JP3473180B2 - Anti-lock control device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle anti-lock control device, and more particularly to calculating an estimated vehicle body speed so that unnecessary ABS control is not performed when noise or the like is superimposed on a wheel speed sensor. The present invention relates to an antilock control device.

[0002]

2. Description of the Related Art A conventional antilock control device calculates a wheel speed and a wheel deceleration of each wheel from each signal indicating the wheel speed from a wheel speed sensor provided for each wheel. Further, an estimated vehicle body speed is calculated from the wheel speed of each wheel, the wheel state such as a wheel lock is detected from the wheel speed, each wheel deceleration, and the estimated vehicle body speed, and each wheel state is detected according to the state of the wheel. By adjusting the brake fluid pressure of the wheels, it is intended to ensure the steerability and running stability of the vehicle and shorten the braking distance. However, if noise is superimposed on the signal from the wheel speed sensor for some reason, the wheel speed cannot be calculated accurately, and the accuracy of ABS control deteriorates.

In order to solve the above problem, Japanese Patent Publication No. 5-53674 discloses that when an abnormal wheel speed is detected, the wheel speed and the wheel deceleration of the wheel in which the abnormal wheel speed is detected are detected in the control cycle. There is disclosed a vehicle control device that attempts to prevent unnecessary reduction of brake fluid pressure by replacing the speed with a value obtained in the previous control cycle.

[0004]

FIG. 15 shows wheel speeds and estimated vehicle body speeds when the vehicle control device disclosed in Japanese Patent Publication No. 5-53674 is used, and when the device is not used. 3 is a diagram showing a wheel speed in FIG. 4 and an estimated vehicle body speed when noise is not superimposed on the wheel speed.

In FIG. 15, the solid line is the Japanese Patent Publication No. 5-536.
When the vehicle control device disclosed in Japanese Patent Laid-Open No. 74 is not used, the wheel speed on which noise is superimposed (indicated as an actual wheel speed in the figure) is shown, and a chain double-dashed line indicates a case where the vehicle control device is used. The wheel speed when noise continues to be superimposed is shown. Also, the one-dot chain line shows the estimated vehicle body speed (in the figure, referred to as the actual estimated vehicle body speed) when noise is not superimposed on the wheel speed, and the broken line uses the vehicle control device disclosed in Japanese Patent Publication No. 5-53674. The estimated vehicle body speed when noise continues to be superimposed on the wheel speed in the case of

As shown in FIG. 15, in the vehicle control device disclosed in the above publication, when noise continues to be superimposed on the wheel speed sensor, the estimated vehicle body speed is in the case where noise is not superimposed on the wheel speed. Since the vehicle speed will eventually become higher than the estimated actual vehicle speed, unnecessary brake fluid pressure will be reduced, resulting in a decrease in vehicle deceleration.

The present invention prevents deterioration of the accuracy of ABS control when noise is superimposed on the signal from the wheel speed sensor, and unnecessary reduction of the brake fluid pressure occurs even when the noise continues to be superimposed. An object of the present invention is to obtain an anti-lock control device that can prevent a decrease in deceleration of a vehicle due to.

[0008]

SUMMARY OF THE INVENTION Therefore, the present invention provides
At least one wheel speed detecting means for detecting the speed of each wheel, wheel speed calculating means for calculating the wheel speed of the wheel from a signal from the wheel speed detecting means, and for each wheel calculated by the wheel speed calculating means In an anti-lock control device including an estimated vehicle body speed calculation means for calculating an estimated vehicle body speed from wheel speeds, an abnormality in the wheel speed of each wheel calculated by the wheel speed calculation means is detected, and an abnormality in the wheel speed is detected. If you, with respect to the estimated vehicle speed calculating means includes an abnormality detecting means for calculating an estimated vehicle speed in the present control cycle with the exception of the wheel speed of the wheel, the abnormal detection hand
Steps are calculated in this control cycle for the same wheel.
Wheel speed calculated is the wheel speed calculated in the previous control cycle
If the wheel becomes larger than the
Until the wheel speed is judged to be abnormal and the prescribed processing is performed .
The estimated vehicle speed calculation means calculates the wheel speed of the wheel.
Excluding the estimated vehicle speed in this control cycle
The present invention provides an antilock control device characterized by the above.

The present invention also detects the speed of each wheel.
At least one wheel speed detecting means, and the wheel speed detecting means
Wheel speed to calculate the wheel speed of the wheel from the signal from the means
Calculating means and each wheel calculated by the wheel speed calculating means
Estimate vehicle speed from wheel speed Calculate estimated vehicle speed
And an antilock control device including
Abnormal wheel speed of each wheel calculated by the wheel speed calculation means
If an abnormal wheel speed is detected,
For the speed calculation means, this time excluding the wheel speed of the wheel
Anomaly that calculates the estimated vehicle speed in the control cycle of the vehicle
The abnormality detecting means is provided on the same wheel.
The wheel speed calculated in this control cycle is
Greater than or equal to a predetermined value than the wheel speed calculated in the control cycle
Estimated vehicle speed for a predetermined time after detecting a threshold
Except for the wheel speed of the wheel, this control is applied to the calculation means.
Special feature is to calculate the estimated vehicle speed in the control cycle.
The present invention provides an anti-lock control device.

In the invention according to claim 3 of the present application, the abnormality detecting means according to claim 1 or 2 sends the estimated vehicle body speed to the estimated vehicle body speed calculating means.
Time excluding the wheel speed determined to be abnormal above when calculating
The wheel speed calculated in this control cycle and the previous
Set according to the deviation from the wheel speed calculated in the control cycle.
Characterized in that it constant.

In the invention according to claim 4 of the present application, the abnormality detecting means according to any one of claims 1 to 3 detects abnormality in wheel speed of the same wheel a predetermined number of times.
If it appears, it is determined that the wheel speed detection means is abnormal and
Prohibits ABS control of all wheels and returns to the specified level.
It is characterized in that the prohibition of the ABS control is not released until the processing is performed .

The present invention also detects the speed of each wheel.
At least one wheel speed detecting means, and the wheel speed detecting means
Wheel speed to calculate the wheel speed of the wheel from the signal from the means
Calculating means and each wheel calculated by the wheel speed calculating means
Estimate vehicle speed from wheel speed Calculate estimated vehicle speed
And an antilock control device including
Abnormal wheel speed of each wheel calculated by the wheel speed calculation means
If an abnormal wheel speed is detected,
For the speed calculation means, this time excluding the wheel speed of the wheel
Anomaly that calculates the estimated vehicle speed in the control cycle of the vehicle
The abnormality detecting means is provided on the same wheel.
The wheel speed calculated in this control cycle is
Greater than or equal to a predetermined value than the wheel speed calculated in the control cycle
After detecting a threshold, the wheel speed is
Predetermined with respect to the estimated vehicle speed calculated by the degree calculation means
The estimated vehicle speed calculation means until the value falls within the range
In addition, except for the wheel speed of the wheel,
Anti-characteristic that calculates the estimated vehicle speed
A lock control device is provided.

[0013] In the invention of claim 6 of the present claims, the abnormality detecting means according to claim 5, field detected Keru you to the same wheel wheel speed abnormality predetermined time
If it is judged that the wheel speed detection means is abnormal,
In addition to prohibiting the ABS control of the wheel, it also performs a predetermined recovery process.
Until then, the prohibition of the ABS control is not released .

[0014]

In the apparatus according to claim 1, the abnormality detecting means is calculated by the wheel speed calculating means.
Abnormal wheel speed is detected by detecting the abnormal wheel speed of each wheel.
Is detected, the estimated vehicle speed calculation means,
Excluding the wheel speed of the wheel
Calculate the estimated vehicle speed and use the same wheel to control this time.
The wheel speed calculated in the control cycle is the previous control cycle
When the wheel speed calculated by the above becomes greater than a predetermined value,
It is judged that the current wheel speed at the wheel is abnormal and
Until processing is performed, the estimated vehicle speed calculation means
Excluding the wheel speed of the wheel
Even if noise continues to be superimposed on the wheel speed sensor to calculate the estimated vehicle speed, the calculated estimated vehicle speed will be larger than the actual value when noise is not superimposed, reducing unnecessary brake fluid pressure. Can be prevented
In the anti-lock control device, the safety and reliability can be greatly improved.

Apparatus as claimed in claim 2
The abnormality detecting means is calculated by the wheel speed calculating means.
Abnormal wheel speed of each wheel is detected and the abnormal wheel speed is detected.
If detected, the estimated vehicle speed calculation means
Except for the wheel speed of the wheels,
Calculate the constant vehicle speed and control this time with the same wheel
The wheel speed calculated in the cycle is calculated in the previous control cycle.
Detected that it is greater than the calculated wheel speed by a predetermined value or more
After that, for a predetermined time, the estimated vehicle speed calculation means
Then, except for the wheel speed of the wheel,
Noise is calculated in order to calculate the estimated vehicle speed.
Even if it is superimposed on the sensor multiple times, the calculated estimated vehicle speed is noisy.
Is larger than the actual value when
To prevent unnecessary reduction of brake fluid pressure.
You can In addition, keep away from noise sources while the vehicle is running.
In the case of going back, noise is generated in the wheel speed sensor.
If the overlap is no longer present, immediately return to normal processing.
Safe and reliable in antilock control
It is possible to greatly improve the sex.

In the apparatus according to claim 3 of the invention, the abnormality detecting means according to claim 1 or 2
Calculates the estimated vehicle speed using the estimated vehicle speed calculation means.
The time excluding the wheel speed judged to be the above abnormality when taking out
The wheel speed calculated in this control cycle and the previous
Set according to the deviation from the wheel speed calculated in the control cycle.
Noise is superimposed on the wheel speed sensor multiple times
Also, if the calculated estimated vehicle speed does not include noise
Unnecessary brake fluid pressure
It is possible to prevent depressurization from occurring. In addition, the vehicle
When going away from noise sources while driving
And the noise no longer superimposes on the wheel speed sensor,
You can quickly return to normal processing, anti-lock system
Greatly improve the safety and reliability of your equipment
be able to.

In the apparatus according to claim 4 of the claims, the abnormality detecting means according to any one of claims 1 to 3 detects the wheel speed abnormality of the same wheel a predetermined number of times.
If so, it is determined that the wheel speed detection means is abnormal, and all
In addition to prohibiting the ABS control of all wheels,
Since the prohibition of the ABS control will not be released until
Wheel speed sensor and the sensor
The estimated estimated vehicle speed is normal due to a malfunction in the periphery of the
It becomes larger than the time value, and unnecessary brake fluid pressure reduction
Anti-lock with
Greatly improves safety and reliability of control devices
You can

Apparatus according to claim 5 of the appended claims
The abnormality detecting means is calculated by the wheel speed calculating means.
Abnormal wheel speed of each wheel is detected and the abnormal wheel speed is detected.
If detected, the estimated vehicle speed calculation means
Except for the wheel speed of the wheels,
Calculate the constant vehicle speed and control this time with the same wheel
The wheel speed calculated in the cycle is calculated in the previous control cycle.
Detected that it is greater than the calculated wheel speed by a predetermined value or more
After that, the wheel speed is calculated by the estimated vehicle speed calculation means.
To a value within a predetermined range for the estimated vehicle speed calculated by
Until the estimated vehicle speed calculation means
Estimated vehicle speed in this control cycle excluding speed
Noise is not superimposed on the wheel speed sensor to calculate
If it happens, you can quickly return to normal processing.
In both cases, even if noise continues to be superimposed on the wheel speed sensor, it can be calculated.
The estimated vehicle speed is
It becomes larger than the value and unnecessary reduction of brake fluid pressure occurs.
The anti-lock control device can prevent
And can greatly improve safety and reliability.
It

In the apparatus according to claim 6 of the present invention, the abnormality detecting means according to claim 5 is the same wheel.
If an abnormal wheel speed at
It is judged that the wheel speed detection means is abnormal, and all wheels
The ABS control is prohibited, and a predetermined recovery process is performed.
For in not release the prohibition of the ABS control, noise a car wheel
If it no longer overlaps with the speed sensor, immediately perform normal processing.
Can be returned to the
Even if you continue to fold it, noise will be superimposed on the calculated estimated vehicle speed.
Is larger than the actual value when it is not
It is possible to prevent the depressurization of the rake fluid pressure from occurring.
Great safety and reliability in chillock control
It is possible to improve.

[0020]

The present invention will now be described in detail with reference to the embodiments shown in the drawings. FIG. 1 is a schematic block diagram showing an embodiment of an antilock control device (hereinafter referred to as an ABS control device) of the present invention.

In FIG . 1, the ABS control device 1 includes a wheel speed sensor 2a, 2b, 2c, 2d provided on each wheel.
, Wheel speed and wheel deceleration calculation unit 3, and abnormality detection unit 4
And an estimated vehicle speed calculation unit 5, a wheel state detection unit 6, a hydraulic pressure control device drive unit 7, and a control prohibition unit 8. The wheel speed and wheel deceleration calculation unit 3 calculates the speed and deceleration of each wheel from the signals from the wheel speed sensors 2a, 2b, 2c, 2d, and the abnormality detection unit 4 determines the wheel speed and the wheel speed. An abnormal wheel speed is detected from the wheel speed calculated by the deceleration calculation unit 3.

[0022] The estimated vehicle speed calculating unit 5 calculates the estimated vehicle speed from the wheel speed and wheel deceleration wheel speed that was calculated is input via an abnormality detecting unit 4 in the calculating portion 3, the wheel state detecting unit 6 Detects a wheel lock and skid state from the wheel speed and wheel deceleration calculated by the wheel speed / wheel deceleration calculation unit 3 and the estimated vehicle body speed calculated by the estimated vehicle body speed calculation unit 5. Further, the hydraulic pressure control device drive unit 7 controls the drive of a hydraulic pressure control device 9 that increases / decreases or maintains the brake hydraulic pressure of each wheel, and the control prohibition unit 8 causes the abnormality detection unit 4 to detect the abnormality. When it is detected a predetermined number of times or more, the system down is performed to prohibit the ABS control for the hydraulic pressure control device drive unit 7. The system down is
It will not be canceled unless a predetermined process is performed.

The above wheel speed sensors 2a, 2b, 2c, 2
d is connected to the wheel speed and wheel deceleration calculation unit 3, respectively, and the wheel speed and wheel deceleration calculation unit 3 is connected to the abnormality detection unit 4 and the wheel state detection unit 6. The abnormality detection unit 4 is connected to the estimated vehicle body speed calculation unit 5 and the control prohibition unit 8, and the estimated vehicle body speed calculation unit 5 is connected to the wheel state detection unit 6. Further, the wheel state detection unit 6 is connected to the hydraulic pressure control device drive unit 7, the hydraulic pressure control device drive unit 7 is connected to the hydraulic pressure control device 9, and the control prohibition unit 8 is connected to the hydraulic pressure control device drive unit 7. Has been done. The wheel speed sensors 2a to
2d is wheel speed detecting means, wheel speed and wheel deceleration calculating section 3 is wheel speed calculating means, estimated vehicle speed calculating section 5 is estimated vehicle speed calculating means, and abnormality detecting section 4 and control prohibiting section 8 are detecting abnormality. Make a means.

[0024] In the configuration as described above will be described ABS control operation when there is no abnormality in the wheel speed of each wheel. The wheel speed and wheel deceleration calculation unit 3 waveform-processes each AC signal input from each of the wheel speed sensors 2a to 2d into a rectangular wave, and calculates the time between edges where the voltage of these rectangular waves changes. After each measurement, the speed of each wheel is calculated based on these, and the speed of each wheel is output to the abnormality detection unit 4 and the wheel state detection unit 6.

The abnormality detecting section 4 includes wheel speed sensors 2a to 2d.
It is checked whether the wheel speed and the wheel speed calculated by the wheel deceleration calculation unit 3 show an abnormal value due to the superposition of noise or the like on each input signal. If not, wheel speed and wheel deceleration calculation unit 3
The estimated vehicle body speed calculation unit 5 is caused to calculate the estimated vehicle body speed from each wheel speed input from. The estimated vehicle body speed calculation unit 5 outputs the calculated estimated vehicle body speed to the wheel state detection unit 6. Since the method of calculating the estimated vehicle body speed is well known, its explanation is omitted here.

[0026] Here, the abnormality detection unit 4, when detecting a wheel speed of the abnormal value, it is determined that an abnormality of the wheel speed sensors corresponding to the wheel speed occurs, the estimated vehicle speed calculating unit 5
On the other hand, the estimated vehicle body speed is calculated from the wheel speeds other than the abnormal wheel speed, and the estimated vehicle body speed calculation unit 5 outputs the calculated estimated vehicle body speed to the wheel state detection unit 6. Further, when the abnormality is detected on the same wheel a predetermined number of times or more, the abnormality detecting unit 4 commands the control prohibiting unit 8 to perform the system down, and the control prohibiting unit 8 controls the hydraulic pressure according to the command. The system drive unit 7 is caused to perform system down.

In the wheel state detecting section 6, for example, the difference between the wheel speed input from the wheel speed / wheel deceleration calculating section 3 and the estimated vehicle body speed input from the estimated vehicle body speed calculating section 5 is a constant value. If it exceeds, it is determined that the wheels are locked, and a pressure reducing signal for reducing the brake pressure of the wheels is output to the hydraulic pressure control device driving unit 7 to output the hydraulic pressure control device driving unit 7.
Causes the hydraulic pressure control device 9 to reduce the brake hydraulic pressure of the corresponding wheel.

When the difference between the wheel speed of the corresponding wheel and the estimated vehicle body speed becomes smaller than a certain value due to the reduction of the brake fluid pressure of the corresponding wheel, the wheel state detecting section 6 avoids the wheel lock. When it is determined that the brake pressure has been applied to the hydraulic pressure control device drive unit 7, the hydraulic pressure control device drive unit 7 outputs to the hydraulic pressure control device drive unit 7 a pressurization signal for increasing the brake pressure of the corresponding wheel. Re-pressurize fluid pressure.

Next, FIGS. 2 and 3 are a flowchart showing a first operation example in the embodiment of the apparatus of the present invention shown in FIG. 1, with reference to FIGS. 2 and 3, the apparatus of FIG. 1 In particular, a first operation example of the abnormality detection unit 4 will be described. In FIG. 2, the abnormality detecting unit 4 first clears the abnormality number counters FC1, FC2, FC3, and FC4, which count the number of times an abnormality is detected for each wheel, to 0 in step S1 as an initial setting, and then in step S2. The abnormality flags F1, F2, F3, and F4, which are flags indicating the abnormality of the wheel speed sensor for which the abnormal wheel speed has been calculated, are reset and cleared. Next, in step S3, the index provided for each wheel is counted, and the index counter i used for determining whether or not the processing has been completed for all four wheels is set to 1, and the process proceeds to step S4. move on.

In step S4, the abnormality detector 4 detects the wheel speed of the wheel corresponding to the counter value set in the index counter i, for example, when the counter value 1 indicates the right front wheel, the wheel speed sensor 2a for the right front wheel. Wheel speed SPEED1 in the previous control cycle calculated from the signal from the wheel speed LSSPEED1 of the front right wheel in the previous control cycle
Then, in step S5, the wheel speed of the right front wheel calculated in this control cycle is set to SPEED1, and then in step S6,
Increment the index counter i.

Next, in step S7, the abnormality detection unit 4 checks whether the value of the index counter i is 5, the current value of the index counter i is not the 5 (NO), returns to step S4 , If the counter value of the index counter i is 5, (YE
S), and proceed to step S8. In the embodiment of the present invention, the subscript i indicates the counter value of the index counter i.

The abnormality detecting section 4 initializes the fastest wheel speed VH among the wheel speeds of the respective wheels to 0 in step S8, sets the index counter i to 1 in step S9, and then in step S10. , A value ΔSPEEDi obtained by subtracting the wheel speed LSSPEEDi in the previous control cycle from the wheel speed SPEEDi in the current control cycle is calculated, and it is checked whether or not the ΔSPEEDi is less than the predetermined value a. (YES), the process proceeds to step S11. If the value is equal to or more than the predetermined value a in step S10 (NO), the abnormality flag Fi indicating that the wheel speed SPEEDi is abnormal is set in step S12, and then in step S13, the counter value of the abnormality number counter FCi is incremented. Then, the process proceeds to step S11. The predetermined value a is a value of the wheel speed that changes during one control cycle that is usually considered, and for example, one control cycle is 8 msec.
In the case of, it is 10 to 15 km / h.

In step S11, the abnormality detecting unit 4 checks whether or not the counter value of the abnormality number counter FCi is less than the predetermined value α, and if it is more than the predetermined value α (NO),
In step S14, the system down flag (hereinafter referred to as SD flag) FSD is set, and in response to the setting of the SD flag FSD, the control prohibiting unit 8 instructs the hydraulic pressure control device driving unit 7 to perform all operations. This flow is terminated by causing the system down to prohibit the ABS control of the wheels of. Also,
If the counter value is less than the predetermined value α in step S11 (YES), the abnormality detection unit 4 executes step S1 in FIG.
Go to 5.

The abnormality detector 4 checks in step S15 of FIG. 3 whether the abnormality flag Fi has been reset and cleared. If the abnormality flag Fi has been cleared (YES), in step S16, It is checked whether or not the fastest wheel speed VH at the present time is less than the current wheel speed SPEEDi, and the fastest wheel speed VH at the present time.
Is less than the current wheel speed SPEEDi (YES), the process proceeds to step S17, where the wheel speed SPEE
Let Di be the fastest wheel speed VH and proceed to step S18. If the abnormality flag Fi is not cleared in step S15 (NO), or the fastest wheel speed VH at the present time is the current wheel speed SPEEDi in step S16.
When it is above (NO), the process proceeds to step S18.

The abnormality detecting section 4 operates in step S18 of FIG.
Then, the index counter i is incremented, and in step S19, it is checked whether or not the counter value of the index counter i is 5, and if the counter value of the index counter i is not 5 (NO), the process returns to step S10 of FIG. If the counter value of the index counter i is 5 (YES), the process proceeds to step S20.

In step S20, the estimated vehicle speed calculator 5
Is the fastest wheel speed VH set by the abnormality detection unit 4.
The estimated vehicle body speed is calculated based on, and the estimated vehicle body speed is output to the wheel state detection unit 6. Next, in step S21, the wheel state detection unit 6 sets the index counter i to 1 in step S21, and in step S22, reduces the brake fluid pressure to the wheel corresponding to the counter value of the index counter i. Judge whether the judgment is established,
If the pressure reduction determination is satisfied (YES), the process proceeds to step S23.

In step S23, the wheel state detection unit 6 instructs the hydraulic pressure control device drive unit 7 to perform the index counter i.
The brake fluid pressure reduction speed at the wheel corresponding to the counter value of is set, and the process proceeds to step S24. If it is determined in step S22 that the pressure reduction determination is not established (NO), the process proceeds to step S25 and step S25.
In 25, the wheel state detection unit 6 sets the brake fluid pressure pressurization speed for the wheel corresponding to the counter value of the index counter i to the hydraulic pressure control device drive unit 7, and proceeds to step S24.

Next, the wheel state detecting unit 6, the step S2
In step 4, the counter value of the index counter i is incremented, the process proceeds to step S26, and step S26
Then, it is checked whether or not the counter value of the index counter i is 5, and if the counter value is 5 (YES), the process proceeds to step S27, and if the counter value is not 5 (N
O), that is, if the counter value is less than 5, step S
Return to 22. In step S27, the hydraulic pressure controller drive unit 7
Causes the hydraulic pressure control device 9 to increase / decrease or maintain the brake hydraulic pressure of each wheel in accordance with the set pressure increasing / decreasing speed, and then returns to step S3 in FIG.

FIG . 4 shows the first operation example of this embodiment.
FIG. 5 is a diagram showing the relationship between the wheel speed SPEEDi, the estimated vehicle body speed, and the abnormality flag Fi, and FIG. 5 shows the wheel speed SPEEDi, the estimated vehicle body speed, the counter value of the abnormality number counter FCi, and It is a figure showing the relation of SD flag FSD. In the first operation example of the present embodiment, as shown in FIG. 4, when noise is superimposed on the wheel speed sensor and the wheel speed calculated from the signal of the wheel speed sensor is, for example, one control cycle is 8 msec, one control cycle is used. 10 to 15 km / h
If a sudden rise that cannot be considered normally is shown, such as the above rise, the abnormality is detected and an abnormality flag is set to indicate the wheel speed abnormality.

[0040] Further, by excluding the wheel speed calculated from the wheel speed sensor of the wheel indicated by the abnormal flag from the calculation of the estimated vehicle speed, calculates the estimated vehicle speed from the wheel speed of the remaining wheels which is calculated Even if noise continues to be superimposed on the wheel speed sensor, the estimated estimated vehicle speed will be larger than the actual value when noise is not superimposed, and unnecessary brake fluid pressure reduction will occur. Can be prevented.

Further , an abnormality occurs in the rotor of the wheel speed sensor or the peripheral portion of the sensor, and the wheel speed calculated from the signal of the wheel speed sensor suddenly increases in one control cycle, which is not normally considered. In such cases, the condition often occurs at regular intervals.

[0042] Therefore, as shown in FIG. 5, in the same wheel, the wheel speed calculated from the signals of the wheel speed sensor, when showing the sharp rise unthinkable in normal, and detects the abnormality, the abnormality When the detected number of times reaches a predetermined number, for example, 50 to 60 times, the SD flag is set, the system down for prohibiting the ABS control of all wheels is performed, and the system down is not released unless a predetermined process is performed. From this, not only external noise,
It is possible to prevent the calculated estimated vehicle body speed from becoming higher than the normal value and causing unnecessary reduction of the brake fluid pressure due to the failure of the wheel speed sensor and the peripheral portion of the sensor. As described above, in the ABS control device, it is possible to greatly improve safety and reliability.

Next, in the first operation example, when the wheel speed calculated from the signals of the wheel speed sensor detects a sharp rise unthinkable in normal in one control cycle, and sets the abnormality flag, then, Even when noise is no longer superimposed on the wheel speed sensor, the abnormality flag was still set, but the above abnormality flag is set only while noise is superimposed on the wheel speed sensor. The wheel speed calculated from the wheel speed sensor of the wheel may be excluded from the calculation of the estimated vehicle speed, and the estimated vehicle speed may be calculated from the calculated wheel speeds of the remaining wheels. The example of FIG. 2 is replaced with the flowchart of FIG. 6 and the example of FIG. 3 is replaced with the flowchart of FIG. 7 to make a second operation example in the embodiment of the present invention.

[0044] FIGS. 6 and 7 are a flowchart showing a second operation example in the embodiment of the apparatus of the present invention shown in FIG. 1, with reference to FIGS. 6 and 7, the apparatus of FIG. 1, in particular abnormal A second operation example of the detection unit 4 will be described. In FIGS. 6 and 7, the same flows as those in FIGS. 2 and 3 are denoted by the same reference numerals, and the description thereof will be omitted and only the differences from the flowcharts of FIGS. 2 and 3 will be described.

The difference from the FIG. 2 in FIG. 6, and was replaced with step S1 of FIG. 2 to the processing in step S30, step S11 in FIG. 2, there is no step S13 and step S14, and step S10 in FIG. 2 Step S
After twelve, the processes of steps S31 to S33 are performed. 7 is different from FIG. 3 in the case of NO in step S15 of FIG. 3, step S34, step S35 and step S1.
4 is performed.

In FIG . 6, the abnormality detecting section 4 first clears the abnormality timers TA1, TA2, TA3, and TA4 for measuring the time during which an abnormality is detected for each wheel to 0 in step S30. Proceeding to S2, the processing from step S2 to step S10 in FIG. 2 is performed. Further, in step S10, the abnormality detection unit 4 calculates a value ΔSPEEDi obtained by subtracting the wheel speed LSSPEEDi in the previous control cycle from the wheel speed SPEEDi in the present control cycle, and the ΔSPEEi is calculated.
It is checked whether Di is less than the predetermined value a, and if it is less than the predetermined value a (YES), the process proceeds to step S31. When the value is equal to or larger than the predetermined value a in step S10 (NO), the abnormality flag Fi indicating that the wheel speed SPEEDi is abnormal is set in step S12, and then the process proceeds to step S31.

In step S31, the abnormality detecting unit 4 calculates the wheel speed SPEEDi in the current control cycle by adding the predetermined value b to the estimated vehicle speed VREF calculated by the estimated vehicle speed calculating unit 5 in the previous control cycle. If it exceeds the value obtained by adding the predetermined value b to the estimated vehicle body speed VREF calculated in the previous control cycle (YES), the process proceeds to step S15 of FIG. In step S31, if the estimated vehicle speed VREF calculated in the previous control cycle is equal to or less than the value obtained by adding the predetermined value b (NO), the process proceeds to step S32, and the abnormality detection unit 4 causes the abnormality flag Fi in step S32. Is reset and cleared, and the measurement time ΔTAi of the abnormality timer TAi is determined in step S33.
After 0 is cleared, that is, after the counter value CTAi of the abnormality timer TAi is cleared to 0, the process proceeds to step S15 of FIG. When one control cycle time is e, the relationship of CTAi = ΔTAi / e holds in the counter value CTAi.

In FIG . 7, the abnormality detecting section 4 checks in step S15 whether the abnormality flag Fi has been reset and cleared. If the abnormality flag Fi has not been cleared (NO), the procedure goes to step S34. In step S34, the counter value CTAi of the abnormality timer TAi is incremented, and in step S35 the counter value CTAi is incremented.
Check whether the time ΔTAi indicated by is less than a predetermined value β,
If it is less than the predetermined value β (YES), the process proceeds to step S18. In step S35, if the predetermined value β or more (N
O), the process of step S14 is performed, and the present flow ends. In step S19, the index counter i
If the counter value of is not 5 (NO), the process returns to step S10 of FIG. Moreover, after performing the process of step S27, it returns to step S3 of FIG.

FIG . 8 shows the second operation example of this embodiment.
FIG. 9 is a diagram showing the relationship between the wheel speed SPEEDi, the estimated vehicle body speed, and the abnormality flag Fi, and FIG. 9 is the wheel speed SPEEDi, the estimated vehicle body speed, and the abnormality flag F in the second operation example of the present embodiment.
i, measurement time ΔTAi of abnormality timer TAi and SD flag FS
It is a figure showing the relation of D. In the second operation example, as shown in FIG. 8, noise is superimposed on the wheel speed sensor, and the wheel speed calculated from the signal of the wheel speed sensor is equal to the estimated vehicle speed calculated in the previous control cycle by a predetermined value b. Only when the value is equal to or more than the value obtained by adding, the abnormality flag is set to indicate the wheel speed abnormality. The above-mentioned predetermined value b is set to a value that shows a sudden increase that is not normally considered, for example, 10 to 15 km / h when one control cycle is 8 msec.

[0050] Furthermore, to set the abnormality flag only while the noise to the wheel speed sensor is superimposed, the abnormal flag is calculated from the signals from the wheel wheel speed sensor shown in the abnormal flag only for the duration of the set The wheel speed is excluded from the calculation of the estimated vehicle speed, and the estimated vehicle speed is calculated from the calculated wheel speeds of the remaining wheels. ,
It is possible to return to normal processing promptly, and even if noise continues to be superimposed on the wheel speed sensor, the calculated estimated vehicle body speed becomes larger than the actual value when noise is not superimposed, and unnecessary braking is performed. It is possible to prevent the liquid pressure from being reduced.

Further , as shown in FIG. 9, noise is superimposed on the wheel speed sensor, and the wheel speed calculated from the signal of the wheel speed sensor at the same wheel is predetermined to the estimated vehicle speed calculated in the previous control cycle, for example. A system for measuring the time in a state of being equal to or more than a value obtained by adding the value b, setting the SD flag when the measurement time ΔTAi becomes a predetermined value β or more, for example, 1 to 2 seconds or more, and prohibiting ABS control of all wheels. The system down is not canceled unless the system is down and a predetermined process is not performed. From this, not only external noise but also the failure of the wheel speed sensor and the peripheral portion of the sensor causes the calculated estimated vehicle body speed to be higher than the normal value, resulting in unnecessary reduction of the brake fluid pressure. Can be prevented. As described above, in the ABS control device,
Greatly improve safety and reliability.

Next, in the first operation example, when the wheel speed calculated from the signals of the wheel speed sensor detects a sharp rise unthinkable in normal in one control cycle, and sets the abnormality flag, then, Even when the noise is no longer superimposed on the wheel speed sensor, the abnormality flag remains set, but when noise is superimposed on the wheel speed sensor, the abnormality flag is set for a predetermined time and the abnormality flag is displayed. The wheel speed calculated from the wheel speed sensor of the wheel may be excluded from the calculation of the estimated vehicle speed, and the estimated vehicle speed may be calculated from the calculated wheel speeds of the remaining wheels. Examples 2 and 3 are shown in FIG.
0 and the flowchart of FIG. 11 will be replaced with the third operation example in the embodiment of the present invention.

[0053] FIGS. 10 and 11 are flowcharts showing a third operation example in the embodiment of the apparatus of the present invention shown in FIG. 1, with reference to FIGS. 10 and 11, the apparatus of FIG. 1,
In particular, a third operation example in the abnormality detection unit 4 will be described. 10 and 11, the same flows as those in FIGS. 2 and 3 are denoted by the same reference numerals, and the description thereof will be omitted here, and only the differences from the flowcharts of FIGS. 2 and 3 will be described.

[0054] The difference between FIGS. 2 and 3 in FIGS. 10 and 11, and to the addition processing in step S60 and step S61 between step S13 and step S11 in FIG. 2, step S11 in FIG. 2 And step S in FIG.
15 is that the processes of step S62 and step S63 have been added. Furthermore, the process of step S64 is added between step S17 and step S18 of FIG.

In FIG . 10, the abnormality detecting section 4 proceeds to step S60 after performing the processing of step S13, and in step S60, counts down the time when the abnormality flag is set for each wheel, and performs a countdown. Whether the current counter value CTBi in a timer TBi (not shown) having a counter is less than a predetermined value CT0, that is, whether the current measurement time ΔTBi of the timer TBi is less than the predetermined time T0. When the timer TBi starts counting down and the ΔTBi is less than the predetermined value T0 (YE
S), the process proceeds to step S61, the timer TBi is set to a predetermined value T0 in step S61, and the process proceeds to step S11. If the timer TBi is greater than or equal to the predetermined value T0 in step S60 (NO), the process proceeds to step S11. When one control cycle time is e, the relationship CTBi = ΔTBi / e holds in the counter value CTBi.

Further , the abnormality detecting section 4 operates in step S11.
Then, it is checked whether or not the counter value of the abnormality number counter FCi is less than the predetermined value α, and the counter value is determined to be the predetermined value α.
If it is less than (YES), the process proceeds to step S62, and the current time ΔTBi of the timer TBi is 0 in step S62.
It is checked whether or not the current time ΔTBi is not 0 (Y
ES), and proceeds to step S15 in FIG. Step S6
If the current time ΔTBi is 0 in 2 (NO), the abnormality flag Fi is reset and cleared in step S63, and the process proceeds to step S15 in FIG.

In FIG . 11, the abnormality detecting section 4 sets the wheel speed SPEEDi to the fastest wheel speed VH in step S17, then decrements the counter value CTBi of the timer TBi in step S64, and proceeds to step S18. .
If the abnormality flag Fi is not cleared in step S15 (NO), or if the fastest wheel speed VH at the present time is equal to or higher than the current wheel speed SPEEDi in step S16 (NO), the process proceeds to step S64.
If the counter value of the index counter i is not 5 in step S19 (NO), step S of FIG.
Return to 10. Also, after performing the process of step S27,
It returns to step S3 of FIG.

FIG . 12 is a diagram showing the relationship between the wheel speed SPEEDi, the estimated vehicle speed, the abnormality flag Fi and the time ΔTBi indicated by the counter value CTBi of the timer TBi in the third operation example of the present embodiment. When noise is superimposed on the wheel speed sensor for some reason, it is rare that the noise actually ends up only once, and in many cases noise of a level that does not lead to abnormality detection is superimposed multiple times. Therefore, in the third embodiment
In the operation example, as shown in FIG. 12, noise is superimposed on the wheel speed sensor, and the wheel speed calculated from the signal of the wheel speed sensor is
For example, when one control cycle is 8 msec, when one control cycle shows a sudden rise that is not considered normally, such as an increase of 10 to 15 km / h or more, the abnormality is detected and a predetermined time, for example, 50 ms. The abnormality flag is set for up to 300 ms to indicate the wheel speed abnormality.

[0059] Further, by excluding the wheel speed calculated from the wheel speed sensor of the wheel indicated by the abnormal flag from the calculation of the estimated vehicle speed, calculates the estimated vehicle speed from the wheel speed of the remaining wheels which is calculated It is something that is done. From this, even if noise is superimposed on the wheel speed sensor multiple times, the calculated estimated vehicle body speed becomes larger than the actual value when noise is not superimposed, and unnecessary brake fluid pressure reduction occurs. Can be prevented. In addition, when the vehicle moves away from noise sources while driving,
When the noise is no longer superimposed on the wheel speed sensor, it is possible to quickly return to the normal processing.

Further, as shown by the same FIG. 5 and the first operation example, the same wheels, when the wheel speed calculated from the signals of the wheel speed sensor showed a rapid rise not considered in the normal, the When an abnormality is detected and the number of times the abnormality is detected reaches a predetermined number, for example, 50 to 60 times, the SD flag is set, the system is down to prohibit the ABS control of all wheels, and the predetermined processing is not performed. As long as the system down is not released. From this, not only external noise but also the failure of the wheel speed sensor and the peripheral portion of the sensor causes the calculated estimated vehicle body speed to be higher than the normal value, resulting in unnecessary reduction of the brake fluid pressure. Can be prevented. As above, ABS
In the control device, the safety and reliability can be greatly improved.

Next, in the above-described third operation example, when the wheel speed calculated from the signals of the wheel speed sensor detects a sharp rise unthinkable in normal in one control cycle, a predetermined time, sets the abnormality flag Then, the wheel speed calculated from the wheel speed sensor of the wheel indicated by the abnormality flag is excluded from the calculation of the estimated vehicle speed, and the estimated vehicle speed is calculated from the calculated wheel speeds of the remaining wheels. However, the time for setting the abnormality flag may be set according to the magnitude of the noise superimposed on the wheel speed sensor, and FIG. 10 of the third operation example described above is replaced with the flowchart of FIG. The fourth operation example in FIG.

[0062] Figures 13 and 11 are flowcharts showing a fourth operation example in the embodiment of the apparatus of the present invention shown in FIG. 1, with reference to FIG. 13, the apparatus of FIG. 1, in particular abnormality detection unit 4 A fourth operation example in the above will be described. Note that in FIG. 13, the same flows as those in FIG. 10 are denoted by the same reference numerals, and the description thereof will be omitted and only the differences from the flowchart of FIG. 10 will be described. 13 is different from FIG. 10 in that the process of making the determination in step S60 of FIG. 10 is replaced with the process of making the determination in step S70.
Further, the process of step S61 in FIG. 7 is replaced with the process of step S71.

In FIG . 13, after performing the process of step S13, the abnormality detecting section 4 determines in step S70 that the current counter value CTBi of the timer TBi is equal to the ΔSPEEDi in the current control cycle, for example, 5 to 60. Set time Tk (Tk = k ×
ΔSPEEDi) is less than the counter value CTk, that is, the current measurement time ΔTBi of the timer TBi.
Is less than the above set time Tk, the timer TB
When i starts counting down and the measured time ΔTBi is less than the set time Tk (YES), the process proceeds to step S71,
In step S71, the measurement time ΔTBi is set to the set time Tk.
, And the process proceeds to step S11.

FIG . 14 shows the time ΔTBi indicated by the wheel speed SPEEDi, the estimated vehicle speed, the abnormality flag Fi and the counter value CTBi of the timer TBi in the fourth operation example of the present embodiment.
It is the figure which showed the relationship of. When noise is superimposed on the wheel speed sensor for some reason, it is rare that the noise actually ends up only once, and in many cases noise of a level that does not lead to abnormality detection is superimposed multiple times. In addition, the magnitude of each noise is often not constant. For example, for a noise source,
The noise superimposed on the wheel speed sensor gradually increases as the vehicle approaches, and the noise superimposed on the wheel speed sensor gradually decreases as the vehicle moves away.

[0065] Therefore, the fourth operation example of this embodiment,
As shown in FIG. 14, when noise is superimposed on the wheel speed sensor and the wheel speed calculated from the signal from the wheel speed sensor is, for example, 8 msec in one control cycle, 10 to 1 in one control cycle.
When a sudden rise that is not normally considered, such as an increase of 5 km / h or more, is detected, the abnormality is detected and the previous control cycle calculated from the signal data from the wheel speed sensor in which the abnormality is detected. The abnormality flag is set during the time Tk set in accordance with the difference between the wheel speed of No. 1 and the wheel speed in the present control cycle to indicate the abnormality of the wheel speed.

[0066] Further, by excluding the wheel speed calculated from the wheel speed sensor of the wheel indicated by the abnormal flag from the calculation of the estimated vehicle speed, calculates the estimated vehicle speed from the wheel speed of the remaining wheels which is calculated It is something that is done. From this, even if noise is superimposed on the wheel speed sensor multiple times, the calculated estimated vehicle body speed becomes larger than the actual value when noise is not superimposed, and unnecessary brake fluid pressure reduction occurs. Can be prevented. In addition, when the vehicle moves away from noise sources while driving,
When the noise is no longer superimposed on the wheel speed sensor, it is possible to quickly return to the normal processing.

[0067] Further, as shown by the same FIG. 5 and the first operation example, the same wheels, when the wheel speed calculated from the signals of the wheel speed sensor showed a rapid rise not considered in the normal, the When an abnormality is detected and the number of times the abnormality is detected reaches a predetermined number, for example, 50 to 60 times, the SD flag is set, the system is down to prohibit the ABS control of all wheels, and the predetermined processing is not performed. As long as the system down is not released. From this, not only external noise but also the failure of the wheel speed sensor and the peripheral portion of the sensor causes the calculated estimated vehicle body speed to be higher than the normal value, resulting in unnecessary reduction of the brake fluid pressure. Can be prevented. As above, ABS
In the control device, the safety and reliability can be greatly improved.

[0068] Thus, the present invention, have various variations, the scope of the present invention is not limited to the above embodiments, it is needless to say it should be determined by the appended claims .

[Brief description of drawings]

FIG. 1 is a schematic block diagram showing an embodiment of an antilock control device of the present invention.

FIG. 2 is a diagram showing a first half portion of a flowchart showing a first operation example in the embodiment of the apparatus of the present invention shown in FIG.

3 is a diagram showing the latter half of the flowchart showing the first operation example in the embodiment of the apparatus of the present invention shown in FIG. 1. FIG.

FIG. 4 is a wheel speed in a first operation example of the present embodiment,
It is a figure showing the relation between estimated vehicle speed and abnormality flag Fi.

FIG. 5 is a wheel speed in a first operation example of the present embodiment,
FIG. 6 is a diagram showing a relationship between an estimated vehicle speed, a counter value of an abnormal number counter FCi, and an SD flag FSD.

FIG. 6 is a diagram showing the first half of a flowchart showing a second operation example in the embodiment of the apparatus of the present invention shown in FIG. 1.

7 is a diagram showing the latter half of the flowchart showing the second operation example in the embodiment of the apparatus of the present invention shown in FIG.

FIG. 8 is a wheel speed in a second operation example of the present embodiment,
It is a figure showing the relation between estimated vehicle speed and abnormality flag Fi.

FIG. 9 is a wheel speed in a second operation example of the present embodiment,
FIG. 6 is a diagram showing a relationship among an estimated vehicle speed, an abnormality flag Fi, a measurement time ΔTAi of an abnormality timer TAi and an SD flag FSD.

FIG. 10 is a diagram showing a first half portion of a flowchart showing a third operation example in the embodiment of the apparatus of the present invention shown in FIG. 1.

11 is a diagram showing the latter half of the flowchart showing the third operation example in the embodiment of the apparatus of the present invention shown in FIG. 1. FIG.

FIG. 12 is a diagram showing a relationship among a wheel speed, an estimated vehicle body speed, an abnormality flag Fi, and a measurement time ΔTBi of a timer TBi in a third operation example of the present embodiment.

FIG. 13 is a diagram showing a first half portion of a flowchart showing a fourth operation example in the embodiment of the apparatus of the present invention shown in FIG. 1.

FIG. 14 is a diagram showing a relationship among a wheel speed, an estimated vehicle body speed, an abnormality flag Fi, and a measurement time ΔTBi of a timer TBi in a fourth operation example of the present embodiment.

FIG. 15 is an estimated vehicle speed when noise continues to be superimposed on a wheel speed sensor when a conventional device is used,
FIG. 7 is a diagram showing an estimated vehicle body speed when noise is not superimposed.

[Explanation of symbols]

1 ABS control device 2a, 2b, 2c, 2d Wheel speed sensor 3 Wheel speed and wheel deceleration calculator 4 Abnormality detector 5 Estimated vehicle speed calculator 6 Wheel condition detector 7 Hydraulic pressure controller drive unit 8 Control prohibition section 9 Hydraulic pressure control device

─────────────────────────────────────────────────── --- Continuation of the front page (56) Reference JP-A-7-172288 (JP, A) JP-A-6-24317 (JP, A) JP-A-8-127332 (JP, A) JP-A-5- 85387 (JP, A) JP 64-90860 (JP, A) JP 4-154466 (JP, A) Actually opened 62-197465 (JP, U) JP 4-154466 (JP, U) Japanese Patent Publication 5-53674 (JP, B2) (58) Fields surveyed (Int.Cl. ⁷ , DB name) B60T 8/92 B60T 8/58

Claims (6)

(57) [Claims] 1. At least one wheel speed detecting means for detecting a speed of each wheel, a wheel speed calculating means for calculating a wheel speed of a wheel from a signal from the wheel speed detecting means, and a wheel speed calculating means for calculating the wheel speed. In an antilock control device having an estimated vehicle body speed calculating means for calculating an estimated vehicle body speed from the wheel speeds of the respective wheels, an abnormality in the wheel speed of each wheel calculated by the wheel speed calculating means is detected. when detecting a speed abnormality, relative to the estimated vehicle speed calculating means, dividing physician wheel speed of the wheel
It includes an abnormality detecting means for calculating an estimated vehicle speed in the present control cycle Te, the abnormal detection means, in the same wheel, the current control site
Wheel speed calculated by the wheel is calculated by the previous control cycle
When the wheel speed exceeds the specified speed by a predetermined value or more, the wheel
In this case, the current wheel speed in
Until this is done, the estimated vehicle speed calculation means is
Estimated vehicle in this control cycle excluding wheel speed
An anti-lock control device characterized by calculating body speed . 2. At least one for detecting the speed of each wheel
Wheel speed detection means and a signal from the wheel speed detection means
Wheel speed calculating means for calculating the wheel speed of the wheel by
It is estimated from the wheel speed of each wheel calculated by the wheel speed calculation means.
Equipped with an estimated vehicle speed calculation means for calculating a constant vehicle speed
In the antilock control device, the wheel speed of each wheel calculated by the wheel speed calculation means is
If an abnormality is detected and the wheel speed is abnormal,
Excludes the wheel speed of the wheel from the constant vehicle speed calculation means.
To calculate the estimated vehicle speed in this control cycle.
The abnormality detection means is provided on the same wheel.
Wheel speed calculated by the wheel is calculated by the previous control cycle
It is detected that it is greater than the specified wheel speed by a predetermined value or more.
After that, for a predetermined time, with respect to the estimated vehicle speed calculation means,
Excluding the wheel speed of the wheel
Anti-lock, which is characterized by calculating the estimated vehicle speed
Control device. 3. The antilock control device according to claim 1 or 2 , wherein the abnormality detecting means comprises:
Calculate the estimated vehicle speed to the estimated vehicle speed calculation means
When removing the wheel speed,
The wheel speed calculated in one control cycle and the previous control
An anti-lock control device, which is set according to a deviation from a wheel speed calculated by an icicle. 4. The antilock control device according to any one of claims 1 to 3, wherein the abnormality detecting means comprises:
Abnormal wheel speed on the same wheel was detected a predetermined number of times
If the wheel speed detection means is abnormal,
In addition to prohibiting the ABS control of the wheels, perform a predetermined restoration process.
An antilock control device characterized in that the prohibition of the ABS control is not released until it is performed . 5. At least one for detecting the speed of each wheel
Wheel speed detection means and a signal from the wheel speed detection means
Wheel speed calculating means for calculating the wheel speed of the wheel by
It is estimated from the wheel speed of each wheel calculated by the wheel speed calculation means.
Equipped with an estimated vehicle speed calculation means for calculating a constant vehicle speed
In the antilock control device, the wheel speed of each wheel calculated by the wheel speed calculation means is
If an abnormality is detected and the wheel speed is abnormal,
Excludes the wheel speed of the wheel from the constant vehicle speed calculation means.
To calculate the estimated vehicle speed in this control cycle.
The abnormality detection means is provided on the same wheel.
Wheel speed calculated by the wheel is calculated by the previous control cycle
It is detected that it is greater than the specified wheel speed by a predetermined value or more.
Then, the wheel speed is calculated by the estimated vehicle speed calculation means.
It is a value within a predetermined range for the estimated estimated vehicle speed
Up to the estimated vehicle speed calculation means, the wheel speed of the wheel
The estimated vehicle speed in this control cycle is calculated excluding
An anti-lock control device characterized by being released . 6. in the anti-lock control device according to claim 5, the abnormality detecting means, contact Keru wheel speed in the same wheel
If an abnormality is detected for a predetermined time or more,
It is judged that the output means is abnormal, and ABS control of all wheels is prohibited.
The ABS control is performed until it is stopped and a predetermined restoration process is performed.
An anti-lock control device characterized by not releasing the prohibition of .