in the example of FIG. 8, the minimum value Cmin) to the second current value. A first resistance value evaluation is performed to evaluate the resistance value of the power supply line L1 based on the amount of change in the voltage of the power supply line L1 before and after the transition to C2 (maximum value Cmax in the example of FIG. 8). The diagnostic unit 52c also detects that the current value C in the pulse current P changes from the second current value C2 (in the example of FIG. 8, the maximum value Cmax) to the third current value C3 (in the example of FIG. 8, the minimum value Cmin). A second resistance value evaluation is performed to evaluate the resistance value of the power supply line L1 based on the amount of voltage change before and after. The diagnostic unit 52c then diagnoses an abnormality in the power line L1 based on the results of the first resistance value evaluation and the second resistance value evaluation. Furthermore, in the first resistance value evaluation and the second resistance value evaluation, a plurality of voltage change amounts are obtained in which at least one of the start time and end time of the voltage change is different from each other, and the resistance value is evaluated in a plurality of ways. Thereby, many resistance values can be evaluated using one pulse current P. Therefore, it is not necessary to generate the pulse current P multiple times in the power line diagnosis, so the time required for the power line diagnosis can be shortened. Therefore, abnormalities in the power supply line L1 can be appropriately diagnosed.

In the above, in both the first resistance value evaluation and the second resistance value evaluation, a plurality of voltage change amounts are obtained in which at least one of the voltage change start time and end time is different from each other, and the resistance value evaluation is performed in multiple ways. I explained an example of this. However, in at least one of the first resistance value evaluation and the second resistance value evaluation, a plurality of voltage change amounts are obtained in which at least one of the start time and the end time of the voltage change is different from each other, and the resistance value evaluation is performed in multiple ways. If this is done, the same effect as above will be achieved. For example, if a plurality of resistance value evaluations are performed in the first resistance value evaluation, only one resistance value evaluation may be performed in the second resistance value evaluation. Further, if the resistance value is evaluated in a plurality of ways in the second resistance value evaluation, the resistance value may be evaluated in only one way in the first resistance value evaluation.

As described above, the number and arrangement of dots indicating the acquisition timing of voltage V for specifying the amount of voltage change are not limited to the example in FIG. 8 . However, regarding the acquisition timing of the voltage V, it is preferable that the following measures shown in FIG. 8 be taken.

For example, as a first measure for the acquisition timing of the voltage V, the acquisition timing of the second voltage V2 is biased toward the latter half of the period in which the current value C is the second current value C2 in the pulse current P, rather than the first half. It is preferable that In the example of FIG. 8, the dots D21, D22, D23, and D24 are biased toward the latter half of the period from time t21 to time t22, when the current value C is the second current value C2 in the pulse current P, rather than the first half. ing. For example, the fact that the acquisition timing is biased toward the latter half of a certain period rather than the first half may mean that the average value of a plurality of acquisition timings belongs to the latter half of a certain period. Also, for example, if the acquisition timing is biased toward the latter half of a certain period rather than the first half, it means that out of multiple acquisition timings, there are more acquisition timings that belong to the latter half of a certain period than to the first half. It's okay.

Immediately after the transition timing from the first current value C1 to the second current value C2 (in the example of FIG. 8, time t21), the voltage V has not completely dropped yet. Therefore, by biasing the acquisition timing of the second voltage V2 to the latter half of the period in which the current value C is the second current value C2, rather than the first half, the falling voltage V can be acquired as the second voltage V2. It is suppressed. This improves the reliability of the first resistance value evaluation and the second resistance value evaluation.

Further, for example, as a second measure for the acquisition timing of the voltage V, the acquisition timing of the third voltage V3 is a timing at which a reference time or more has elapsed from the transition timing from the second current value C2 to the third current value C3. is preferred. In the example of FIG. 8, among the dots D31, D32, D33, D34, D35, and D36, the acquisition timing of the third voltage V3 indicated by the dot D31 indicating the earliest acquisition timing is from the second current value C2 to the third current value C2. This is the timing at which more than a reference time has elapsed from time t22, which is the transition timing to value C3. Immediately after the transition timing from the second current value C2 to the third current value C3 (in the example of FIG. 8, time t22), the rise in the voltage V is not completed. The reference time is set to be longer than the time required for the voltage V to complete the rise accompanying the transition from the second current value C2 to the third current value C3. This prevents the rising voltage V from being acquired as the third voltage V3. Therefore, the reliability of the second resistance value evaluation is improved.

For example, as a third measure for the acquisition timing of the voltage V, the time interval of the acquisition timing of the second voltage V2 is shorter than the time interval of the acquisition timing of each of the first voltage V1 and the third voltage V3. is preferred. In the example of FIG. 8, the time intervals of dots D11, D12, D13, D14, D15, and D16 and the time intervals of dots D31, D32, D33, D34, D35, and D36 substantially match each other. On the other hand, the time intervals of dots D21, D22, D23, and D24 are compared with the time intervals of dots D11, D12, D13, D14, D15, and D16, and the time intervals of dots D31, D32, D33, D34, D35, and D36. It's short. As a result, the period (in the example of FIG. 8, the period from time t21 to time t22) during which the current value C of the pulse current P is the second current value C2 (in the example of FIG. 8, the maximum value Cmax) is shortened. can. Therefore, the period during which the charging valve 31 is in the closed state can be shortened. Therefore, a situation in which the hydraulic pressure of the brake fluid in the wheel cylinder 24 of the rear wheel 4 cannot be increased by the rider's brake operation is suppressed.

Further, for example, as a fourth measure for the acquisition timing of the voltage V, it is preferable that the number of acquisition timings of the second voltage V2 is smaller than the number of acquisition timings of each of the first voltage V1 and the third voltage V3. . In the example of FIG. 8, the number of dots D11, D12, D13, D14, D15, and D16 and the number of dots D31, D32, D33, D34, D35, and D36 are all 6 and match. On the other hand, the number of dots D21, D22, D23, and D24 is four, and the number of dots D11, D12, D13, D14, D15, and D16, and the number of dots D31, D32, D33, D34, D35, and D36. It's less compared to. As a result, the period (in the example of FIG. 8, the period from time t21 to time t22) during which the current value C of the pulse current P is the second current value C2 (in the example of FIG. 8, the maximum value Cmax) is shortened. can. Therefore, the period during which the charging valve 31 is in the closed state can be shortened. Therefore, a situation in which the hydraulic pressure of the brake fluid in the wheel cylinder 24 of the rear wheel 4 cannot be increased by the rider's brake operation is suppressed.

Note that among the four types of devices, the first device, the second device, the third device, and the fourth device for the acquisition timing of the voltage V explained above, it is not necessary to adopt any one of them. , any combination of multiple types of devices may be adopted.

In the above example, an example has been described in which the weights of resistance value evaluation performed in a plurality of ways are the same. However, the diagnostic unit 52c may set different weights for some of the evaluations of the resistance value performed in a plurality of ways from weights for some of the other evaluations.

For example, as a first measure of evaluation weight, the diagnostic unit 52c uses a resistance value evaluation weight using a second voltage V2 whose acquisition timing is later than that of a resistance value evaluation using a second voltage V2 whose acquisition timing is early. The evaluation weight of the value may be increased. For example, dots D23 and D22 whose acquisition timing is later than dots D21 and D22 are compared with the resistance value evaluation weight using the second voltage V2 corresponding to dots D21 and D22 whose acquisition timing is earlier than dots D23 and D24. The evaluation of the resistance value using the second voltage V2 corresponding to the value may be weighted more heavily. Further, for example, evaluation of the resistance value using the second voltage V2 corresponding to the dot D21, evaluation of the resistance value using the second voltage V2 corresponding to the dot D22, evaluation of the resistance value using the second voltage V2 corresponding to the dot D23, etc. The weighting may be increased in the order of evaluation of D24 and evaluation of the resistance value using the second voltage V2 corresponding to D24.

As described above, immediately after the transition timing from the first current value C1 to the second current value C2 (in the example of FIG. 8, time t21), the voltage V has not completely dropped yet. Therefore, the second voltage V2 whose acquisition timing is late is less likely to be the voltage V that is falling compared to the second voltage V2 whose acquisition timing is early. Therefore, by weighting the evaluation of the resistance value using the second voltage V2 whose acquisition timing is late compared to the weight of the evaluation of the resistance value using the second voltage V2 whose acquisition timing is early, the first resistance value The reliability of the evaluation and second resistance value evaluation is improved.

Further, for example, as a second measure of the evaluation weight, the diagnostic unit 52c uses the third voltage V3 whose acquisition timing is later than the weight of resistance value evaluation using the third voltage V3 whose acquisition timing is early. The weight of the evaluation of the resistance value may be increased. For example, compared to the resistance value evaluation weight using the third voltage V3 corresponding to dots D31, D32, and D33 whose acquisition timing is earlier than dots D34, D35, and D36, the acquisition timing is earlier than that of D31, D32, and D33. The evaluation weight of the resistance value using the third voltage V3 corresponding to the slow dots D34, D35, and D36 may be increased. Further, for example, evaluation of the resistance value using the third voltage V3 corresponding to the dot D31, evaluation of the resistance value using the third voltage V3 corresponding to the dot D32, evaluation of the resistance value using the third voltage V3 corresponding to the dot D33, etc. Evaluation of resistance value, evaluation of resistance value using third voltage V3 corresponding to dot D34, evaluation of resistance value using third voltage V3 corresponding to dot D35, use of third voltage V3 corresponding to dot D36 The weight may be increased in the order of resistance value evaluation.

As described above, immediately after the transition timing from the second current value C2 to the third current value C3 (in the example of FIG. 8, time t22), the rise in the voltage V is not completed. Therefore, the third voltage V3 whose acquisition timing is late is less likely to be the rising voltage V compared to the third voltage V3 whose acquisition timing is early. Therefore, by weighting the evaluation of the resistance value using the third voltage V3 whose acquisition timing is late compared to the weight of the evaluation of the resistance value using the third voltage V3 whose acquisition timing is early, the second resistance value The reliability of evaluation is improved.

It should be noted that of the two types of ideas, the first and second ideas for evaluation weights explained above, it is not necessary to adopt either one, and even if both ideas are adopted in combination. good.

In the above example, in the pulse current P, the first current value C1 and the third current value C3 are the minimum value Cmin, and the second current value C2 is the maximum value Cmax. However, the values of the first current value C1, second current value C2, and third current value C3 are not limited to this example. For example, the second current value C2 may be a value smaller than the maximum value Cmax. Further, in the above example, the open/close state of the charging valve 31 is switched between the open state and the closed state in accordance with the generation of the pulse current P. However, the open/close state of the charging valve 31 does not need to be switched between the open state and the closed state in response to the generation of the pulse current P. For example, the first current value C1 and the third current value C3 may be the intermediate value Cmid in FIG. In this case, in addition to when the current value C is the second current value C2, the charging valve 31 is also in the closed state when the current value C is the first current value C1 or the third current value C3. maintained.

In the above example, the vehicle 100 is a saddle type vehicle. However, referring to FIG. 8, the second example of power line diagnosis may be applied to other vehicles (for example, four-wheeled motor vehicles) other than saddle-ride vehicles.

<Effects of hydraulic control unit>
The effects of the hydraulic pressure control unit 5 according to the embodiment of the present invention will be explained.

First, effects related to the first example of power line diagnosis will be explained.

In the hydraulic control unit 5, the control device 52 performs a power line diagnosis for diagnosing an abnormality in the power line L1 based on a voltage change in the power line L1 when the current applied to the filling valve 31 is changed. The diagnosis unit 52c is configured to detect a change in the voltage of the power supply line L1 when the current applied to the fill valve 31 changes with switching between the open state and the closed state of the fill valve 31. , perform power line diagnosis. Thereby, the time required to change the current applied to the charging valve 31 at the start and end of the power line diagnosis can be reduced, so the time required for the power line diagnosis can be reduced. Therefore, an abnormality in the power line L1 can be properly diagnosed.

Preferably, in the hydraulic control unit 5, the diagnostic section 52c causes the current applied to the filling valve 31 to change in a rectangular wave shape in the power line diagnosis. Thereby, it is possible to appropriately switch the opening/closing state of the filling valve 31 between the open state and the closed state in accordance with the generation of the rectangular wave pulse current. Therefore, it is possible to diagnose the power line based on the voltage change of the power line L1 when the current applied to the fill valve 31 changes with switching between the open state and the closed state of the fill valve 31. Properly realized.

Preferably, in the hydraulic control unit 5, the diagnostic section 52c performs the power line diagnosis when it is determined that the voltage V of the power line L1 is stable. Thereby, the reliability of power line diagnosis can be improved.

Preferably, in the hydraulic control unit 5, the charging valve 31 is switched to the closed state multiple times in the power line diagnosis, and the duration of the closing state of the charging valve 31 is the same for all times. Thereby, the duration of the closed state of the filling valve 31 each time can be made as short as possible. Therefore, a situation in which the hydraulic pressure of the brake fluid in the wheel cylinder 24 cannot be increased by the rider's brake operation is suppressed.

Preferably, in the hydraulic control unit 5, the charging valve 31 is switched to the closed state multiple times in the power line diagnosis, and the duration of the closing state of the charging valve 31 is different at some times than at other times. . The reliability of power line diagnosis can be improved while omitting the determination of whether the voltage V of the power line L1 is stable.

Preferably, in the hydraulic control unit 5, the diagnostic section 52c performs power line diagnosis based on the amount of voltage change in the power line L1 before and after the charging valve 31 switches between the open state and the closed state. Thereby, the power line diagnosis is performed based on the voltage change of the power line L1 when the current applied to the charging valve 31 changes with switching between the open state and the closed state of the charging valve 31. is appropriately realized.

Preferably, in the hydraulic control unit 5, the diagnostic unit 52c determines the amount of voltage change before and after the charging valve 31 switches from the open state to the closed state, and the amount of voltage change before and after the charging valve 31 switches from the closed state to the open state. Perform power line diagnosis based on . Thereby, the resistance value of the power supply line L1 can be evaluated in at least two ways for one pulse current. Therefore, the number of pulse currents generated during power line diagnosis can be reduced, and the time required for power line diagnosis can be shortened. However, the diagnostic unit 52c determines, with respect to at least one pulse current, the amount of voltage change before and after the charging valve 31 switches from the open state to the closed state, and the voltage change before and after the charging valve 31 switches from the closed state to the open state. Power line diagnostics may also be performed without being based on one of the quantities.

Preferably, the brake system 10 includes the hydraulic pressure control unit 5, and in the brake system 10, the number of wheel cylinders 24 communicating with one master cylinder 21 is one. In the first example of power line diagnosis, the charging valve 31 switches between the open state and the closed state even while a plurality of pulse currents are occurring. Therefore, it is possible to create a state in which the charging valve 31 is in an open state while a plurality of pulse currents are being generated. Therefore, in the power line diagnosis, it is possible to increase the hydraulic pressure of the brake fluid in the wheel cylinder 24 of the wheel cylinder 24 of the braking mechanism (in the above example, the rear wheel braking mechanism 14) to which the charging valve 31 to which current is applied belongs, by the rider's brake operation. Situations where this is not possible will be suppressed.

Next, effects related to the second example of power line diagnosis will be explained.

In the hydraulic control unit 5, the control device 52 controls the voltage change of the power line L1 when changing the current applied from the power source B1 to the solenoid valve (in the above example, the charging valve 31) via the power line L1. The diagnosis unit 52c includes a diagnosis unit 52c that performs a power line diagnosis to diagnose an abnormality in the power line L1 based on the power supply line L1, and the diagnosis unit 52c performs a power line diagnosis in which the current value C of the current applied to the solenoid valve is a first current value. C1, a second current value C2 that is larger than the first current value C1, and a third current value C3 that is smaller than the second current value C2. A first resistance value evaluation is performed to evaluate the resistance value of the power supply line L1 based on the amount of voltage change in the power supply line L1 before and after the current value changes from the first current value C1 to the second current value C2. A second resistance value evaluation is performed to evaluate the resistance value of the power supply line L1 based on the amount of voltage change before and after the value C changes from the second current value C2 to the third current value C3, and the first resistance value evaluation and the first resistance value evaluation are performed. Based on the results of the two resistance value evaluations, an abnormality in the power supply line L1 is diagnosed, and in at least one of the first resistance value evaluation and the second resistance value evaluation, a plurality of The voltage change amount is acquired, and the resistance value is evaluated in multiple ways. Thereby, many resistance values can be evaluated using one pulse current P. Therefore, it is not necessary to generate the pulse current P multiple times in the power line diagnosis, so the time required for the power line diagnosis can be shortened. Therefore, abnormalities in the power supply line L1 can be appropriately diagnosed.

Preferably, in the hydraulic control unit 5, the diagnostic section 52c performs the power line diagnosis when it is determined that the voltage V of the power line L1 is stable. Thereby, the reliability of power line diagnosis can be improved.

Preferably, in the hydraulic pressure control unit 5, the diagnostic unit 52c performs the first resistance value evaluation on the first resistance value, which is the voltage V of the power supply line L1 obtained when the current value C is the first current value C1. The amount of voltage change is acquired based on the voltage V1 and the second voltage V2, which is the voltage V of the power supply line L1 acquired when the current value C is the second current value C2, and the second resistance value is determined. In the evaluation, the amount of voltage change is obtained based on the second voltage V2 and the third voltage V3, which is the voltage V of the power supply line L1 obtained when the current value C is the third current value C3. . Thereby, it is possible to appropriately perform the first resistance value evaluation and the second resistance value evaluation.

Preferably, in the hydraulic control unit 5, the acquisition timing of the second voltage V2 is biased toward the latter half of the period in which the current value C is the second current value C2 in the pulse current P, rather than the first half. This suppresses the falling voltage V from being acquired as the second voltage V2, thereby improving the reliability of the first resistance value evaluation and the second resistance value evaluation.

Preferably, in the hydraulic control unit 5, there are multiple acquisition timings of the second voltage V2, and the diagnostic unit 52c determines the acquisition timing by comparing the weight of the resistance value evaluation using the second voltage V2, which has an earlier acquisition timing. The weight of the resistance value evaluation using the second voltage V2, which is slow, is increased. As a result, the reliability of the first resistance value evaluation and the second resistance value evaluation can be increased because the weight of the resistance value evaluation using the second voltage V2, which is less likely to be the falling voltage V, can be increased. improves.

Preferably, in the hydraulic control unit 5, the acquisition timing of the third voltage V3 is a timing at which a reference time or more has elapsed from the transition timing from the second current value C2 to the third current value C3. This suppresses the rising voltage V from being acquired as the third voltage V3, thereby improving the reliability of the second resistance value evaluation.

Preferably, in the hydraulic control unit 5, there are multiple acquisition timings of the third voltage V3, and the diagnostic unit 52c determines the acquisition timing by comparing the weight of resistance value evaluation using the third voltage V3, which has an earlier acquisition timing. The weight of the resistance value evaluation using the third voltage V3, which is slow, is increased. Thereby, it is possible to increase the weight of resistance value evaluation using the third voltage V3, which is less likely to be the rising voltage V, so that the reliability of the second resistance value evaluation is improved.

Preferably, in the hydraulic control unit 5, there are a plurality of acquisition timings of the first voltage V1, the second voltage V2, and the third voltage V3, and the time intervals of the acquisition timings of the second voltage V2 are different from the first voltage V1 and the third voltage V3. This is shorter than the time interval between the respective acquisition timings of the third voltage V3. Thereby, for example, in the above example, the period during which the charging valve 31 is in the closed state can be shortened. Therefore, in the power line diagnosis, it is possible to increase the hydraulic pressure of the brake fluid in the wheel cylinder 24 of the wheel cylinder 24 of the braking mechanism (in the above example, the rear wheel braking mechanism 14) to which the charging valve 31 to which current is applied belongs, by the rider's brake operation. Situations where this is not possible will be suppressed.

Preferably, in the hydraulic control unit 5, there are a plurality of acquisition timings for each of the first voltage V1, the second voltage V2, and the third voltage V3, and the number of acquisition timings for the second voltage V2 is greater than the number of acquisition timings for the first voltage V1 and the third voltage V3. The number is smaller than the number of acquisition timings for each of the three voltages V3. Thereby, for example, in the above example, the period during which the charging valve 31 is in the closed state can be shortened. Therefore, in the power line diagnosis, it is possible to increase the hydraulic pressure of the brake fluid in the wheel cylinder 24 of the wheel cylinder 24 of the braking mechanism (in the above example, the rear wheel braking mechanism 14) to which the charging valve 31 to which current is applied belongs, by the rider's brake operation. Situations where this is not possible will be suppressed.

Preferably, in the hydraulic control unit 5, the open/close state of the electromagnetic valve (in the above example, the charging valve 31) is switched between the open state and the closed state in response to the generation of the pulse current P. As a result, the period during which the charging valve 31 is in the closed state can be shortened, for example, compared to a case where the open/closed state of the charging valve 31 is not switched between the open state and the closed state in response to the generation of the pulse current P. . Therefore, in the power line diagnosis, it is possible to increase the hydraulic pressure of the brake fluid in the wheel cylinder 24 of the brake mechanism (in the above example, the rear wheel brake mechanism 14) to which the charge valve 31 to which current is applied belongs by the rider's brake operation. Situations where this is not possible will be suppressed.

Preferably, in the hydraulic control unit 5, the vehicle 100 is a saddle type vehicle. Thereby, when the hydraulic control unit 5 is mounted on a saddle-ride type vehicle, it is possible to appropriately diagnose an abnormality in the power supply line L1.

The present invention is not limited to the description of the embodiments. For example, only a portion of an embodiment may be implemented.

For example, the first example and the second example of the power line diagnosis described above may be employed in combination. For example, in at least one of the first resistance value evaluation and the second resistance value evaluation performed for at least one pulse current in the first example of the power line diagnosis, at least one of the start time and the end time of the voltage change is different from each other. A plurality of different amounts of voltage change may be acquired, and the resistance value may be evaluated in a plurality of ways.

1 Body, 2 Handle, 3 Front wheel, 3a Rotor, 4 Rear wheel, 4a Rotor, 5 Hydraulic pressure control unit, 6 Notification device, 10 Brake system, 11 First brake operation section, 12 Front wheel braking mechanism, 13 Second brake operation Part, 14 Rear wheel braking mechanism, 21 Master cylinder, 22 Reservoir, 23 Brake caliper, 24 Wheel cylinder, 25 Main flow path, 26 Sub flow path, 31 Filling valve, 32 Release valve, 33 Accumulator, 34 Pump, 35 Switching element , 41 front wheel speed sensor, 42 rear wheel speed sensor, 43 voltage sensor, 51 hydraulic control mechanism, 51a base, 52 control device, 52a acquisition section, 52b control section, 52c diagnosis section, 100 vehicle, B1 power supply, C Current value, C1 first current value, C2 second current value, C3 third current value, Cmax maximum value, Cmid intermediate value, Cmin minimum value, L1 power line, P pulse current, P1 pulse current, P2 pulse current, P3 Pulse current, P4 pulse current, P11 pulse current, P12 pulse current, P13 pulse current, P14 pulse current, V voltage, V1 first voltage, V2 second voltage, V3 third voltage.

Claims (12)

A hydraulic pressure control unit (5) used in a brake system (10) of a vehicle (100),
a hydraulic pressure control mechanism (51) that is electrically connected to a power source (B1) via a power line (L1) and includes electromagnetic valves (31, 32) that control hydraulic pressure generated in the wheel cylinder (24);
a control device (52) that controls the operation of the hydraulic pressure control mechanism (51);
Equipped with
The control device (52) controls the voltage of the power line (L1) when changing the current applied to the solenoid valve (31, 32) from the power source (B1) via the power line (L1). A diagnostic unit (52c) that performs a power line diagnosis to diagnose an abnormality in the power line (L1) based on a change,
The diagnosis unit (52c) performs the power line diagnosis,
A current value (C) of the current applied to the electromagnetic valve (31, 32) is a first current value (C1), a second current value (C2) larger than the first current value (C1), and a second current value (C2) larger than the first current value (C1). Generating one rectangular wave-like pulse current (P) that changes in the order of a third current value (C3) smaller than the current value (C2),
Based on the amount of voltage change in the power supply line (L1) before and after the current value (C) changes from the first current value (C1) to the second current value (C2) in the pulse current (P), Performing a first resistance value evaluation to evaluate the resistance value of the power supply line (L1),
The resistance value is evaluated based on the voltage change amount before and after the current value (C) changes from the second current value (C2) to the third current value (C3) in the pulse current (P). Perform a second resistance value evaluation,
Diagnosing an abnormality in the power supply line (L1) based on the results of the first resistance value evaluation and the second resistance value evaluation,
In at least one of the first resistance value evaluation and the second resistance value evaluation, a plurality of voltage change amounts are obtained in which at least one of a voltage change start point and an end point is different from each other, and the plurality of resistance value evaluations are performed. held on the street,
Hydraulic pressure control unit. The diagnosis unit (52c) performs the power line diagnosis when it is determined that the voltage (V) of the power line (L1) is stable.
The hydraulic control unit according to claim 1. The diagnosis section (52c) includes:
In the first resistance value evaluation, a first voltage (V1) that is a voltage (V) of the power supply line (L1) obtained when the current value (C) is the first current value (C1); ) and a second voltage (V2) that is the voltage (V) of the power supply line (L1) obtained when the current value (C) is the second current value (C2). , obtain the voltage change amount,
In the second resistance value evaluation, the second voltage (V2) and the voltage (L1) of the power line (L1) obtained when the current value (C) is the third current value (C3). obtaining the voltage change amount based on a third voltage (V3) that is V);
The hydraulic control unit according to claim 1. The acquisition timing of the second voltage (V2) is biased toward the latter half of the period in which the current value (C) is the second current value (C2) in the pulse current (P) rather than the first half. ,
The hydraulic control unit according to claim 3. There are multiple acquisition timings of the second voltage (V2),
The diagnostic unit (52c) evaluates the resistance value using the second voltage (V2) whose acquisition timing is later compared to the evaluation weight of the resistance value using the second voltage (V2) whose acquisition timing is earlier. give more weight to the evaluation of
The hydraulic control unit according to claim 3. The acquisition timing of the third voltage (V3) is a timing at which a reference time or more has elapsed from the transition timing from the second current value (C2) to the third current value (C3).
The hydraulic control unit according to claim 3. There are multiple acquisition timings of the third voltage (V3),
The diagnostic unit (52c) determines the resistance value using the third voltage (V3) whose acquisition timing is later compared to the evaluation weight of the resistance value using the third voltage (V3) whose acquisition timing is earlier. give more weight to the evaluation of
The hydraulic control unit according to claim 3. There are multiple acquisition timings for each of the first voltage (V1), the second voltage (V2), and the third voltage (V3),
The time interval between the acquisition timings of the second voltage (V2) is shorter than the time intervals between the acquisition timings of each of the first voltage (V1) and the third voltage (V3).
The hydraulic control unit according to claim 3. There are multiple acquisition timings for each of the first voltage (V1), the second voltage (V2), and the third voltage (V3),
The number of acquisition timings for the second voltage (V2) is smaller than the number of acquisition timings for each of the first voltage (V1) and the third voltage (V3).
The hydraulic control unit according to claim 3. The open/close state of the electromagnetic valve (31, 32) is switched between an open state and a closed state in accordance with the generation of the pulse current (P).
The hydraulic control unit according to any one of claims 1 to 9. The vehicle (100) is a saddle type vehicle,
The hydraulic control unit according to claim 1. A method for diagnosing a hydraulic control unit (5) used in a brake system (10) of a vehicle (100), comprising:
The hydraulic pressure control unit (5) includes:
a hydraulic pressure control mechanism (51) that is electrically connected to a power source (B1) via a power line (L1) and includes electromagnetic valves (31, 32) that control hydraulic pressure generated in the wheel cylinder (24);
a control device (52) that controls the operation of the hydraulic pressure control mechanism (51);
Equipped with
The power source when the diagnostic unit (52c) of the control device (52) changes the current applied to the solenoid valve (31, 32) from the power source (B1) via the power line (L1). Performing a power line diagnosis for diagnosing an abnormality in the power line (L1) based on a voltage change in the line (L1),
The diagnosis unit (52c) performs the power line diagnosis,
A current value (C) of the current applied to the electromagnetic valve (31, 32) is a first current value (C1), a second current value (C2) larger than the first current value (C1), and a second current value (C2) larger than the first current value (C1). Generating one rectangular wave-like pulse current (P) that changes in the order of a third current value (C3) smaller than the current value (C2),
Based on the amount of voltage change in the power supply line (L1) before and after the current value (C) changes from the first current value (C1) to the second current value (C2) in the pulse current (P), Performing a first resistance value evaluation to evaluate the resistance value of the power supply line,
The resistance value is evaluated based on the voltage change amount before and after the current value (C) changes from the second current value (C2) to the third current value (C3) in the pulse current (P). Perform a second resistance value evaluation,
Diagnosing an abnormality in the power supply line (L1) based on the results of the first resistance value evaluation and the second resistance value evaluation,
In at least one of the first resistance value evaluation and the second resistance value evaluation, a plurality of voltage change amounts are obtained in which at least one of a voltage change start time and an end time is different from each other, and a plurality of resistance value evaluations are performed. held on the street,
Diagnostic method.

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