JPH08244595A - Antiskid control device - Google Patents

Abstract

PURPOSE: To reduce an operation noise which gives the unpleasant feeling to passengers in a self-diagnosing time, by providing a motor function diagnosing means to carry out an electric diagnosis by operating an electric motor for a short time prior to carrying out a function diagnosis in which a solenoid outflow valve is operated to the opening condition by a solenoid valve function diagnosing means. CONSTITUTION: When there is no burnout abnormality, a high level of motor relay driving signal SMR is output from a main microcomputer 23 to hold an electric motor 17 in the operating condition, and the self-diagnosis as to a short- circuit abnormality of the electric motor 17 and an operating abnormality of the microcomputer 23 is carried out by a submicrocomputer 23'. Before the self-diagnosis in the operating condition of solenoids FLI to RO is carried out, the self-diagnosis in the operating condition of the electric motor 17 is being carried out. As a result, the brake liquid in an accumulator is not exhausted in the self-diagnosing condition of the electric motor 17 even in a braking condition a brake pedal is being depressed, and no discharge sound is generated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an anti-skid control device for a vehicle, which controls the fluid pressure of a braking cylinder to prevent the wheel from being locked during braking, and more particularly to an anti-skid control device capable of self-diagnosing an actuator. The present invention relates to a skid control device.

[0002]

2. Description of the Related Art Conventionally, as an anti-skid control device having a device for electrically self-diagnosing the operation of such an actuator, for example, Japanese Patent Laid-Open No. 63-46962 is known.
The self-diagnosis device described in Japanese Patent Publication has been proposed. In this conventional example, when detecting the presence / absence of malfunction of the actuator, if the presence / absence of malfunction of the actuator is detected during brake operation, the operating noise increases, so when the brake switch related to the brake pedal detects the non-operation of the brake. The self-diagnosis is performed by operating the actuator only. In other words, when self-diagnosis is performed after the ignition switch is turned on, if an actuator such as an electromagnetic valve is operated while the brake pedal is being depressed, brake fluid will flow into the accumulator and then self-diagnosis will be performed. When driving the pump for discharge, operation noise due to discharge noise is generated,
The actuator is activated only when the brake is not activated for self-diagnosis.

[0003]

However, in the anti-skid control device which performs the self-diagnosis by actuating the actuator only when the brake is not in operation as in the above-mentioned conventional example, whether the brake is in the inactive state or not. Since it is determined by detecting whether the brake switch is on or off, self-diagnosis cannot be performed when the brake switch is stuck in the on state.

After the ignition switch is turned on, the vehicle is started while the brake pedal is lightly stepped downhill or the creep running is started when the brake pedal is lightly stepped on the automatic vehicle. Self-diagnosis will not be executed even when the vehicle rises, and if sudden braking is applied, there is a risk of shifting to anti-skid control without self-diagnosis being performed. There are unresolved issues.

Therefore, the anti-skid control device according to the present invention is made by paying attention to the unsolved problem of the above-mentioned conventional example, and it is possible to reduce the operating noise which gives an occupant an uncomfortable feeling at the time of self-diagnosis. At the same time, it is an object to provide an anti-skid control device that can increase the chances of self-diagnosis.

[0006]

In order to achieve the above object, an anti-skid control device according to claim 1 of the present invention is arranged on a wheel to be controlled as shown in the claim correspondence diagram of FIG. It is driven by a braking cylinder, a supply system for supplying brake fluid to the braking cylinder via an electromagnetic inflow valve, and an accumulator and an electric motor for accumulating the brake fluid in the braking cylinder via the electromagnetic outflow valve. An actuator having a discharge system for discharging the brake fluid of the accumulator by operating the pump, a wheel speed detecting means for outputting an output signal according to the rotation speed of the wheel, and a wheel speed detecting means A control means for controlling the operation of the actuator based on an output signal, the anti-skid control device comprising: A solenoid valve function diagnosis means for performing a function diagnosis accompanied by the operation of a valve, and before performing a function diagnosis for operating the electromagnetic outflow valve by the solenoid valve function diagnosis means, operate the electric motor for a short time to And a motor function diagnostic means for performing electrical function diagnostics.

According to a second aspect of the present invention, in the anti-skid control device, the function diagnosis of the solenoid valve function diagnosing means and the motor function diagnosing means is performed under non-braking conditions or at a predetermined vehicle speed or more. It is characterized in that it is carried out when it is satisfied. Further, in the anti-skid control device according to claim 3 of the present invention, when the electromagnetic valve function diagnosis means determines that the electric motor is normal by the function diagnosis by the motor function diagnosis means, the electromagnetic valve function diagnosis means It is characterized in that a functional diagnosis is carried out with the operation of the inflow valve and the electromagnetic outflow valve.

Further, in the anti-skid control device according to a fourth aspect of the present invention, as shown in the claim correspondence diagram of FIG. 2, the brake accumulated in the accumulator at the time of function diagnosis involving the operation of the electromagnetic outflow valve. After the electric motor, the electromagnetic inflow valve, and the electromagnetic outflow valve are determined to be normal and the fluid is at a predetermined vehicle speed or higher, the fluid is discharged by operating the electric motor for a predetermined time. A fluid discharging means is provided.

[0009]

With the above structure, according to the anti-skid control device of the first aspect of the present invention, the operating state of the electric motor is determined by the motor function diagnosing means before the electromagnetic outflow valve is activated and is in the open state. The electrical function diagnosis at the time of is performed. Among the function diagnoses by the solenoid valve function diagnosing means, for example, at the time of function diagnosis in which the electromagnetic inflow valve is closed and the electromagnetic outflow valve is open, the brake fluid becomes high pressure in the brake operating state when the brake pedal is depressed, and braking is performed. Although the brake fluid of the working cylinder flows into the accumulator, in the invention according to claim 1, the function of the electric motor is performed before the function diagnosis of each solenoid valve is performed, that is, before the brake fluid flows into the accumulator. Since the diagnosis is performed, the discharge noise of the brake fluid in the accumulator does not occur during the function diagnosis of the electric motor.

Therefore, the self-diagnosis can be carried out regardless of whether the brake is operated or not, while reducing the operation noise during the function diagnosis. Further, for example, the self-diagnosis is executed even when the brake switch is stuck in the ON state or when the vehicle is started with the brake pedal being lightly depressed, so that the chance of the self-diagnosis can be increased.

According to the second aspect of the present invention, the function diagnosis of the electromagnetic inflow valve, the electromagnetic outflow valve, and the electric motor is performed at a predetermined vehicle speed or higher except when the brake is not operated. The self-diagnosis is performed even when the brakes are operated. Since the vehicle is running at this time, the operating noise and vibrations at the time of function diagnosis are scratched off by the engine noise and the like, and the operating noises and the like that give an occupant an unpleasant feeling can be further reduced.

According to the anti-skid control device of the third aspect of the present invention, the functional diagnosis involving the operation of the electromagnetic inflow valve and the electromagnetic outflow valve is performed when the electric motor is determined to be normal. . Further, according to the anti-skid control device of the fourth aspect of the present invention, the self-diagnosis of the electric motor is performed first. Therefore, at the time of self-diagnosis of the electromagnetic outflow valve, the brake fluid is stored in the accumulator according to the depression amount of the brake pedal. Is stored in the brake fluid after the electric motor, the electromagnetic inflow valve, and the electromagnetic outflow valve are determined to be normal, and the noise and vibration are hardly sensed by the engine sound or the like. Eject at vehicle speed or higher.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 3 is a schematic configuration diagram of an anti-skid control device equipped with a function diagnostic device according to the present invention. In the figure, 1FL,
1FR is the left and right front wheels, 1RL and 1RR are the left and right rear wheels,
The rotational driving force of the engine 2 is transmitted to the rear wheels 1RL, 1RR via the transmission 3, the propeller shaft 4, and the final reduction gear device 5.

Wheel cylinders 6FL to 6RR as braking cylinders are attached to the wheels 1FL to 1RR, respectively. Further, to each front wheel 1FL, 1FR, a wheel speed sensor 7FL, 7FL is provided as a wheel speed detecting means for outputting a wheel speed signal having a frequency corresponding to the rotational speed of these wheels.
Each FR is attached, and the propeller shaft 4 is also provided with a wheel speed sensor 7R as a wheel speed detecting means for outputting a wheel speed signal having a frequency corresponding to the rotational speeds of the rear wheels 1RL, 1RR.

The wheel cylinder 6F on the front wheel side
A master cylinder 9 that generates two systems of master cylinder pressure in response to depression of the brake pedal 8 is provided in L and 6FR.
From the master cylinder 9 is commonly supplied to the wheel cylinders 6RL and 6RR on the rear wheel side. It is supplied via the wheel side actuator 10R.

As shown in FIG. 4, each actuator 10FL to 10R has a supply system having a hydraulic pipe 11 connected to the master cylinder 9 and an electromagnetic inflow valve 12 interposed between the wheel cylinders 6FL to 6RR, and A series circuit including an electromagnetic outflow valve 13 connected in parallel to the electromagnetic inflow valve 12, a hydraulic pump 14 rotatably driven by an electric motor 17, and a check valve 15, and between the outflow valve 13 and the hydraulic pump 14. And a discharge system having an accumulator 16 for accumulating pressure connected to a hydraulic pipe. here,
Master cylinder 9 and wheel cylinders 6FL to 6RR
The brake fluid supply system is configured by the space, and the brake fluid discharge system is configured by the accumulator 16 and the master cylinder 9.

Each solenoid inflow valve 12 has a solenoid FLI ...
RI (see FLI, FRI, RI in FIG. 5) is provided, and solenoids FLO to R are also provided to each electromagnetic outflow valve 13.
O (see FLO, FRO, RO in FIG. 5) is provided,
Both the electromagnetic inflow valve 12 and the electromagnetic outflow valve 13 have a movable iron core (plunger), and the movable iron core is moved by the electromagnetic force generated in the solenoid to open and close the passage of the brake fluid.

[0018] Each solenoid of the solenoid inlet valve 12 and the electromagnetic spill valve 13 is controlled respectively by the solenoid control signal EV _FL ~EV _R and AV _FL ~AV _R from below to the controller 21, in this embodiment, a high level the solenoid control signal EV _FL ~EV _R and AV _FL ~AV _R, the excitation current of the solenoids are kept in the non-supply state, the electromagnetic inlet valve 12 is opened, the solenoid spill valve 13 is respectively held in the closed state. On the other hand, the solenoid control signal of a low level EV _FL ~EV _R and AV _FL ~AV _R, the excitation current of each solenoid is kept supply state, the electromagnetic inlet valve 12
Is kept closed and the electromagnetic outflow valve 13 is kept open. The electric motor 17 is indirectly controlled by the control signal MR output from the controller 21, and when the control signal MR is at a low level, a drive current is supplied to the electric motor 17 to rotationally drive the hydraulic pump 14. .

As shown in FIG. 3, the brake pedal 8 has a stop lamp switch 8 which responds to the depression of the brake pedal 8.
a is attached. A power supply current is supplied to the switch 8a from the battery 30 via, for example, a fuse, and the supplied current flows to the ground potential via the switch 8a and a predetermined resistor. A stop lamp signal S _ST is output from the connection point of the switch 8a and this resistor, and this stop lamp signal S _ST is at a low level when the brake pedal 8 is released and is depressing the brake pedal 8. High level when in the on state.

The wheel speed sensors 7FL to 7R and the wheel speed sensors
Each detection signal of the top lamp switch 8a is a controller
21 is input. The controller 21 is shown in FIG.
Amplifies the AC voltage signal from the wheel speed sensors 7FL to 7R
And a waveform shaping circuit 2 for shaping the waveform and converting it into a rectangular wave
2 and the main micro to which a predetermined signal is input
Computer 23 and sub-microcomputer 23 '
And each of the microcomputers 23 and 23 '
Output motor relay drive signal S_MR, S_MR’Supplied
And an OR circuit 24a for outputting these OR signals
And a motor relay to which the output signal of the OR circuit 24a is supplied.
-Drive circuit 24 and each microcomputer 23 and 2
Fail-safe signal F output from each 3 '_S,
F_S’Is supplied and outputs these negative sum signals NO
The output signals of the R circuit 25a and the NOR circuit 25a and the main signal
Actuator output from microcomputer 23
Data relay drive signal S_ARIs supplied by these conjunctive
Of the AND circuit 25b that outputs the
Actuator relay drive circuit 2 to which output signal is supplied
5 and output from the main microcomputer 23
Solenoid drive signal S_FLI~ S_ROIs supplied by Solenoy
Output from the drive circuit 26 and the solenoid drive circuit 26.
Solenoid control signal EV _FL~ AV_RRespectively input
The solenoid voltage detection value V_FLI~ V_ROThe sub microphone
(B) Solenoid mode output to computer 23 '
Nita circuit 27a and the electric current supplied to the electric motor 17
Motor relay detection of the motor relay 28 for on / off control
Output voltage V_MRIs input, the motor voltage detection value V_MThe subma
Motor relay monitor output to micro computer 23 '
Controller circuit 27b and an actuator relay 31 described later.
Actuator relay detection voltage V at movable contact tc_ARBut
Input, actuator relay detection value V_ASub Mai
Actuator relay output to the black computer 23 '
And a monitor circuit 27c.

Each of the microcomputers 23 and 23 'has an input interface circuit 23a, 23a' having at least an A / D converter, a central processing unit (CPU) 23b, 23b 'for executing arithmetic processing described later, and a processing procedure. Respectively, and output interface circuits 23d and 23d 'having at least a D / A converter and outputting a control signal according to the processing result.

The input interface circuit 23a of the main microcomputer 23 is supplied to the battery 30 via the rectangular wave signals output from the waveform shaping circuit 22, the stop lamp signal S _ST from the stop lamp switch 8a, and the ignition switch 29. The battery voltage monitor signals S _B from the respective terminals are input to the input interface circuit 23a ′ of the sub-microcomputer 23 ′,
Each rectangular wave signal output from the waveform shaping circuit 22 and the solenoid voltage detection value V from the solenoid monitor circuit 27a
_FLI ~V _RO, the motor voltage detection value V _M from the motor relay monitoring circuit 27b, and the actuator relay detection value V _A from the actuator device monitoring circuit 27c are input.

The central processing unit 23b of the main microcomputer 23 calculates the wheel speed of each wheel based on the AC voltage signals detected by the wheel speed sensors 7FL to 7R, and the highest wheel speed calculation value is obtained. The wheel speed calculation value is selected to obtain the pseudo vehicle speed, the slip ratio is calculated based on the wheel speed calculation value and the pseudo vehicle speed, and either pressure increase / hold / pressure reduction processing is performed according to the degree of wheel lock during braking. And perform fail-safe processing. When the ignition switch 29 is turned on, the central processing unit 23b 'of the sub-microcomputer 23' has the electromagnetic inflow valve 1
2. The function diagnosis of the electromagnetic outflow valve 13 and the electric motor 17 is performed, and the failsafe processing is performed by receiving the failsafe signal F _S from the main microcomputer 23.

The main microcomputer 23
From the output interface circuit 23d of the above, the above-mentioned motor relay drive signal S _MR and actuator relay drive signal S
_AR , fail-safe signal F _S , and solenoid drive signals S _{FLI to} S _RO are output, and the sub-microcomputer 2
3 from 'output interface circuit 23d of' and also outputs the aforementioned motor relay driving signal S _MR 'and fail-safe signal F _S'.

The motor relay drive circuit 24 supplies the output control signal MR to the motor relay 28 to control ON / OFF of the motor relay 28. The motor relay 28 has a drive coil 28a and a relay contact 28b. One end of this drive coil 28a is connected to the output end of the motor relay drive circuit 24, and the other end is connected via a fuse F2 and an ignition switch 29. It is connected to the battery 30, one end of the relay contact 28b is connected to the electric motor 17 and is supplied to the motor relay monitor circuit 27b as a motor relay detection voltage V _MR , and the other end is connected to the battery 30 via the fuse F1. To be done. In this embodiment, when the high-level motor relay drive signal S _MR is input to the motor relay drive circuit 24, the low-level control signal MR is supplied to the motor relay 28, whereby the battery 30 is supplied to the drive coil 28a. An exciting current flows from the relay contact 28b, and the electric motor 17 is driven by the supply of the power supply current.

The actuator relay drive circuit 25 supplies the output control signal AR to the actuator relay 31, and controls the ON / OFF of the actuator relay 31. The actuator relay 31 has a drive coil 31a and a relay contact 31b. One end of the drive coil 31a is connected to the output end of the actuator relay drive circuit 25, and the other end is connected to the drive coil 28a of the motor relay 28 and the fuse F2. Connected to the connection point of the relay contact 31b
The normally open contact ta of is connected to the battery 30 via the fuse F3, the normally closed contact tb is grounded, and the movable contact tc is
The actuator relay detection voltage V _{AR at the} movable contact tc is supplied to the actuator relay monitor circuit 27c while being connected to the solenoids FLI to RO arranged in the inflow valve 12 and the outflow valve 13 of each of the actuators 10FL to 10R. . In the present embodiment, when the high-level actuator relay drive signal S _AR is input to the actuator relay drive circuit 25, the low-level control signal AR is supplied to the actuator relay 31, whereby the drive coil 31a receives an exciting current. Flow, relay contact 3
1b is activated to establish continuity between the normally open contact ta and the movable contact tc to be turned on, and the preparation for supplying current to the solenoids FLI to RO is completed. On the other hand, when the low-level actuator relay drive signal S _AR is supplied, the normally open contact ta is connected to the movable contact ta side and the actuator relay 31 is turned off.

As shown in FIG. 6, the solenoid drive circuit 26 includes a semiconductor element such as NPN transistors Q1 to Q.
6, the solenoid drive signals S _{FLI to} S _RO are input to the base terminals of the transistors Q1 to Q6, the emitter terminal is grounded, and the collector terminal is the solenoid FL.
It is connected to the other ends of the power supply terminals of I to RO and also to the input terminal of the solenoid monitor circuit 27a. The collector terminal has a high-level or low-level solenoid control signal EV _FL ~
AV _R is formed respectively. Where transistor Q
Solenoid drive signal 1~Q6 the low level S _FLI to S
_{When RO} is input, the transistors Q1 to Q6 are turned off, and no exciting current flows through the solenoids _FLI to _RO, but high level solenoid drive signals S _{FLI to} S are generated.
When _{the RO} is input, the transistor Q1~Q6 the solenoid control signal EV _FL ~AV _R turned on is set to the low level, thereby, in between the normally open contact ta and the movable contact tc is conducting An exciting current is supplied from the battery 30 to the solenoids FLI to RO via the fuse F3 and the actuator relay 31. That is, in this embodiment, is outputted from the microcomputer 23 solenoid drive signal S _FLI to S _RO high level, when the exciting current is supplied to the solenoid FLI~RO becomes solenoid control signal EV _FL ~AV _R is low level In addition, the inflow valves 12 of the corresponding actuators 10FL to 10R are closed and the outflow valves 13 are opened.

The solenoid monitor circuit 27a, as shown in FIG. 6, receives the respective solenoid control signals EV _FL -A.
A comparison circuit 27a1 composed of, for example, six comparators for respectively comparing V _R with a predetermined threshold, and a comparison circuit 27
One end is connected to the input terminal of a1 and the other end is grounded, and voltage detection resistors Ra1 to Ra6 having resistance values sufficiently larger than the coil resistance values of the solenoids FLI to RO are provided, and a predetermined value from the comparison circuit 27a1. solenoid control signal is converted to a voltage input EV _FL ~AV solenoid voltage detection value corresponding respectively to _R V _FLI ~V _RO is an input interface 23
It is output to a '. Then, by detecting the solenoid voltage detection values V _{FLI to} V _RO , abnormality detection such as disconnection or short circuit of the solenoids _{FLI to RO} is performed.

For example, when the normally open contact ta and the movable contact tc are electrically connected, in a normal state, the transistor Q
When 1 to Q6 are off, solenoid control signal EV _FL
～AV _R goes high substantially the same voltage as the battery 30, whereas, when the transistor Q1~Q6 is ON, the solenoid control signal EV _FL ~AV _R goes low.

However, when any one of the solenoids FLI to RO is disconnected, when the transistors Q1 to Q6 are in the off state, the solenoid control signals EV _FL to EV _FL corresponding to the disconnected solenoids are actuated by the action of the voltage detection resistors Ra1 to Ra6.
AV _R and solenoid voltage detection value V _FLI ~V _RO goes low, whereas, when the abnormal short circuit in any of the solenoid FLI~RO occurs, when the transistor Q1~Q6 is on, corresponding to the shorted solenoid solenoid control signal EV _FL ~AV _R and solenoid voltage detection value V
_FLI ~ V _RO goes high. Therefore, by detecting the solenoid voltage detection values V _{FLI to} V _RO ,
It is possible to detect an abnormality such as disconnection or short circuit of the solenoids FLI to RO.

As shown in FIG. 6, the motor relay monitor circuit 27b compares the input motor relay detection voltage V _MR with a predetermined threshold value and compares the high and low levels of the motor relay detection voltage V _MR. each comparison circuit 27b1 for converting the motor voltage detection value V _M of the predetermined high level and a low level corresponding to the level, the other end is connected to one end to the input terminal of the comparator circuit 27b1 is connected to the power line, the electric motor The voltage detection resistor Rb has a resistance value sufficiently larger than the coil resistance value of 17.

The motor relay monitor circuit 27b outputs an abnormality detection signal such as disconnection, short circuit, or sticking of the electric motor 17. For example, the relay contact 28b of the motor relay 28
When the electric motor 17 is in the normal state with the open state, the motor relay detection voltage V _MR becomes a low level due to the presence of the voltage detection resistor Rb having a large resistance value, but it is disconnected. If so, the motor relay detection voltage V _MR becomes high level. Further, when the relay contact 28b is closed and in the on state, the motor relay detection voltage V _MR becomes high level when the electric motor 17 is in a normal state, but when the electric motor 17 is short-circuited, the motor relay detection voltage V _MR is detected. V _MR goes low. Then, the motor voltage detection value V _M corresponding to a high level and a low level of the motor relay detection voltage V _MR is output from the motor relay monitor circuit 27b, the motor voltage detection value V _M in response to the opening and closing of relay contacts 28b The electric motor 1 by detecting
It is possible to detect an abnormality such as disconnection or short circuit of No. 7.

When the electric motor 17 or the hydraulic pump 14 is rotating in a normal state and the motor relay 28 is changed from the ON state to the OFF state, the electric motor 17
Since the motor rotates due to inertia, a back electromotive voltage is generated, and the motor relay monitor circuit 27b detects the back electromotive voltage, so that the electric motor 17 or the hydraulic pump 14 can be fixed. That is, if the electric motor 17 is driven for a predetermined time and the motor voltage detection value V _M after the stop is equal to or higher than a predetermined level, it can be detected that the motor is rotating normally. Hydraulic pump 14
Can be detected.

Actuator relay monitor circuit 27c
As shown in FIG. 6, the input actuator relay detection voltage V _AR is compared with a predetermined threshold value, and a predetermined level is set in correspondence with the high and low voltage levels of the actuator relay detection voltage V _AR . One end is connected to the input terminal of the comparison circuit 27c1 for converting the high-level and low-level actuator relay detection values V _A , and the other end is grounded, which is sufficiently larger than the coil resistance values of the solenoids FLI to RO. And a voltage detection resistor Rc having a resistance value.

This actuator relay monitor circuit 27
In c, an abnormality is detected in the actuator relay circuit system such as the actuator relay drive circuit 25 and the actuator relay 31. For example, microcomputer 2
When the low level fail-safe signals F _S and F _S ′ are output from 3, 23 ′ and the gate of the AND circuit 25 b is open, when the high level actuator relay drive signal S _AR is output. If the actuator relay circuit system is in a normal state, the actuator relay detection value V _A becomes a high level, and if it is in an abnormal state, it becomes a low level. On the other hand, the same AND circuit 25
When the low-level actuator relay drive signal S _AR is output while the gate of b is open, if the actuator relay circuit system is in the normal state,
Actuator relay detection value V _A becomes low level,
If it is abnormal, it goes high. In this way, the actuator relay circuit system abnormality can be detected by detecting the actuator relay detection value V _A.

Then, each output interface 23d, 2
Fail-safe signals F _S and F _S 'output from 3d'
Is supplied to the warning display circuit 32 via the NOR circuit 25a. For example, at the time of self-diagnosis, the solenoids FLI to RLI
O or when an abnormality such as disconnection, short circuit or sticking is detected in the electric motor 17, or when an abnormality is detected in the actuator relay circuit system, or when anti-skid control is performed, calculation is performed by mutual monitoring such as wheel speed calculation processing. When the processing is determined to be abnormal, the high level fail-safe signal F
_S , F _S 'is output, and in response to this, the warning display circuit 32
Then, for example, a warning light provided on the instrument panel is turned on or a warning sound is emitted to notify the driver that an abnormality has occurred.

Next, an example of a processing procedure by the microcomputer when diagnosing the functions of the electric motor and the solenoid will be described with reference to the flowchart shown in FIG. This process is executed as an abnormality detection process after the initialization process of the microcomputers 23 and 23 'when the ignition switch 29 is turned on. In the figure, the left half is the process of the main microcomputer 23 and the right half is the process. The processing of the sub-microcomputer 23 'is shown respectively, and the processing proceeds while exchanging signals between the main microcomputer 23 and the sub-microcomputer 23'. Note that the anti-skid control and the fail-safe processing at the normal time after the detection of this abnormality are well known and will not be described.

In the main microcomputer 23, first, in step S1, it is determined whether or not the stop lamp signal S _ST is at low level. If it is high level, the process proceeds to step S2, and if it is low level, step S3.
Move to In step S2, it is determined whether or not a predetermined vehicle speed, for example, 10 km / h or more, at which noise and vibration at the time of motor diagnosis are wiped out by the vibration and sound of the engine.
In the present embodiment, the calculated pseudo vehicle speed is 10 during the operation of the brake in which the stop lamp signal S _ST becomes high level.
The self-diagnosis is performed when the speed exceeds km / h, and the self-diagnosis is reliably performed before sudden braking at high speed. 10
When the speed is less than km / h, the self-diagnosis processing program for the electric motor and the solenoid is executed again at a predetermined time to return to the main program to avoid operating noise during self-diagnosis. When the speed is 10 km / h or more, the process proceeds to the next step S3.

In step S3, the solenoids FLO-R
O and a signal for performing self-diagnosis in a non-operating state of the electric motor 17 are output, and a synchronization signal is transmitted to the sub-microcomputer 23 '. As shown in the timing chart of FIG. 8, first, a high level actuator relay drive signal S _AR is output and a power supply voltage is applied to one ends of the solenoids FLI to RO. Next, the low level solenoid drive signals S _{FL I to} S _RO are output, and the synchronization signal is transmitted. Next, the low-level motor relay drive signal S _MR is output and the synchronization signal is transmitted.

In the next step S4, the judgment signal J _ND is received from the sub-microcomputer 23 'to judge whether the respective signals in the non-operating state of the solenoids FLO to RO and the electric motor 17 are normal. The determination signal J _ND is, for example, a high level signal when the signals are normal and a low level signal when the signals are abnormal. Next, in step S5, it is determined whether or not the determination signal J _ND is at a high level to determine whether or not to continue the self-diagnosis. If the determination signal J _ND is at the low level, the process proceeds to step S6 to perform fail-safe processing, and if it is at the high level, the process proceeds to step S7 to continue the self-diagnosis.

In the fail-safe processing of step S6,
For example, a low level actuator relay drive signal S
_{The AR} and solenoid drive signals S _{FLI to} S _RO are output to turn off the actuator relay 31 and maintain the normal brake state in which the inflow valve 12 is open and the outflow valve 13 is closed. Then, the high-level motor relay drive signal S _MR is output for, for example, 2 seconds, and the electric motor 17 is operated to discharge the brake fluid when the accumulator 16 is stored, and then the low-level motor relay is discharged. The drive signal S _MR is output and the motor relay 28 is turned off so that the electric motor 17 is stopped. Then, a high-level fail-safe signal F _S is output, and the warning display circuit 32 is operated to turn on a warning light to inform the driver that an abnormality has occurred. From this point onward, the electric motor and solenoid self Do not run the diagnostic processing program.

In step S7, in order to perform self-diagnosis of the operating state of the electric motor 17, as shown in FIG. 8, a high-level motor relay drive signal S _MR is output for a predetermined time, for example, several seconds, and a synchronization signal is output. To the sub-microcomputer 23 '. In the next step S8, the determination signal J _M indicating whether or not the signal in the operating state of the electric motor 17 is normal is received. This judgment signal J _M
The disconnection of the motor voltage detection value V _M is the electric motor 17, short circuit, if properly correspond to fixed, such as, for example, becomes high level, a signal which becomes a low level if abnormal.

Then, the process proceeds to step S9, and the judgment signal J
_It is determined whether _M is at a high level or not and it is determined whether or not the self-diagnosis is continued. If the determination signal J _M is low level,
In step S6, fail-safe processing is performed, and if it is at a high level, then in step S10, the self-diagnosis is further continued. In step S10, a signal for performing self-diagnosis in the operating state of the solenoids FLI to RO is output, and a synchronization signal is transmitted to the sub-microcomputer 23 '. As shown in FIG. 8, first, of the solenoid drive signals S _{FLI to} S _RO , only the solenoid drive signal S _FLI is set to a high level, and the inflow valve 12 and the outflow valve 1 in the front wheel side actuator 10FL are set.
A holding mode signal in which both 3 are closed is output for a predetermined time, for example, several seconds, and a synchronization signal is transmitted. next,
Of the solenoid drive signals S _{FLI to} S _RO , the solenoid drive signals S _FLI and S _FLO are set to a high level to set a predetermined pressure reduction mode signal in which the inflow valve 12 and the outflow valve 13 of the actuator 10FL are closed. For a few seconds, for example, and a sync signal is transmitted.

Then, the solenoid drive signals in the holding mode and the pressure reducing mode are output to the solenoids RI and RO in the same manner as described above, and the synchronization signals are transmitted to the solenoids FRI and FRO. Along with outputting, a synchronization signal is transmitted respectively. In the next step S11, the determination signal J _S for determining whether or not each of the solenoid voltage detection values V _{FLI to} V _{RO in} the operating state of the solenoids _{FLI to RO} is received. The determination signal J _S is, for example, a high level signal when the signals are normal and a low level signal when the signals are abnormal.

Then, in step S12, it is determined whether the determination signal J _S is high level. If the determination signal J _S is low level, the process proceeds to step S6 to perform fail-safe processing, and if the determination signal J _S is high level, the self-diagnosis processing of the electric motor and the solenoid is terminated and the process returns to the upper main program. Next, the sub-microcomputer 23 '
An example of the processing procedure by will be described.

First, step S1_SAnd the main micro
A signal from the computer 23 for checking the inoperative state
Receives the sync signal transmitted at the time of output, and
Renoid voltage detection value V_FLI~ V_ROAnd motor voltage detection value
V_MRead, check in the non-operation state and make a judgment
Issue J_NDTo set. Solenoid voltage detection value V_FLI~ V _RO
Is at a high level and the motor voltage detection value V_MIs Lore
If it is a bell, solenoids FLI to RO and electric motor
It can be judged that there is no disconnection abnormality in both 17 and at this time
Is the judgment signal J_NDTo high level. On the other hand, abnormal
When the judgment signal J_NDIs set to low level. So
Then, step S2_SThen, the judgment signal J_NDThe main microphone
(B) It is transmitted to the computer 23. Next, step S3_S
To the judgment signal J_NDIs determined to be high level.
Judgment signal J_NDHowever, when the level is low, step S4_S
To perform fail-safe processing, and
If so, step S5_SMove to.

In step S4 _S , for example, a motor drive signal S _M 'having a high-level period of 2 seconds is output, and a high-level fail-safe signal F _S ' is output, so that the main microcomputer 23 and the dual-side signal are duplicated. After configuring the fail-safe to perform processing, after that, the process returns to the upper main program, and thereafter, the self-diagnosis processing program for this electric motor and solenoid is not executed.

In step S5 _S , the synchronization signal transmitted from the main microcomputer 23 at the time of self-diagnosis in the operating state of the electric motor 17 is received, the detected motor voltage value V _M at this time is read, and the operating state of the electric motor 17 is read. Check. Then, the high-level motor relay drive signal S _MR 'is also output from the sub-microcomputer 23', and the motor voltage detection value V at this time is output.
Read _M , sub-microcomputer 23 'and O
The motor drive system on the sub side including the R circuit 24a is checked. If each of the motor voltage detection value V _M is the high level in the check, it can be determined that the circuit fault is not a short-circuit abnormality and the motor driving system of the electric motor 17, also,
Motor relay drive signal S _MR 'motor voltage detection value V _M after off can be determined that there is no sticking of the motor drive system as long as more than a predetermined level, it sets a determination signal J _M to the high level. On the other hand, when it is abnormal, the determination signal J _M is set to the low level.

Then, step S6_SThen, the judgment signal J_M
Is transmitted to the main microcomputer 23. next,
Step S7_STo the judgment signal J_MIs high level
Determine whether or not. Judgment signal J_MIs low level
Is step S4_STo perform fail-safe processing.
If it is high level, step S8_SMove to. Su
Step S8_SThen, the operating state of the solenoids FLI to RO
Main microcomputer 23 during self-diagnosis in
Receives the sync signal transmitted from the
Id voltage detection value V_FLI~ V_RORead the solenoid F
Check the operating status of LI to RO. Soleno
Id drive signal S_FLI~ S_ROOf the solenoid drive signal S
_FLIOnly when it is set to high level and output
Detected solenoid voltage value V_FLIIs low level,
And the solenoid voltage detection value V _FLOIs at a high level
For example, actuation of solenoids FLI and FLO in hold mode
Is normal, and there is no short circuit abnormality in the solenoid FLI.
I can judge that. Then, the solenoid drive signal S_FLIOver
And S_FLOWhen set to high level and output,
Noid voltage detection value V_FLIAnd V_FLOAre both low level
If so, the solenoids FLI and FLO in depressurization mode
The operation is normal, and the solenoid FLO has a short circuit error.
You can judge that there is no. Then, the solenoid voltage detection
Outgoing price V_FLI~ V_RORead all solenoids FLI
~ When it can be judged that RO has no short circuit abnormality,
Issue J_STo high level. On the other hand, in case of abnormality
Is the judgment signal J_SIs set to low level.

Then, in step S9 _S , the judgment signal J _S
Is transmitted to the main microcomputer 23. next,
In step S10 _S , it is determined whether the determination signal J _S is high level. When the determination signal J _S is at the low level, the process proceeds to step S4 _S to perform the fail-safe process, and when the determination signal J _S is at the high level, the self-diagnosis process of the electric motor and the solenoid is terminated and the process returns to the upper main program.

Of the above steps, steps S7-
Each processing of S9 and S5s to S7s corresponds to a motor function diagnosis means in the operating state of the electric motor 17, and each processing of steps S10 to S12 and S8s to S10a is a solenoid valve function in the operating state of the inflow valve and the outflow valve. It corresponds to a diagnostic means. Next, the self-diagnosis operation will be described based on the time chart shown in FIG. The self-diagnosis of the electric motor and the solenoid is performed once when the ignition switch I _G is turned on. When the brake pedal is released or when the vehicle speed is 10 km / h or more, the main microcomputer 23 outputs a high-level actuator relay drive signal S _AR to keep the actuator relay 31 in the ON state. Similarly, the main microcomputer 23 outputs low-level solenoid drive signals S _{FLI to} S _RO and motor relay drive signal S _MR , respectively, and the solenoids _{FLI to RO} are output.
Also, a self-diagnosis is performed in step S1 _S of the sub-microcomputer 23 'to determine whether the electric motor 17 has a disconnection abnormality. In this embodiment, the self-diagnosis is started when the vehicle speed reaches 10 km / h or more even if the brake is in the operating state, so that the shift to the anti-skid control without the self-diagnosis is reduced.

If there is no disconnection abnormality, next, prior to self-diagnosis in the operating state of the solenoids FLI to RO,
A high-level motor relay drive signal S _MR is output from the main microcomputer 23 to maintain the electric motor 17 in an operating state, and a self-diagnosis for a short circuit abnormality of the electric motor 17 and an operation abnormality of the sub microcomputer 23 'is performed by the sub microcomputer. This is done in step S5 _S of the computer 23 '. As described above, in this embodiment, the solenoids FLI to
Before performing self-diagnosis in the RO operating state, the electric motor 1
Since the self-diagnosis is performed in the operation state of No. 7, even when the brake pedal is depressed, the brake fluid in the accumulator 16 is not discharged during the self-diagnosis of the electric motor 17, and a discharge sound is generated. There is nothing to do. Further, since the brake fluid is not discharged, the electric motor 17
The drive resistance can be kept small, the drive time can be set to a short time, and it is possible to reduce vibration, noise, and the like that occur during self-diagnosis.

If no abnormality is detected in the operating state of the electric motor 17, then the main microcomputer 2
3 to high level solenoid drive signals S _{FLI to} S
_RO is set and output for each of the actuators 10FL to 10R and for each predetermined mode, and the solenoid F
Holding the LI~RO into operation carried out a short-circuit abnormality and abnormal operation of the self-diagnosis in step S8 _S sub microcomputer 23 '. If no abnormality is detected even in this self-diagnosis, the electric motor 17 and the solenoids FLI to RLI
O ends the self-diagnosis because it is normal.

Next, an example of the processing by the microcomputer as the fluid discharging means for discharging the brake fluid in the accumulator will be explained based on the flowchart shown in FIG. This process is started by the upper main program when both the electric motor 17 and the solenoids FLI to RO are determined to be normal in the self-diagnosis described above. When the self-diagnosis is performed during braking with the brake pedal depressed, the brake fluid corresponding to the depression amount of the brake pedal flows into the accumulator 16 in the depressurization mode in which the outflow valve 13 is opened. In this embodiment, in order to discharge the inflowing brake fluid, the electric motor 17 is driven for a predetermined time at a predetermined vehicle speed to perform the brake fluid discharge processing.

First, in step S13, the pseudo vehicle speed calculated by the main microcomputer 23 is, for example, 15 km.
/ H or more is determined. When the speed is less than 15 km / h, the electric motor 17 is operated for a long time and the hydraulic pump 14 is operated.
The rotation of the CPU may give an occupant an uncomfortable feeling due to the generation of the ejection sound. At this time, therefore, the process returns to the upper main program, and the determination is performed again at a predetermined interruption.

When the speed exceeds 15 km / h, the process proceeds to step S14, in which the high-level motor relay drive signals S _MR and S _MR 'are output for only 2 seconds to drive the electric motor 17 to rotate. The brake fluid stored in the accumulator 16 is discharged. Then, after the discharge process is completed, the process returns to the upper main program. The operation at the time of discharging the brake fluid will be described based on the time chart shown in FIG. When the self-diagnosis is performed when the brake is turned off after the ignition switch is turned on, the discharge of the brake fluid is performed after it is determined that the electric motor 17 and the solenoids FLO to RO are normal, as shown in FIG. , When the vehicle speed exceeds 15km / h. When the self-diagnosis is performed when the vehicle speed becomes 10 km / h or more, the discharge of the brake fluid is as shown in FIG.
As shown in (B), the electric motor 17 and the solenoid F
After it is judged that LO to RO are normal, the vehicle speed is 15km / h.
When it is above, it will be continued. In this embodiment, since the brake fluid is discharged during traveling, the discharged sound is scraped off by other noises, vibrations and the like.

As described above, in this embodiment, before performing self-diagnosis in the operating state of the solenoids FLO to RO,
Self-diagnosis is performed in the operating state of the electric motor 17.
Therefore, at the time of self-diagnosis of the electric motor 17, since no brake fluid is stored in the accumulator 16, no discharge noise is generated. Therefore, the self-diagnosis can be executed while reducing the operating noise during the function diagnosis.

By performing self-diagnosis when the brake is not in operation, it is possible to suppress the vibration around the brake caused by the pressure change in the brake pipe. In addition, even if the brake is in operation, the vehicle speed is 10
Since the self-diagnosis is performed when the vehicle is over km / h, the vehicle speed is 10 km / even when creeping an automatic vehicle while lightly stepping on the brake pedal or traveling downhill.
When h or more, the self-diagnosis is surely executed, and the chances of self-diagnosis increase, so that the reliability of the fail-safe function can be improved. In addition, since the vehicle is traveling, the discharge sound is scraped off by other vibrations and the like, so that noise and vibrations that give an occupant an unpleasant feeling can be reduced.

After it is determined that the electric motor 17 is normal, self-diagnosis is performed in the operating state of the solenoids FLO to RO. Therefore, when it is determined that the electric motor 17 is abnormal, the reliability of the fail-safe function can be improved by immediately shifting to the normal brake mode. Further, when the vehicle speed after the start of traveling is 15 km / h or more, the solenoid FL is
Since the brake fluid stored in the accumulator 16 is discharged at the time of self-diagnosis of I to RO, the discharge sound and the noise and vibration of the electric motor 17 are scratched off by other noises and reduced, and the occupant feels uncomfortable. It is possible to reduce the discharge noise and noise that give rise to

Further, since the self-diagnosis is performed while exchanging signals between the main microcomputer and the sub-microcomputer, an abnormality check is surely performed, and fail-safe processing is surely executed when an abnormality is detected. can do. In the above embodiment, the self-diagnosis is executed when the brake pedal is in the released state, that is, when the non-braking state and the predetermined vehicle speed or more are satisfied. Even if the self-diagnosis of the electric motor 17 is performed regardless of the conditions described above, as long as the self-diagnosis of the electric motor 17 in the operating state is performed before the solenoid as in the above embodiment, the discharge at the time of the function diagnosis of the electric motor 17 is performed. The generation of sound can be avoided, and the operation noise at the time of self-diagnosis at the time of brake operation can be reduced accordingly. Therefore, even when the brake is operating, the self-diagnosis can be executed while reducing the operating noise during the function diagnosis, and the self-diagnosis can be performed regardless of the conditions such as the operation / non-operation of the brake and the predetermined vehicle speed or more. Since it can be executed, the self-diagnosis can be executed at an early stage. The processing procedure by the microcomputer in this case is executed by omitting the processing of steps S1 and S2 in the flowchart of FIG.

Further, in the above embodiment, after the self-diagnosis in the operating state of the electric motor 17 is completed, the self-diagnosis in the holding mode and the pressure reducing mode of the solenoids FLI to RO is performed, but the brake is applied in the accumulator. Since the liquid flows in only when the outflow valve is opened when the brake pedal is depressed, the self-diagnosis of closing the inflow valve among the operations of the solenoids FLI to RO is performed in the operating state of the electric motor 17. It may be done before the self-diagnosis of.

In the above embodiment, the brake fluid is discharged when the vehicle speed becomes 15 km / h or more, but the invention is not limited to this. For example, when the brake is off, the brake fluid does not further flow into the accumulator, so that the generation of discharge noise during the discharge operation is reduced. Therefore, when the brake is off, the brake fluid may be discharged regardless of the vehicle speed.

Further, in the above embodiment, each solenoid is
Solenoid voltage detection value V for each_FLI~ V_RORead
Abnormality detection of disconnection and short circuit respectively for each solenoid
However, it is not limited to this.
For example, the solenoid voltage detection value V _FLI~ V_ROAND circuit
And the OR circuit, and the outputs of these circuits are interfaced.
Source circuit 23a '.
From the output of this AND circuit, either solenoid FL
Signals that go low when I to RO are disconnected
By obtaining it, and from the OR circuit, either
Raises to high level when the NOID FLI to RO are short-circuited
Of the solenoids FLI to RO
Abnormality detection of disconnection and short circuit may be collectively performed.

Further, in the above embodiment, the two microcomputers 23 and 23 'of the main and the sub are used, but the present invention is not limited to this.
The above-mentioned effects can be obtained even if it is configured by only one microcomputer. In the above embodiment, the wheel speed on the rear wheel side is detected by the common wheel speed sensor 3
Only the case of the sensor 3-channel anti-skid control device has been described in detail, but the present invention is not limited to this, and the number of sensors and the number of control channels (hydraulic circuits to be controlled) can be set arbitrarily. For example, it is also applicable to a so-called four-sensor four-channel anti-skid control device in which wheel speed sensors are individually provided for the left and right wheels on the rear wheel side, and corresponding actuators are provided for the left and right wheel cylinders accordingly. . Further, it may be applied to a two-sensor two-channel anti-skid control device.

Further, in the above embodiment, the case where the microcomputer is applied as the controller 21 has been described, but instead of the microcomputer, an electronic circuit such as a comparison circuit, a logic circuit, and an arithmetic circuit may be combined. Good.

[0066]

As described above, according to the first aspect of the invention, the electromagnetic valve function diagnostic means for diagnosing the function of the electromagnetic inflow valve and the electromagnetic outflow valve, and the accumulator by opening the electromagnetic outflow valve. A motor function diagnosing means for activating the electric motor for a short time to diagnose the electric function of the electric motor before the fluid flows thereinto. As a result, at the time of function diagnosis in the operating state of the electric motor, since the brake fluid is not stored in the accumulator, it is possible to prevent the generation of discharge noise. Therefore, when performing self-diagnosis at the time of operating the brake, it is possible to reduce operation noise at the time of function diagnosis. Further, since the self-diagnosis can be executed regardless of whether the brake is operated or not, the self-diagnosis can be executed even when the vehicle is stopped and the self-diagnosis can be executed early, and the reliability of the fail-safe function can be improved. It is possible to plan.

According to the second aspect of the invention, the function diagnosis of the electromagnetic inflow valve, the electromagnetic outflow valve, and the electric motor is performed when either one of the non-braking condition and the predetermined vehicle speed or more is satisfied. ing. In addition to non-braking, self-diagnosis can be performed even when the brake is applied at a predetermined vehicle speed or higher to increase the chances of self-diagnosis.
Since the vehicle is running, the operating noise, vibration, etc. at the time of function diagnosis are scraped off by the engine sound, etc., and the operating noise, etc. that gives an occupant an unpleasant feeling can be further reduced.

According to the third aspect of the invention, the functional diagnosis involving the operation of the electromagnetic inflow valve and the electromagnetic outflow valve is performed when the electric motor is determined to be normal.
As a result, when it is determined that the electric motor is abnormal,
For example, it is possible to quickly shift to the normal brake mode, and the reliability of the fail-safe function can be improved.

Further, in the invention described in claim 4, after the discharge of the brake fluid stored in the accumulator is judged by the electromagnetic valve function diagnostic means that the electromagnetic inflow valve and the electromagnetic outflow valve are normal. It is performed when the vehicle speed is equal to or higher than a predetermined speed. Since the brake fluid is discharged during traveling, the discharge sound and noises and vibrations caused by the electric motor and the like are wiped out by other noises and vibrations. As a result, it is possible to reduce ejection noise, vibration, and the like that give an occupant an unpleasant feeling.

[Brief description of drawings]

FIG. 1 is a claim correspondence diagram according to the invention of claim 1;

FIG. 2 is a claim correspondence diagram according to the invention of claim 4;

FIG. 3 is a schematic configuration diagram showing an embodiment of an anti-skid control device according to the present invention.

FIG. 4 is a configuration diagram showing an example of an actuator.

FIG. 5 is a block diagram of a control circuit according to the present embodiment.

FIG. 6 is a block diagram showing an example of a solenoid drive circuit and each monitor circuit according to the present embodiment.

FIG. 7 is a flowchart showing an example of self-diagnosis control according to the present embodiment.

FIG. 8 is a time chart at the time of self-diagnosis processing according to the present embodiment.

FIG. 9 is a flowchart showing an example of brake fluid discharge control according to the present embodiment.

FIG. 10 is a time chart of brake fluid discharge control according to the present embodiment.

[Explanation of symbols]

 1FL, 1FR Front Wheel 1RL, 1RR Rear Wheel 6FL-6RR Wheel Cylinder 7FL-7RR Wheel Speed Sensor 8 Brake Pedal 10FL, 10FR Front Wheel Actuator 10R Rear Wheel Actuator 12 Electromagnetic Inflow Valve 13 Electromagnetic Outflow Valve 14 Hydraulic Pump 16 Accumulator 17 Electric Motor 21 controller 23 main microcomputer 23 'sub-microcomputer 24 motor relay drive circuit 25 actuator relay drive circuit 26 solenoid drive circuit 27a solenoid monitor circuit 27b motor relay monitor circuit 27c actuator relay monitor circuit 28 motor relay 31 actuator relay FLI to RO solenoid

Claims (4)

[Claims] 1. A braking cylinder arranged on a wheel to be controlled, a supply system for supplying brake fluid to the braking cylinder via an electromagnetic inflow valve, and an electromagnetic outflow valve for releasing the brake fluid in the braking cylinder. An actuator having a pump driven by an electric motor and an accumulator that accumulates via an actuator, the actuator having a discharge system for discharging the brake fluid of the accumulator by the operation of the pump, and outputting an output signal according to the rotational speed of the wheel. In an anti-skid control device comprising wheel speed detection means and control means for controlling the operation of the actuator based on an output signal of the wheel speed detection means, a functional diagnosis involving the operation of the electromagnetic inflow valve and the electromagnetic outflow valve. Before performing the function diagnosis that performs the electromagnetic valve function diagnosis means and the function diagnosis that operates the electromagnetic outflow valve in the open state by the solenoid valve function diagnosis means, An anti-skid control device comprising: a motor function diagnosing means for activating the electric motor for a short time to diagnose the electric function of the electric motor. 2. The function diagnosis of the electromagnetic valve function diagnosing means and the motor function diagnosing means is performed when either one of a non-braking condition and a predetermined vehicle speed or more is satisfied. Anti-skid controller. 3. The electromagnetic valve function diagnosing means includes a function diagnosing operation of the electromagnetic inflow valve and the electromagnetic outflow valve when the electric motor is judged to be normal by the functional diagnosis by the motor function diagnosing means. The anti-skid control device according to claim 1 or 2, characterized in that: 4. The brake fluid stored in the accumulator at the time of function diagnosis involving the operation of the electromagnetic outflow valve,
Fluid discharge means for operating and discharging the electric motor for a predetermined time after it is determined that the electric motor, the electromagnetic inflow valve, and the electromagnetic outflow valve are normal, and when the vehicle speed is equal to or higher than a predetermined vehicle speed. The antiskid control device according to claim 1, further comprising: