JPH0740827A - Abnormality detection device for anti-skid control device - Google Patents

Abstract

PURPOSE:To provide an abnormal channel judging means to judge that an abnormality occurs at a channel provided with a solenoid in which the minimum terminal potential is detected when the potential difference is a preset specified limit or more and detect the abnormality by limiting the channel where the abnormality occurs due to defect. CONSTITUTION:A battery check signal CBaff from a battery checker 22 is read, an AR check signal CAR is read, solenoid terminal potential VSOL.1 to VSOL.6 are read, and each channel is limited by an abnormality detecting processing to detect an abnormality. In the abnormality detection processing, when the state in which a potential difference DELTAV between the minimum terminal potential Vmin of the terminal potential VSOL.1 to VSOL.6 at solenoids 42a and 44a for each channel and the average value VAVE of the other terminal potential is continued for an expected time To or more, the minimum terminal potential channel Vmin.ch is outputted as solenoid abnormal signal F/S3VSOL.ch designated by the channel.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an abnormality detecting device for a vehicle anti-skid control device for controlling brake pressure during braking to prevent wheel lock.
In particular, an abnormality is detected in a plurality of channels of solenoid valves provided for controlling the hydraulic pressure supplied to the brakes of each wheel, and an abnormality in a drive circuit for driving the respective solenoids by limiting each channel. It is suitable for.

[0002]

2. Description of the Related Art Conventional anti-skid control devices (simply called A
Various types of BS) have been developed, but the basic structure is such that an inflow valve, an outflow valve, a pressure pump, etc. are provided between the wheel cylinder and the master cylinder provided in each wheel. The actuator provided is interposed, and by operating this actuator, the hydraulic fluid pressure acting on the wheel cylinder is increased or decreased, whereby the brake pressure,
That is, the braking force is controlled. At that time, the wheel speed and the vehicle speed are detected or calculated, the wheel speed or the vehicle speed for obtaining the slip ratio within the predetermined range is obtained from the both, and the braking force is set so as to achieve the wheel speed or the vehicle speed. Many of them are controlled to reliably prevent wheel lock while obtaining sufficient deceleration.

The inflow valve, the outflow valve, the pressurizing pump and the like provided in the actuator are controlled by signals from the controller. That is, the inflow valve and the outflow valve act as open / close valves by energizing or de-energizing the solenoid of the solenoid valve according to the signal from the controller. Further, in the pressurizing pump, the drive motor is driven to rotate or non-rotatably driven by a signal from the controller and acts as a pump.

On the other hand, the calculation of the wheel speed and the calculation of the braking force for achieving the target value are performed by a microcomputer today. The microcomputer outputs a control signal for the solenoid valve and the drive motor. Since this control signal is the same as the low voltage used in the microcomputer,
Each solenoid or drive motor cannot be directly driven only by the control signal. Therefore, an appropriate drive circuit (driver) is usually interposed between each solenoid or drive motor and the microcomputer. Most of these drivers are composed of amplifiers such as driving transistors that form a switching regulator. By turning on / off the amplified output side of the drivers with the control signal, a driving signal is output to each solenoid or driving motor. As described above, specifically, the supply voltage from the battery or the like is supplied.

By the way, in order to increase the speed of the computer for performing such arithmetic control and to demand finer control of the braking force, it is necessary to individually control the hydraulic fluid pressure to the wheel cylinders of each wheel of the vehicle. Accordingly, the number of actuators interposed between the wheel cylinder and the master cylinder is also increasing. Generally, this number of actuators is referred to as ABS control, but in reality, due to the need for fail-safe (failure compensation), as described above, each actuator has an outflow valve and an inflow valve. In many cases, they are installed side by side, and the switching regulators such as the driving transistors are connected to their respective solenoids, so the number of channels to be controlled is expressed by the number of solenoids provided in each on-off valve. To be done.

Since such an anti-skid control device for a vehicle controls the braking force related to important performance of the vehicle, it goes without saying that no abnormality is allowed. Therefore, the self-diagnosis function of this anti-skid control device is provided to diagnose the components and circuits, and when an abnormality is detected, the operation of the anti-skid control device is stopped and the occupant recognizes it by a warning light or the like. An anomaly detection device has been developed.

As a specific self-diagnosis method for constructing such an abnormality detecting device, for example, Japanese Patent Laid-Open No. 62-1
The one described in Japanese Patent No. 73366 is proposed.
In this self-diagnosis method, a series of test signals are generated to operate a switching regulator, the resulting state is detected, and a preset logical relationship is established between the state and the supplied test signal. The presence or absence of a fault is determined by detecting whether or not there is a fault. Specifically, by taking in the series of test signals and the potential of the solenoid drive circuit (transistor) connection side terminal,
A disconnection failure is detected depending on whether or not the timing of each test signal and the solenoid terminal potential state match, and a short circuit failure is detected in each solenoid terminal potential state, and a disconnection failure or short circuit of any solenoid or transistor is detected. When a failure abnormality is detected, an abnormality signal is output and the warning lamp is turned on to recognize the abnormality.

[0008]

However, in the self-diagnosis method and the abnormality detection device constructed based on the method, whichever one of a plurality of solenoids or driving transistors has a channel that fails. It is not possible to determine if it is abnormal. Therefore, in order to detect and repair the failure, the solenoids and transistors of all the channels must be diagnosed again, and the repair work becomes complicated and the cost increases accordingly.

On the other hand, the simplest method for determining which channel of the plurality of solenoids or driving transistors is defective and abnormal is to supply each solenoid to the corresponding solenoid. Create a state in which voltage is supplied and no voltage drop occurs between the terminals of the solenoid, or a state in which supply voltage is supplied and a predetermined voltage drop occurs between the terminals of the solenoid. It is possible to detect the voltage between the terminals of the solenoid in, and determine whether the solenoid or the driving transistor is normal or abnormal depending on whether the voltage between the terminals is in a predetermined state.

However, in the abnormality detecting device based on this self-diagnosis method, since the connection points with both terminals of each solenoid are required, the number of harnesses used at each connection point increases, and the volume of the entire device increases. Is getting bigger,
There is a problem of high cost. The present invention has been developed in view of these problems, and reduces the number of harnesses used by reducing the number of connection points with solenoids, transistors, etc., thereby reducing costs and accommodating failures. An object of the present invention is to provide an anomaly detection device for an anti-skid control device that can detect an anomaly by limiting channels in which an anomaly has occurred.

[0011]

As shown in the conceptual diagram of FIG. 1, an abnormality detection device for an anti-skid control device according to the present invention controls the brake pressure during braking to prevent the wheel lock state from occurring. In addition, each of the plurality of channels for controlling the hydraulic fluid pressure supplied to the wheel cylinder is provided with an electromagnetic valve, and a solenoid provided in each solenoid valve is connected to a drive circuit on a predetermined terminal side. An abnormality detection device for an anti-skid control device that has a configuration for controlling an electromagnetic valve by controlling, and determines which of these channels has an abnormality, wherein the drive circuit is in a predetermined state. Solenoid terminal potential detection means for detecting the drive circuit side terminal potential of the solenoid for each of the channels, and these solenoid terminals detected by the solenoid terminal potential detection means. Out of the terminal potentials, the potential difference calculation means for calculating the potential difference between the smallest terminal potential and the average value of the other terminal potentials, and the potential difference calculated by the potential difference calculation means is equal to or greater than a preset predetermined value. At this time, an abnormal channel determining means for determining that an abnormality has occurred in the channel having the solenoid in which the smallest terminal potential is detected is provided.

The predetermined state of the drive circuit means that, for example, as described above, the supply voltage is supplied to the solenoid in the corresponding normal state by each drive transistor, and a voltage drop occurs between the terminals of the solenoid. Or not
Alternatively, the state in which the drive circuit connection side terminal potential of the solenoid can be detected is set as in the state in which the supply voltage is supplied and a predetermined voltage drop occurs between the terminals of the solenoid.

[0013]

In the abnormality detecting device of the anti-skid control device of the present invention, as shown in the conceptual diagram of FIG. 1, for example, the supply voltage is supplied to the corresponding solenoid by the driving transistor provided in each drive circuit, and the solenoid concerned. The voltage at the solenoid drive circuit connection side is set to the value as in the state in which there is no voltage drop between the terminals of the solenoid or in the state in which the supply voltage is supplied and a predetermined voltage drop occurs between the terminals of the solenoid. In a predetermined state of the detectable drive circuit, the drive circuit connection side terminal potential of the solenoid provided in each of the plurality of channels is detected by the solenoid terminal potential detection means, and the minimum terminal potential of these solenoid terminal potentials is detected. And a potential difference from the average value of the other terminal potentials are calculated by the potential difference calculation means, and this potential difference is equal to or greater than a predetermined value set in advance. To come, for the smallest of the solenoid terminal potential was determined configuration abnormal channel determining means that abnormal channel detected has occurred,
In the channel with the minimum terminal potential that is lower than the average value of the terminal potential by a predetermined value or more, the solenoid may have an abnormal current leakage, a short circuit, a ground fault, or a malfunction of each driving transistor may cause the predetermined voltage. Since it is determined that a state in which there is no voltage drop has occurred, only the solenoid or drive transistor of the channel needs to be checked during repair work. Further, in this abnormality detecting device, since the connection point with the solenoid of each channel is only one, the harness used may be the total number of channels.

[0014]

2 to 7 show an embodiment of an anti-skid control device using the abnormality detecting device of the present invention.
Here, it is assumed that the content of the control relating to the prevention of wheel lock of the vehicle anti-skid control device is well known.
Only the self-diagnosis, particularly fail-safe control for detecting abnormalities of solenoids of solenoid valves of a plurality of channels provided as actuators and drive transistors provided in a drive circuit thereof by limiting channels will be described in detail.

First, FIG. 2 briefly shows the overall structure of the antiskid control device. Reference numeral 2 denotes a disc brake device mounted on the vehicle, 4 denotes an anti-skid control device for front wheel independent rear wheel collective control for the brake device, and 5 denotes a battery mounted on the vehicle. The brake device 2 includes a brake pedal 6, a master cylinder 8 and a front left side.
Wheel cylinders 10FL to 1 for rear right wheels 9FL to 9RR
It has 0RR.

The anti-skid control device 4 is a wheel speed sensor 11FL to 11RR for detecting a wheel rotation condition.
An ABS warning lamp 12 for warning the abnormality of the anti-skid control device, a controller 15 for instructing anti-skid control during braking based on the detection values from the wheel speed sensors 11FL to 11RR, and a control signal output from this controller. Among the wheel cylinders, the actuators 16FL to 16R which individually adjust the hydraulic pressures of the wheel cylinders 10FL and 10FR on both sides of the front wheel and collectively adjust the hydraulic pressures of the wheel cylinders 10RL and 10RR on both sides of the rear wheel, respectively.
And a control signal from the controller 15 to check the actuator relay 3 for supplying the supply voltage from the battery 5 to each of the actuators 16FL to 16R during the ABS control operation in which no failure is detected, and the operation of the actuator relay 3 The AR sensor 7 is included.

The wheel speed sensors 11FL to 11RR are electromagnetic pickups provided at predetermined positions of the wheels 9FL to 9RR, and each output a sine wave AC voltage signal having a frequency proportional to the rotation speed of each wheel. Further, the ABS warning light 12 is provided, for example, on an instrument panel or the like, and is lighted by a lighting signal W / L from the controller 15 when an abnormality is detected in the anti-skid control device, and thereby the occupant is informed. And let the anti-skid controller recognize that there is something wrong. Further, the actuator relay 3 is turned on by the control signal S _AR from the controller 15 when no failure is detected and antiskid control is possible, and the supply voltage from the battery 5 is supplied to the actuators 16FL to 16R. Drive signals S _AV , S according to a control signal from the controller 15
_Supplied as _EV and S _MR . Further, the AR sensor 7 is
It is detected whether the actuator relay 3 is surely turned ON by the drive signal S _AR from the controller 15 or certainly turned OFF when there is no drive signal S _AR , and the AR check signal C _AR based on the operation state detection is detected. Is output to the controller 15.

On the other hand, the actuators 16FL to 16FL
As shown in FIG. 3, each of the RRs includes an inflow valve 42 connected between the master cylinder 8 and the wheel cylinder 10FL (-10RR) and a wheel cylinder 10FL (-10R).
R), an accumulator 46 for accumulating pressure and an oil pump 48 for collecting hydraulic oil connected to the output side of the outflow valve 44, and a check valve 50 between the oil pump 48 and the master cylinder 8. It has and.
Therefore, the inflow valve 42 is in the supply flow path for supplying the hydraulic pressure of the oil pump 48 via the master cylinder 8 and the check valve 50 to the wheel cylinder 10FL (-10RR), and the outflow valve 44 is the wheel cylinder 10FL (-10R).
It is in the return flow path for returning the working hydraulic pressure in R) to the master cylinder 8 via the accumulator 46, the oil pump 48, and the check valve 50.

The inflow valve 42 and the outflow valve 44 are solenoid valves, that is, solenoid valves whose opening and closing are controlled by solenoid drive signals S _EV and S _AV from the controller 1, respectively. Cylinder 8 to wheel cylinder 10FL (-10R
R), the inflow valve 42 is normally open and the outflow valve 44 is normally closed. And in boost mode,
By turning off both of the drive signals S _EV and S _AV , the inflow valve 42 is “open” and the outflow valve 44 is “closed”, and the working hydraulic pressure from the master cylinder 8 or the oil pump 28 is passed through the inflow valve 42. Wheel cylinder 10FL (-10R
R), which results in an increase in wheel cylinder pressure. In the depressurization mode, the inflow valve 42 is “closed” and the outflow valve 4 is turned on by turning on the drive signals S _EV and S _AV.
4 becomes "open" and the wheel cylinder 10FL (~ 10R
The working hydraulic pressure in R) can be collected in the accumulator 46 or returned to the master cylinder 8 side via the oil pump 48, and as a result, the wheel cylinder pressure decreases.
Furthermore, in the hold mode, the drive signal S _EV is turned on and the drive signal S _AV is turned off, whereby the inflow valve 42 and the outflow valve 44 are turned on.
To the "closed" state, and the wheel cylinder 10FL (~ 10R
It is possible to contain the working hydraulic pressure in R), so that
It can hold that pressure. The drive signal S _MR is turned on during the anti-skid control, which drives the oil pump 48.

As shown in FIG. 4, the controller 15 has at least an input interface circuit having an A / D conversion function, a central processing unit (CPU), a storage device (ROM, RAM), and a D / A conversion function. It is provided with two first and second microcomputers 20 and 21 having an output interface circuit and the like. These two microcomputers 20 and 21 constantly perform communication check on each other's data, arithmetic function, arithmetic result, control signal, etc., and monitor each other's operations, but in this embodiment, the first microcomputer is used. Computer 20 is the main
The second microcomputer 21 is configured to act as a sub.

Anti-skipping by this controller 15
Although the detailed contents of the mode control will not be described in detail here,
Wheel speed detection from the wheel speed sensors 11FL to 11RR
Value W _FL~ W_RRBased on the
By executing the program. Specifically, the car
Wheel speed detection value W_FL~ W_RRTo pseudo vehicle speed V_refCalculate, for example
For example, this pseudo vehicle speed V_refAnd each wheel speed detection value W_FL~ W_RRWhen
Each vehicle whose difference is within a predetermined slip ratio (1-β)
Calculate the wheel speed and set each wheel to achieve this wheel speed.
Increase or decrease the hydraulic pressure to the cylinders 10FL to 10RR
The braking force on each wheel 9FL to 9RR is controlled. By this
To prevent wheel lock while obtaining sufficient deceleration.
Stop.

In addition, drive signals S _EV and S _AV for driving the inflow valves 42 and the outflow valves 44 of the actuators 16FL to 16R in order to increase or decrease the working oil pressure are output in the controller 15 as described above. Drive circuit 23FL ~
23R is provided corresponding to each actuator.
A drive circuit 28 that outputs a drive signal S _MR for driving the oil pumps 48 of all the actuators 16FL to 16R and a drive circuit 29 that outputs a drive signal S _AR for driving the actuator relay 3 are also provided. ing.

The actuator drive circuits 23FL-2FL
3R corresponds to each of the actuators 16FL to 16FL
An inflow valve drive circuit 24EV for driving the R inflow valve 42,
An outflow valve drive circuit 24AV for driving the outflow valve 44 is provided. Specifically, in the inflow valve drive circuit 24EV and the outflow valve drive circuit 24AV, the drive transistors Tr. 1-Tr. 6 is provided. Then, each driving transistor Tr. 1-Tr. 6
Is based on the first and second microcomputers 2
0 and 21 are connected to control signal output terminals, their emitters are grounded, and their collectors are inflow valve 42 and outflow valve 44.
Is connected to one terminal of each solenoid 42a, 44a. In addition, these transistors Tr. 1-Tr.
The collector of 6 is also connected to the terminal potential input terminals of both microcomputers 20 and 21.

On the other hand, the other terminals of the solenoids 42a, 44a of the inflow valve 42 and the outflow valve 44 are connected to the battery 5 via the actuator relay 3. Therefore, the inflow valve drive circuit 2 of each drive circuit 23FL-23R
When the control signal EV or AV is output from the control signal output terminals of the microcomputers 20 and 21 to the 4EV and outflow valve driving circuit 24AV, the driving transistor Tr.
1-Tr. The amplified output side of 6 is energized, whereby the supply voltage from the battery 5 is changed to the inflow valve 42 and the outflow valve 4.
Drive signals S _EV and S _{AV to} the respective solenoids 42a and 44a of No. 4
Supplied as. Then, the inflow valve 42 and the outflow valve 44
Driving transistor T of each solenoid 42a, 44a
r. 1-Tr. 6 Connection side terminal potential V _SOL.1 ~ V
_SOL.6 is monitored at the terminal potential input terminals of both microcomputers 20 and 21. Since the number of solenoids and driving transistors to be controlled is six here, the number of these control channels is set to six, and the inflow valve 42 of the front left wheel actuator 16FL and the inflow valve drive of the front left wheel drive circuit 23FL are driven. The control system including the circuit 24EV is a channel (ch.) 1, and hereinafter, the outflow valve 44 of the front left wheel actuator 16FL and the front left wheel drive circuit 23.
The control system including the outflow valve drive circuit 24AV of the FL is a channel (ch.) 2, the control system including the inflow valve 42 of the front right wheel actuator 16FR and the inflow valve drive circuit 24EV of the front right wheel drive circuit 23FR is the channel (ch. ch.) 3, an outflow valve 44 of the front right wheel actuator 16FR, and an outflow valve drive circuit 24AV of the front right wheel drive circuit 23FR, and a control system for the channel (ch.) 4, an inflow valve 42 of the rear wheel actuator 16R. And the control system consisting of the inflow valve drive circuit 24EV of the rear wheel drive circuit 23R has a channel (ch.).
5. A control system including the outflow valve 44 of the rear wheel actuator 16R and the outflow valve drive circuit 24AV of the rear wheel drive circuit 23R is referred to as a channel (ch.) 6.

By the way, since such an anti-skid control device operates the braking force, which is an important running performance of the vehicle, it should not have any abnormality. Therefore, in this embodiment, the battery check signal C _Batt from the battery checker 22 is read and the AR check signal C _Batt is read.
Read _AR and further the solenoid terminal potential V _{SOL.1 to} V
_SOL.6 is read and an abnormality is detected by limiting each of the channels in accordance with an abnormality detection process described later.

Here, the outline of the abnormality detection processing performed in each microcomputer will be described. In the main microcomputer 20, which is the main, the battery check signal C _Batt , the AR check signal C _AR , and the solenoid terminal potential V _SOL.1. ~ V _SOL.6 to battery 5, actuator relay 3, each channel ch.1 to ch.6 solenoid 4
2a, 44a and the driving transistor Tr. 1-Tr.
Check process 6 and select one of these channels ch.
ch.6 solenoids 42a, 44a and driving transistor Tr. 1-Tr. 6, an abnormality is detected in the battery 5 and the actuator relay 3, fail-safe (F / S) processing is performed and the battery abnormality signal F / S1
_Batt , actuator relay error signal F / S2 _AR , channel solenoid error signal F / S3 _SOL.Ch are output.

On the other hand, in the second microcomputer 21, which is a sub-computer, each of the abnormal signals F / S1 _Batt , F / S
When 2 _AR and F / S3 _SOL.Ch are received, the battery 5, the actuator relay 3, and the solenoids 42 of each channel ch.1 to _ch.6 are received in the same manner as the first microcomputer 20.
a, 44a and the driving transistor Tr. 1-Tr. 6
Is processed to check each abnormal signal F / S1 _Batt , F / S
2 _AR , F / S3 _SOL.Ch is checked, and abnormality verification signal F /
Output S _PROBE . The first microcomputer 2
Each abnormal signal F / S1 _Batt , F / S output from 0
2 _AR and F / S3 _SOL.Ch are branched and then input to the OR circuit 25, and the output signal thereof is input to the AND circuit 26.

Here, the second microcomputer 21
The abnormality verification signal F / S _{PROBE from} is also input to the AND circuit 26, and when both are at the Hi level, the lighting signal W / L is output and the ABS warning lamp 12 is lit. In addition, the abnormal signals F / S1 _Batt and F / S output individually
2 _AR and F / S3 _SOL.Ch are designed to be read from the outside through an external communication terminal, and L (not shown)
The number of blinks of ED is set to each abnormal signal F / S1 _Batt
It is also designed to be incorporated in an LED control circuit (not shown) that controls according to 2 _AR , F / S3 _SOL.Ch.

Now, first, the abnormality detection processing performed by the main microcomputer 20 will be described with reference to the flowchart shown in FIG. In this abnormality detection process, the solenoids 42a and 44a of each channel are
When the potential difference ΔV between the minimum terminal potential Vmin of the terminal potentials V _{SOL.1 to} V _{SOL. 6} and the average value V _AVE of the other terminal potentials is larger than the predetermined value Vo for a predetermined time To or more, outputs the minimum terminal potential channel Vmin.ch. channel designated as a solenoid abnormality signal _F / S3V _SO L.ch.

This process is performed for a predetermined time ΔT (for example, 10 mse).
c.) A timer interrupt is processed for each step.
Is the supply voltage normal from the battery check signal?
If the supply voltage is normal, step
Move to S2, otherwise move to step S3
To do. In step S3, the supply voltage is abnormal.
Battery abnormality signal F / S1 _BattTo output the main
Return to the program.

On the other hand, in step S2, all the solenoid control signals EV and AV are turned off and the actuator relay control signal AR is turned on. Next, in step S4, based on the check signal C _AR from the AR sensor 7, the actuator relay 3 is turned ON by the actuator relay control signal AR in step S2.
Whether the actuator relay 3 is in the ON state or not is determined. If the actuator relay 3 is in the ON state, the process proceeds to step S5, and if not, the process proceeds to step S6.

In step S6, the actuator
Actuator relay error message
No. F / S2_ARIs output and returns to the main program
It On the other hand, in step S5,
Id terminal potential V_SOL.1~ V _SOL.6Read in. Next step
Go to step S7 and follow the subroutine shown in FIG.
The solenoid terminal potential V of each channel_SOL.1~ V
_SOL.6The terminal potential Vmin which is the minimum of the above is obtained. Na
The subroutine shown in FIG. 5 will be described in detail later.

Next, in step S8, the average value V _AVE of the five terminal potentials V _{SOL.1 to} V _SOL.6 excluding the minimum terminal potential V min set in step S7 is calculated according to the following equation (1). . V _AVE = ((ΣV _{SOL.1 to} V _SOL.6 ) -2 · Vmin) / 5 (5) (1) Next, the process proceeds to step S9, and the minimum terminal potential Vmin set in step S7 and the step The potential difference ΔV is calculated from the average value V _AVE of the terminal potential calculated in S8.

Next, in step S10, it is determined whether or not the potential difference ΔV calculated in step S9 is greater than or equal to the predetermined value Vo. If the potential difference ΔV is greater than or equal to the predetermined value Vo, step S11 is performed. If not, the process proceeds to step S12. In step S12, the coefficient n is reset to "0" because there is no abnormality in the solenoid of each channel, and the main program is restored.

On the other hand, in step S11, it is determined that the minimum terminal potential channel Vmin.ch. is abnormal, and the value obtained by adding "1" to the coefficient n is updated and stored in the storage device as a new coefficient n. Next, in step S13, it is determined whether or not the elapsed time value n · ΔT obtained by multiplying the coefficient n obtained in step S11 by a predetermined interrupt time ΔT is equal to or more than the predetermined time To, The time value n · ΔT is the predetermined time T
If it is greater than or equal to o, the process proceeds to step S14, and if not, the process returns to the main program.

In step S14, the abnormal elapsed time of the minimum terminal potential channel Vmin.ch. is a predetermined time To.
Assuming that the above continues, the solenoid abnormality signal F / S3V _SOL.ch of the relevant channel _Vmin.ch. is output and the main program is restored. Here, the subroutine performed in FIG. 6 performed in step S7 is first performed in step S7.
At 1, it is determined whether the solenoid terminal potential V _SOL.1 of the channel _ch.1 is larger than the solenoid terminal potential V _SOL.2 of the channel _ch.2 , and if so, the step S72.
If not, the process proceeds to step S73.

In step S72, channel ch.2
Solenoid terminal potential V _SOL.2 it is determined whether greater than solenoid terminal potential V _SOL.3 channel ch.3 of
If so, the process proceeds to step S74, and if not, the process proceeds to step S75. Step S
74, channel ch.3 solenoid terminal potential V
_SOL.3 is channel ch.4 solenoid terminal potential V _SOL.4
It is determined whether or not the value is larger than that, and if so, the process proceeds to step S76, and if not, step S7.
Move to 7.

In step S76, the channel ch.4 is selected.
It is judged whether the solenoid terminal potential V _{SOL.4 of} is larger than the solenoid terminal potential V _SOL.5 of the channel ch.5,
If so, the process proceeds to step S78, and if not, the process proceeds to step S79. Step S
In 78, the solenoid terminal potential V of channel ch.5
_SOL.5 is channel ch.6 solenoid terminal potential V _SOL.6
It is determined whether or not the value is larger than that, and if so, the process proceeds to step S80, and if not, step S8.
Move to 1.

In step S80, channel ch.6
The solenoid terminal potential V _{SOL.6 of} is smaller than all other solenoid terminal potentials V _SOL.n , and the minimum terminal potential V _SOL.
As is min, and outputs the solenoid terminal potential V _SOL.6 this channel ch.6 as the minimum terminal voltage Vmin, the process returns to the main routine shown in FIG. On the other hand, in step S81, the solenoid terminal potential V of the channel ch.5 is set.
_{SOL. 5} is, of all of the other solenoid terminal potential _V SOL.n
_Assuming that the minimum terminal potential Vmin is smaller than the minimum terminal potential Vmin, the solenoid terminal potential V _SOL.5 of this channel ch.5 is output as the minimum terminal potential Vmin, and the process returns to the main routine shown in FIG.

Further, in the step S79, the solenoid terminal potential V _{SOL. 4} of the channel ch.4 is changed to the channel ch.6.
It is determined whether or not it is larger than the solenoid terminal potential V _{SOL.6 of No. 6} , and if so, the _{process proceeds} to step S80, and if not, the _{process proceeds} to step S82. In the step S82, the solenoid terminal potential V _SOL.4 channel ch.4 is smaller than all other solenoid terminal potential V _SOL.N, as the minimum terminal voltage Vmin, the solenoid terminal of the channel ch.4 Potential V _SOL.4
Is output as the minimum terminal potential Vmin, and the process returns to the main routine shown in FIG.

On the other hand, in step S77, the solenoid terminal potential V _{SOL. 3 of} channel ch _.
Of the solenoid terminal potential V _SOL.5 is determined, and if so, the _{process proceeds} to step S78, and if not, the _{process proceeds} to step S83. In the step S83, it is determined whether or not the solenoid terminal potential V _SOL.3 of the channel ch.3 is larger than the solenoid terminal potential V _SOL.6 of the channel ch.6, and if so, the _{process proceeds} to the step S80. If not, the process proceeds to step S84 otherwise.

In step S84, channel ch.3 is used.
The solenoid terminal potential V _{SOL.3 of} is smaller than all other solenoid terminal potentials V _SOL.n , the minimum terminal potential V _SOL.
As is min, and outputs the solenoid terminal potential V _SOL.3 this channel ch.3 as the minimum terminal voltage Vmin, the process returns to the main routine shown in FIG. On the other hand, in the step S75, the solenoid terminal potential V of the channel ch.2.
_{SOL. 2} is channel ch.4 solenoid terminal potential V _SOL.4
It is determined whether or not the value is larger than that, and if so, the process proceeds to step S76, and if not, the process proceeds to step S85.

In step S85, channel ch.2 is used.
It is determined whether the solenoid terminal potential V _{SOL.2 of} is larger than the solenoid terminal potential V _SOL.5 of the channel ch.5,
If so, the process proceeds to step S78, and if not, the process proceeds to step S86. In step S86, the solenoid terminal potential V of channel ch.2.
_SOL.2 is channel ch.6 solenoid terminal potential V _SOL.6
It is determined whether or not the value is larger than that, and if so, the process proceeds to step S80, and if not, the process proceeds to step S87.

In step S87, channel ch.
The solenoid terminal potential V _{SOL.2 of} is smaller than all other solenoid terminal potentials V _SOL.n , and the minimum terminal potential V _SOL.
If it is min, the solenoid terminal potential V _SOL.2 of this channel _ch.2 is output as the minimum terminal potential V min, and the process returns to the main routine shown in FIG. On the other hand, in step S73, the solenoid terminal potential V of the channel ch.1.
_{SOL. 1} is channel ch.3 solenoid terminal potential V _SOL.3
It is determined whether or not the value is larger than that, and if so, the process proceeds to step S74, and if not, the process proceeds to step S88.

In step S88, channel ch.1
It is determined whether the solenoid terminal potential V _{SOL.1 of} is larger than the solenoid terminal potential V _SOL.4 of the channel ch.4,
If so, the process proceeds to step S76, and if not, the process proceeds to step S89. In the step S89, the solenoid terminal potential V of the channel ch.1.
_SOL.1 is channel ch.5 solenoid terminal potential V _SOL.5
It is determined whether or not the value is larger than that, and if so, the process proceeds to step S78, and if not, the process proceeds to step S90.

In step S90, channel ch.1
It is judged whether the solenoid terminal potential V _{SOL.1 of} is larger than the solenoid terminal potential V _SOL.6 of the channel ch.6,
If so, the process proceeds to step S80, and if not, the process proceeds to step S91. At the step S91, the solenoid terminal potential V of the channel ch.1.
_SOL.1 is the potential of all other solenoid terminals V _{SOL.n
Assuming} that the minimum terminal potential Vmin is smaller than the above, the solenoid terminal potential V _SOL.1 of this channel _ch.1 is output as the minimum terminal potential Vmin, and the process returns to the main routine shown in FIG.

In this way, in this subroutine, the minimum terminal potential Vmin can be reliably set by comparing the magnitudes of all the solenoid terminal potentials V _{SOL.1 to} V _SOL.6 . In a series of abnormality detection processing performed by the main microcomputer, which is the main, when no abnormality has occurred in the solenoid or the driving transistor of any channel, the amplified output side of each driving transistor is detected in step S2. Since it is in the OFF state, the terminal potential of each solenoid V _{SOL.1 to} V _SOL.6
Should be equal to the potential of the voltage supplied from the battery via the actuator relay. Here, if the solenoid terminal potentials V _{SOL.1 to} V _SOL.6 of any of the channels are smaller than the average value V _AVE of the other solenoid terminal potentials by a predetermined value Vo or more, the solenoid of the channel is abnormal. It is assumed that a large amount of current leakage has occurred, or that the drive transistor has failed in the ON state or a state close to ON. Needless to say, this includes a disconnection failure of the solenoid, a ground fault, and the like. Therefore, the step S5
The solenoid or drive transistor in which an abnormality has occurred due to the failure due to the series of processing in S10 to
It becomes possible to limit the number of channels to be detected, and in the following steps S11 and S13, when this abnormality continues for a predetermined time To or more, in step S14 the solenoid abnormality signal F / S3V of the minimum terminal potential channel Vmin.ch.
_SOL.ch is output. If the supply voltage is abnormal due to an abnormality of the battery 5 or the like, the battery abnormality signal F / S1 _Batt is output in steps S1 and S3, and if an abnormality such as a malfunction occurs in the actuator relay 3, the step is performed. Actuator relay error signal F / in S4 and S6
S2 _AR is output.

Any of these abnormal signal F / S1
_{When Batt} , F / S2 _AR and F / S3V _SOL.ch are output,
The high level output of the OR circuit 25 is input to the AND circuit 26. Further, in the first microcomputer 20, any abnormal signal F / S1 _Batt , F / S2 _AR , F / S3
When V _SOL.ch. is output, the F / S processing shown in FIG. 4 stops all the abnormality detection operations by the microcomputer 20, and at the same time stops the ABS control by the microcomputer 20.

On the other hand, FIG. 7 shows an abnormality verification process performed by the second microcomputer 21 which is the sub computer.
This will be described with reference to the flowchart shown in. In this abnormality verification process, the terminal potentials V _{SOL.1 to} V _SOL.6 minimum terminal potentials Vmin of the solenoids 42a and 44a of the respective channels and the average value V of the other terminal potentials are performed in the same manner as the first microcomputer 20. _When the potential difference ΔV from _AVE is larger than the predetermined value Vo, the abnormality verification signal F / S is immediately detected.
Output _PROBE .

This process takes a predetermined time ΔT (for example, 10 mse).
c.), a timer interrupt process is performed for each of them. First, in step S21, each of the abnormal signals F / S1 _Batt , F / S2 _AR , and F / S3.
It is determined whether or not V _{SOL. Ch.} Is output, and if any abnormal signal is detected, the process proceeds to step S22, and if not, the process returns to the main program.
In step S22, it is determined from the battery check signal whether the supply voltage is normal. If the supply voltage is normal, the process proceeds to step S23, and if not, the process proceeds to step S24.

In step S23, all the solenoid control signals EV and AV are turned off, and the actuator relay control signal AR is turned on. Next, in step S25, based on the check signal C _AR from the AR sensor 7, the actuator relay 3 is turned on by the actuator relay control signal AR in step S23.
Actuator relay 3 is judged whether it is N state or not.
Is ON, the process proceeds to step S26, and if not, the process proceeds to step S24.

In step S26, the solenoid terminal potentials V _{SOL.1 to} V _{SO L.6} of each channel are read. Next, the process proceeds to step S27, and the solenoid terminal potential V of each channel is followed according to the subroutine shown in FIG.
The minimum terminal potential Vmin among _{SOL.1 to VSOL.6} is obtained.

Next, in step S28, the average value V _AVE of the five terminal potentials V _{SOL.1 to} V _SOL.6 excluding the minimum terminal potential V min set in step S7 is calculated according to the above equation. . Next, in step S29, the potential difference ΔV is calculated from the minimum terminal potential Vmin set in step S27 and the average terminal potential V _AVE calculated in step S28.

Next, in step S30, it is determined whether or not the potential difference ΔV calculated in step S29 is smaller than the predetermined value Vo, and if the potential difference ΔV is smaller than the predetermined value Vo, the main program is restored. If not, the process proceeds to step S24. Step S2
In step 4, it is determined that any of the abnormal signals has been verified, and the Hi-level abnormal verification signal F / S _PROBE is output to return to the main program.

In the series of abnormality verification processing in steps S21 to S30 performed by the sub-second microcomputer 21, the first microcomputer 20
Any of the abnormal signals from F / S1 _Batt , F / S2 _AR , F
If / S3V _SOL.ch. is verified, the Hi-level abnormality verification signal F / S _PROBE is input to the AND circuit 26. Therefore, it is combined with the Hi-level output signal from the OR circuit 25. A high-level lighting signal W / L is output from the AND circuit 26, whereby the ABS warning lamp 12
Is lit. In addition, the first microcomputer 2
0 is any abnormal signal F / S1 _Batt , F / S2 _AR , F /
When the abnormality detection and ABS control are abandoned by outputting S3V _SOL.ch. , the abnormality detection and ABS control are performed by this second microcomputer 21 unless the abnormality verification signal F / S _PROBE is output. When the abnormality verification signal F / S _PROBE is output, the second microcomputer 21 also abandons the abnormality detection and the ABS control and does not perform any processing. At this time, the actuator relay control signal AR is also changed to the solenoid control signals EV and AV.
Since neither the oil pump control signal MR is output, the inflow valve 42 is opened and the outflow valve 44 is closed, and the normal brake hydraulic pressure of the master cylinder 8 is supplied to the wheel cylinders 10FL to 10RR, so-called fail safe ( Failure compensation)
Is done.

In addition, in the abnormality detecting device of this embodiment, as shown in FIG.
As described above, the connection point with the solenoid may be one point for each solenoid, and by sharing the connection point with the driving transistor, the harness used at the connection point may be the number of solenoids. . In the present embodiment, at least the abnormality detection is performed by the first microcomputer and the second microcomputer, but both of them have a clear character such as main and sub. In such a microcomputer, all data may be received from the main microcomputer and the abnormality verification may be performed on the data. Further, of course, it is possible to detect abnormality by using either one or only one provided as a microcomputer.

Further, in the present embodiment, the abnormality signals F / S1 to F / S3 output individually are transferred to the individual LED control device, and the LED control device controls the blinking of the LEDs. It is of course possible to incorporate this LED control device in the ABS controller. Further, even when a proportional solenoid valve is used for each actuator, it is possible to perform the same abnormality detection for each solenoid.

Further, in this embodiment, only the anti-skid control device for individually controlling the braking force of the front left and right wheels and collectively controlling the braking force of the rear left and right wheels has been described in detail, but each wheel to be controlled is controlled. The control power is not limited to this. Further, in the present embodiment, the disconnection failure of the solenoid is detected at the same time, but the disconnection failure may be detected individually.

Further, in this embodiment, when the state in which the potential difference between the solenoid minimum terminal potential and the average value exceeds the predetermined value continues for a predetermined time or longer, it is determined that the solenoid or the driving transistor is abnormal. For example, the abnormality of the solenoid or the driving transistor may be immediately determined when the potential difference exceeds a predetermined value.

The connection state of the solenoid and the drive circuit is not limited to the above. For example, the drive transistor may be on the supply voltage side. In that case, the drive transistor is turned on and the solenoid is turned on. The terminal potential of the driving transistor connection side terminal of the solenoid may be detected while the supply voltage is being supplied.

[0061]

As described above, according to the abnormality detecting device of the anti-skid control device of the present invention, the potential difference between the minimum solenoid terminal potential and the average value of the other solenoid terminal potentials is a predetermined value set in advance. When the above is the case, it is judged that abnormal current leakage has occurred in the solenoid or malfunction of each drive transistor has occurred in the channel in which the minimum solenoid terminal potential has been detected, and an error is detected. Since the detection / judgment is adopted, repair work is facilitated, and the harness used at the connection point can be reduced in number because the total number of channels is sufficient.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing an abnormality detection device of an anti-skid control device according to the present invention.

FIG. 2 is a schematic configuration diagram showing an embodiment of an anti-skid control device equipped with the abnormality detection device of the present invention.

3 is a configuration diagram of an actuator used in the anti-skid control device shown in FIG.

4 is a configuration diagram of a controller used in the anti-skid control device shown in FIG.

5 is a diagram showing a first example of the abnormality detection device shown in FIG. 2 shown in FIG. 4;
7 is a flowchart of an abnormality detection process performed by a microcomputer.

FIG. 6 is a flowchart of a subroutine for setting a minimum terminal potential.

FIG. 7 shows a second part of the abnormality detection device shown in FIG. 2 shown in FIG.
7 is a flowchart of an abnormality verification process performed by a microcomputer.

[Explanation of symbols]

 2 is a brake device 3 is an actuator relay 4 is an anti-skid control device 5 is a battery 6 is a brake pedal 7 is an AR sensor 8 is a master cylinder 9FL to 9RR are wheels 10FL to 10RR are wheel cylinders 11FL to 11RR are wheel speed sensors 12 are ABS The warning light 15 is a controller 16FL to 16RR is an actuator 20 is a first microcomputer 21 is a second microcomputer 22 is a battery checker 23FL to 23R is a solenoid drive circuit 42 is an inflow valve 44 is an outflow valve 42a, 44a is a solenoid 48 is an oil pump Tr. 1-Tr. 6 is a driving transistor

Claims (1)

[Claims] 1. A solenoid valve is provided in each of a plurality of channels for controlling a hydraulic fluid pressure supplied to a wheel cylinder in order to control a brake pressure during braking to prevent a wheel lock state from occurring. The solenoid provided in the solenoid valve has a configuration in which a drive circuit is connected to a predetermined terminal side and the solenoid valve is controlled by controlling this drive circuit. Which channel of these has an abnormality? An abnormality detection device for an anti-skid control device for determining whether the drive circuit side terminal potential of the solenoid is detected for each channel when the drive circuit is in a predetermined state, and the solenoid terminal potential detection means. Among the terminal potentials of these solenoids detected by the means, the potential for calculating the potential difference between the smallest terminal potential and the average value of the other terminal potentials. When the potential difference calculated by the difference calculation means and the potential difference calculation means is equal to or greater than a preset predetermined value, it is determined that an abnormality has occurred in the channel having the solenoid in which the smallest terminal potential is detected. An abnormality detection device for an anti-skid control device, comprising: