Hydraulic control unit, brake system, and diagnostic method

Abstract

The invention provides a hydraulic pressure control unit, a brake system and a diagnosis method capable of properly diagnosing abnormality of a power supply line. The hydraulic control unit (5) is provided with: a hydraulic control mechanism including a filling valve (31) which is an electromagnetic valve electrically connected to a power source (7) via a power line (8); a control device (52) for controlling the operation of the hydraulic control mechanism; and a resistor (35) electrically connected to the power supply (7) via the power supply line (8). A diagnosis unit of the control device (52) performs a power supply line diagnosis for diagnosing an abnormality in the power supply line (8) on the basis of a change in the voltage of the power supply line (8) when the current applied to the resistor (35) is changed, in a state in which the current is not applied to the filling valve (31) and the current is applied to the resistor (35).

Description

Technical Field

[0001] The present disclosure relates to a hydraulic control unit, a braking system, and a diagnostic method capable of appropriately diagnosing an abnormality in a power supply line. Background Art

[0002] In a riding-type vehicle, a hydraulic control unit (for example, refer to Patent Document 1) for controlling the braking force generated at a wheel is provided. In the hydraulic control unit, the hydraulic pressure of the brake fluid is controlled by a hydraulic control mechanism including a solenoid valve.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2018-8674 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] The hydraulic control unit is electrically connected to a power supply via a power supply line such as a wiring harness. Each device such as a solenoid valve in the hydraulic control unit operates using electric power supplied from the power supply via the power supply line. If the resistance value of the power supply line becomes excessively large due to an abnormality (for example, aging) in the power supply line, it becomes difficult to operate the hydraulic control unit normally. Therefore, a power supply line diagnosis for diagnosing an abnormality in the power supply line is performed.

[0008] In the power supply line diagnosis, for example, a filling valve provided in a flow path connecting a master cylinder and a wheel cylinder is opened and closed, and an abnormality in the power supply line is diagnosed based on the voltage change of the power supply line at this time. Therefore, when a braking operation is performed by a rider during the execution of the power supply line diagnosis, it may be difficult to brake the riding-type vehicle as intended by the rider. Thus, it is desired to appropriately diagnose an abnormality in the power supply line by suppressing such a situation.

[0009] The present invention has been made in view of the above problems, and provides a hydraulic control unit, a braking system, and a diagnostic method capable of appropriately diagnosing an abnormality in a power supply line.

[0010] Means for Solving the Problems

[0011] The hydraulic control unit according to the present invention is a hydraulic control unit used in the braking system of a riding vehicle; it includes: a hydraulic control mechanism including a filling valve, which is an electromagnetic valve electrically connected to a power source via a power line, provided in a flow path connecting a master cylinder and a wheel cylinder, and is in an open state when not energized and in a closed state when energized; and a control device that controls the operation of the aforementioned hydraulic control mechanism; it also includes a resistor electrically connected to the aforementioned power source via the aforementioned power line; the aforementioned control device is provided with a diagnosis unit that, in a state where no current is applied to the aforementioned filling valve and current is applied to the aforementioned resistor, diagnoses an abnormality of the aforementioned power line based on the voltage change of the aforementioned power line when the current applied to the aforementioned resistor changes.

[0012] The braking system according to the present invention includes the above-mentioned hydraulic control unit; the number of the aforementioned wheel cylinders communicating with one of the aforementioned master cylinders is one.

[0013] The diagnostic method according to the present invention is a diagnostic method for a hydraulic control unit used in the braking system of a riding vehicle; the aforementioned hydraulic control unit includes: a hydraulic control mechanism including a filling valve, which is an electromagnetic valve electrically connected to a power source via a power line, provided in a flow path connecting a master cylinder and a wheel cylinder, and is in an open state when not energized and in a closed state when energized; and a control device that controls the operation of the aforementioned hydraulic control mechanism; it also includes a resistor electrically connected to the aforementioned power source via the aforementioned power line; the diagnosis unit of the aforementioned control device, in a state where no current is applied to the aforementioned filling valve and current is applied to the aforementioned resistor, diagnoses an abnormality of the aforementioned power line based on the voltage change of the aforementioned power line when the current applied to the aforementioned resistor changes.

[0014] Advantages of the Invention

[0015] In the hydraulic control unit, braking system, and diagnostic method according to the present invention, the hydraulic control unit includes: a hydraulic control mechanism including a filling valve, which is an electromagnetic valve electrically connected to a power source via a power line, provided in a flow path connecting a master cylinder and a wheel cylinder, and is in an open state when not energized and in a closed state when energized; and a control device that controls the operation of the hydraulic control mechanism; it also includes a resistor electrically connected to the power source via the power line; the diagnosis unit of the control device, in a state where no current is applied to the filling valve and current is applied to the resistor, diagnoses an abnormality of the power line based on the voltage change of the power line when the current applied to the resistor changes. Thus, it is possible to perform power line diagnosis without opening and closing the filling valve. Therefore, when a braking operation is performed by a rider during the execution of power line diagnosis, the difficulty of braking the riding vehicle as intended by the rider is reduced. Thus, it is possible to appropriately diagnose an abnormality of the power line. Description of the Drawings

[0016] Figure 1 is a schematic diagram showing a schematic structure of a riding vehicle according to an embodiment of the present invention.

[0017] Figure 2 is a schematic diagram showing a schematic structure of a braking system according to an embodiment of the present invention.

[0018] Figure 3 is a diagram showing an example of an electrical connection relationship between parts including a hydraulic control unit according to an embodiment of the present invention.

[0019] Figure 4 is a block diagram showing an example of a functional structure of a control device according to an embodiment of the present invention.

[0020] Figure 5 is a flowchart showing an example of a process flow related to power supply line diagnosis performed by a control device according to an embodiment of the present invention.

[0021] Figure 6 is a diagram for explaining the flow of current during the execution of power supply line diagnosis according to an embodiment of the present invention.

[0022] Figure 7 is a diagram for explaining the flow of current when a fill valve is energized during antilock braking control according to an embodiment of the present invention. Detailed Embodiments

[0023] Hereinafter, a hydraulic control unit, a braking system, and a diagnostic method according to the present invention will be described with reference to the drawings.

[0024] In addition, a hydraulic control unit used in a two-wheeled motorcycle will be described below (refer to the riding vehicle 100 in Figure 1 ), but the vehicle to which the hydraulic control unit according to the present invention is applied may also be a riding vehicle other than a two-wheeled motorcycle. A riding vehicle refers to a vehicle on which a rider rides straddling. In riding vehicles, for example, motorcycles (motorized two-wheelers, motorized three-wheelers), bicycles, etc. are included. In motorcycles, vehicles powered by an engine, vehicles powered by an electric motor, etc. are included. In motorcycles, for example, scooters, small motorcycles, electric small motorcycles, etc. are included. A bicycle refers to a vehicle that can be propelled on the road by the pedaling force of a rider applied to the pedals. In bicycles, ordinary bicycles, electric assist bicycles, electric bicycles, etc. are included.

[0025] In addition, the structures and operations described below are examples, and the hydraulic control unit, the braking system, and the diagnostic method according to the present invention are not limited to such structures and operations.

[0026] In addition, the same or similar descriptions are appropriately simplified or omitted below. In addition, in each figure, for the same or similar parts or portions, the reference numerals are omitted or the same reference numerals are given. In addition, regarding the detailed structure, the illustrations are appropriately simplified or omitted.

[0027] <Structure of a riding type vehicle>

[0028] Reference Figures 1 to 4 The structure of the saddle-ride type vehicle 100 according to the embodiment of the present invention will be described.

[0029] Figure 1 1 is a schematic diagram showing a schematic structure of a saddle-type vehicle 100. The saddle-type vehicle 100 is a two-wheeled motorcycle corresponding to an example of a saddle-type vehicle according to the present invention. Figure 1 As shown, the saddle-type vehicle 100 includes a vehicle body 1, a handlebar 2, a front wheel 3, a rear wheel 4, a hydraulic control unit 5, and a reporting device 6. In addition, the saddle-type vehicle 100 includes a brake system 10. The brake system 10 includes a first brake operating unit 11, a front wheel brake mechanism 12, a second brake operating unit 13, and a rear wheel brake mechanism 14.

[0030] The handlebar 2 is rotatably held by the vehicle body 1. The front wheel 3 is rotatably held by the vehicle body 1 together with the handlebar 2. The rear wheel 4 is rotatably held by the vehicle body 1. The hydraulic control unit 5 is a unit for controlling the braking force generated by the wheels of the saddle-type vehicle 100. The hydraulic control unit 5 is included in the brake system 10. The details of the hydraulic control unit 5 will be described later. The reporting device 6 reports various information. As the reporting device 6, for example, a display device such as a lamp or a sound output device is used.

[0031] Specifically, the brake system 10 includes a hydraulic control unit 5 in addition to a first brake operating unit 11, a front wheel brake mechanism 12, a second brake operating unit 13, and a rear wheel brake mechanism 14. The first brake operating unit 11 is, for example, disposed on the handlebar 2 and operated by the rider's hand. The first brake operating unit 11 is, for example, a brake lever. The front wheel brake mechanism 12 is at least linked to the first brake operating unit 11 to brake the front wheel 3. The second brake operating unit 13 is, for example, disposed at the lower portion of the vehicle body 1 and operated by the rider's foot. The second brake operating unit 13 is, for example, a brake pedal. The rear wheel brake mechanism 14 is at least linked to the second brake operating unit 13 to brake the rear wheel 4. The hydraulic control unit 5 is a unit that is responsible for controlling the braking force applied to the front wheel 3 by the front wheel brake mechanism 12 and the braking force applied to the rear wheel 4 by the rear wheel brake mechanism 14.

[0032] Figure 2 Schematic diagram showing the schematic structure of the brake system 10. Figure 2As shown, each of the front wheel braking mechanism 12 and the rear wheel braking mechanism 14 includes: a master cylinder 21 with a piston (not shown); a reservoir 22 attached to the master cylinder 21; a brake caliper 23 held by the vehicle body 1 and having brake pads (not shown); a wheel cylinder 24 provided in the brake caliper 23; a main flow path 25 for allowing the brake fluid in the master cylinder 21 to flow to the wheel cylinder 24; and a sub-flow path 26 for discharging the brake fluid in the wheel cylinder 24. As Figure 2 shown, in the braking system 10, the number of wheel cylinders 24 communicating with one master cylinder 21 is one.

[0033] However, the number of wheel cylinders 24 communicating with one master cylinder 21 can also be two or more. In addition, a supply flow path for supplying the brake fluid in the master cylinder 21 to the sub-flow path 26 can also be provided. In addition, one of the front wheel braking mechanism 12 and the rear wheel braking mechanism 14 can be omitted.

[0034] The main flow path 25 is a flow path that connects the master cylinder 21 and the wheel cylinder 24. A filling valve (EV) 31 is provided in the main flow path 25. The sub-flow path 26 bypasses between the side closer to the wheel cylinder 24 and the side closer to the master cylinder 21 with respect to the filling valve 31 in the main flow path 25. In the sub-flow path 26, a release valve (AV) 32, a reservoir 33, and a pump 34 are provided in sequence from the upstream side.

[0035] The filling valve 31 and the release valve 32 are solenoid valves that control the hydraulic pressure generated in the wheel cylinder 24. The filling valve 31 is a solenoid valve that is in an open state when not energized and in a closed state when energized. The filling valve 31 becomes closed by being energized. Specifically, if the current applied to the filling valve 31 becomes larger to a certain extent, the filling valve 31 becomes closed. The release valve 32 is a solenoid valve that is in a closed state when not energized and in an open state when energized. The release valve 32 becomes open by being energized. Specifically, if the current applied to the release valve 32 becomes larger to a certain extent, the release valve 32 becomes open.

[0036] The hydraulic control unit 5 includes a hydraulic control mechanism 51 for controlling the hydraulic pressure of the brake fluid and a control device 52 for controlling the operation of the hydraulic control mechanism 51. The hydraulic control mechanism 51 includes components such as the above-mentioned filling valve 31, release valve 32, reservoir 33, and pump 34. The hydraulic control mechanism 51 includes a base body 51a in which the above-mentioned main flow path 25 and sub-flow path 26 and other flow paths are formed, and the above-mentioned components are provided on the base body 51a. The control device 52, as will be described later, includes, for example, a microcomputer and an integrated circuit (refer to the integrated circuit 521 described later Figure 3 ).

[0037] In addition, the base body 51a can be formed by one component or multiple components. In addition, in the case where the base body 51a is formed by multiple components, each component can also be separately provided on different components.

[0038] By controlling the operation of the hydraulic control mechanism 51 by the control device 52, the braking force generated by the front wheel braking mechanism 12 on the front wheels 3 and the braking force generated by the rear wheel braking mechanism 14 on the rear wheels 4 are controlled. The control device 52 controls the operation of the hydraulic control mechanism 51 according to, for example, the running state of the riding type vehicle 100.

[0039] For example, in the normal state (i.e., the state where anti-lock braking control described later is not executed), by means of the control device 52, the filling valve 31 is opened and the release valve 32 is closed. In this state, if the first brake operation unit 11 is operated, in the front wheel braking mechanism 12, the piston (not shown) of the master cylinder 21 is pushed in and the hydraulic pressure of the brake fluid in the wheel cylinder 24 increases, and the brake pads (not shown) of the brake caliper 23 are pressed against the rotor 3a of the front wheel 3, and a braking force is applied to the front wheel 3. In addition, if the second brake operation unit 13 is operated, in the rear wheel braking mechanism 14, the piston (not shown) of the master cylinder 21 is pushed in and the hydraulic pressure of the brake fluid in the wheel cylinder 24 increases, and the brake pads (not shown) of the brake caliper 23 are pressed against the rotor 4a of the rear wheel 4, and a braking force is applied to the rear wheel 4.

[0040] The anti-lock braking control is, for example, a control that is executed when the wheel (specifically, the front wheel 3 or the rear wheel 4) is locked or there is a possibility of locking, and reduces the braking force applied to the wheel without depending on the operation of the brake operation unit by the rider. For example, in the state where the anti-lock braking control is being executed, by means of the control device 52, the filling valve 31 is closed and the release valve 32 is opened. In this state, by driving the pump 34 by the control device 52, the hydraulic pressure of the brake fluid in the wheel cylinder 24 decreases, and the braking force applied to the wheel decreases. In addition, in detail, the pump 34 is driven by the motor that drives the pump 34. Therefore, the control device 52 can drive the pump 34 by driving the motor.

[0041] The control device 52 performs various controls using various information detected in the riding type vehicle 100. For example, as Figure 1 shown, the riding type vehicle 100 is equipped with a front wheel speed sensor 41 and a rear wheel speed sensor 42. The detection results of these sensors are output to the control device 52.

[0042] The front wheel speed sensor 41 is a wheel speed sensor that detects the wheel speed of the front wheel 3 (for example, the rotational speed [rpm] per unit time of the front wheel 3 or the moving distance [km / h] per unit time, etc.), and outputs the detection result. The front wheel speed sensor 41 may also be a sensor that detects other physical quantities that can be substantially converted into the wheel speed of the front wheel 3. The front wheel speed sensor 41 is provided on the front wheel 3.

[0043] The rear wheel speed sensor 42 is a wheel speed sensor that detects the wheel speed of the rear wheel 4 (for example, the rotational speed [rpm] per unit time or the moving distance [km / h] per unit time of the rear wheel 4, etc.) and outputs the detection result. The rear wheel speed sensor 42 may also be a sensor that detects other physical quantities that can be substantially converted into the wheel speed of the rear wheel 4. The rear wheel speed sensor 42 is provided on the rear wheel 4.

[0044] Figure 3 FIG. is an example showing the electrical connection relationship between components including the hydraulic control unit 5. As Figure 3 shown, the hydraulic control unit 5 is electrically connected to the power source 7 via a power line 8 such as a wiring harness. Each device in the hydraulic control unit 5 operates using the power supplied from the power source 7 via the power line 8. In Figure 3 , only the part showing the association with the filling valve 31, which is one of the components operating using the power supplied from the power source 7, is extracted in the hydraulic control unit 5. The filling valve 31 is electrically connected to the power source 7 via the power line 8.

[0045] In addition, in Figure 3 , one filling valve 31 is illustrated for easy understanding, but in the case where the structure of the braking system 10 is Figure 2 such a structure, actually two filling valves 31 (that is, the filling valve 31 of the front wheel braking mechanism 12 and the filling valve 31 of the rear wheel braking mechanism 14) are electrically connected to the power source 7 via the power line 8. Moreover, a first switching element SW1 described later is provided for each filling valve 31. In addition, other components (such as the release valve 32, etc.) in the hydraulic control unit 5 other than the filling valve 31 are also electrically connected to the power source 7 via the power line 8.

[0046] As Figure 3 shown, the hydraulic control unit 5 includes a resistor 35, a voltage sensor 43, a voltage sensor 44, an integrated circuit 521, a first switching element SW1, a second switching element SW2, and a third switching element SW3. The integrated circuit 521 is included in the control device 52 and undertakes a part of the functions of the control device 52 (for example, the function of controlling the opening and closing operation of the filling valve 31, etc.).

[0047] The filling valve 31 is provided on the first line L1. The resistor 35 is provided on the second line L2. The first line L1 and the second line L2 are electrically connected in parallel with each other. Thus, not only the filling valve 31 but also the resistor 35 is electrically connected to the power source 7 via the power line 8. The resistor 35 has, for example, a resistance value of the same order as the internal resistance value of the filling valve 31. However, the resistance value of the resistor 35 may be smaller than the internal resistance value of the filling valve 31 or may be larger than it.

[0048] Hereinafter, the upstream side of the current flowing from the power source 7 toward the filling valve 31 or the resistor 35 will be simply referred to as the upstream side, and the downstream side will be simply referred to as the downstream side.

[0049] The downstream ends of the first line L1 and the second line L2 are electrically connected to the integrated circuit 521, respectively. The upstream sides of the first line L1 and the second line L2 merge at the merging portion P1. At the merging portion P1, the downstream end of the third line L3 is connected. The upstream end of the third line L3 is electrically connected to the power supply line 8. That is, the third line L3 electrically connects the merging portion P1 and the power supply line 8.

[0050] The first switching element SW1, the second switching element SW2, and the third switching element SW3 are examples of a switching portion that switches the current path in the hydraulic control unit 5. Each of the first switching element SW1, the second switching element SW2, and the third switching element SW3 switches the availability of power conduction at the switching setting position. When each switching element is in the closed state, it becomes a state where current can pass through each switching element. On the other hand, when each switching element is in the open state, it becomes a state where current cannot pass through each switching element. Each switching element includes, for example, a semiconductor relay including a field effect transistor (FET: Field Effect Transistor).

[0051] In Figure 3 this example, the first switching element SW1 and the second switching element SW2 each include one semiconductor relay. In addition, the third switching element SW3 includes two semiconductor relays connected in series, and the opening and closing operations of the two semiconductor relays are synchronized. However, the structure of each switching element is not particularly limited. For example, the number of semiconductor relays provided in the third switching element SW3 may also be one. In addition, for example, the relay included in each switching element may not be a semiconductor relay, and may be, for example, a mechanical relay.

[0052] The first switching element SW1 and the second switching element SW2 are built in the integrated circuit 521. The first switching element SW1 is electrically connected to the downstream end of the first line L1. The second switching element SW2 is electrically connected to the downstream end of the second line L2. The downstream sides of the first switching element SW1 and the second switching element SW2 are connected to the ground. The third switching element SW3 is provided on the third line L3.

[0053] The voltage sensors 43 and 44 detect the voltage at the set positions. For example, the voltage sensors 43 and 44 are AD converters. The voltage sensor 43 is provided on the power supply line 8 side of the third switching element SW3 in the third line L3. Therefore, the voltage sensor 43 detects the voltage on the power supply line 8 side of the third switching element SW3 in the third line L3. The voltage sensor 44 is provided on the confluence part P1 side of the third switching element SW3 in the third line L3. Therefore, the voltage sensor 44 detects the voltage on the confluence part P1 side of the third switching element SW3 in the third line L3.

[0054] The voltages detected by the voltage sensors 43 and 44 correspond to the voltage of the power supply line 8. Specifically, the voltages detected by the voltage sensors 43 and 44 are the voltages after subtracting the voltage drop caused by the resistance value of the power supply line 8 from the voltage for the power supply 7 (in other words, the voltage at the end of the power supply line 8 on the hydraulic control unit 5 side). Therefore, if the resistance value of the power supply line 8 becomes larger, the voltage after subtracting the voltage drop decreases.

[0055] Figure 4 It is a block diagram showing an example of the functional structure of the control device 52. For example, a part or all of the control device 52 is composed of a microcomputer, a microprocessor unit, etc. In addition, as described above, the control device 52 may also include an integrated circuit 521. Furthermore, for example, a part or all of the control device 52 may also be composed of updatable elements such as firmware, or may be a program module executed by instructions from a CPU or the like. The control device 52 may be one, for example, or may be divided into multiple ones.

[0056] As Figure 4 shown, the control device 52 includes, for example, an acquisition unit 52a, a control unit 52b, and a diagnosis unit 52c.

[0057] The acquisition unit 52a acquires information from each device mounted on the riding vehicle 100. For example, the acquisition unit 52a acquires information from the front wheel speed sensor 41, the rear wheel speed sensor 42, the voltage sensor 43, and the voltage sensor 44. In addition, in this specification, the acquisition of information may include the extraction or generation of information, etc.

[0058] The control unit 52b controls the operations of various devices in the riding vehicle 100. For example, the control unit 52b performs a reporting operation to the rider by controlling the operation of the reporting device 6. In addition, for example, the control unit 52b controls the braking force generated on the wheels of the riding vehicle 100 by controlling the operations of the components of the hydraulic control unit 5 (specifically, the motor that drives the filling valve 31, the release valve 32, and the pump 34).

[0059] The diagnosis unit 52c performs a power supply line diagnosis for diagnosing an abnormality in the power supply line 8. As described above, if the resistance value of the power supply line 8 becomes excessively large due to an abnormality in the power supply line 8, it becomes difficult for the hydraulic control unit 5 to operate normally. In the present embodiment, as will be described later, by carefully designing the power supply line diagnosis, an abnormality in the power supply line 8 is appropriately diagnosed.

[0060] In addition, in the power supply line diagnosis, the diagnosis unit 52c can switch the current path in the hydraulic control unit 5 by controlling the opening and closing operations of the first switching element SW1, the second switching element SW2, and the third switching element SW3.

[0061] <Operation of the hydraulic control unit>

[0062] Refer to Figures 5 to 7 to describe the operation of the hydraulic control unit 5 according to the embodiment of the present invention.

[0063] Figure 5 is a flowchart showing an example of a process related to the power supply line diagnosis performed by the control device 52 (specifically, the diagnosis unit 52c). Figure 5 Step S101 in Figure 5 corresponds to the start of the control flow shown. Figure 5 Step S105 in Figure 5 corresponds to the end of the control flow shown.

[0064] If Figure 5 the control flow shown starts, then in step S102, the diagnosis unit 52c determines whether the start condition for the power supply line diagnosis is satisfied. As the start condition for the power supply line diagnosis, for example, a condition that after the start of the riding vehicle 100, the vehicle speed of the riding vehicle 100 exceeds a reference vehicle speed is used. The vehicle speed of the riding vehicle 100 can be obtained based on the detection results of the front wheel speed sensor 41 and the rear wheel speed sensor 42, for example. The reference vehicle speed is set to a vehicle speed at which it can be determined that the rider intends to accelerate the riding vehicle 100, for example.

[0065] If it is determined that the start condition for the power supply line diagnosis is not satisfied (step S102 / No), step S102 is repeated. On the other hand, if it is determined that the start condition for the power supply line diagnosis is satisfied (step S102 / Yes), the process proceeds to step S103.

[0066] In step S103, the diagnosis unit 52c determines whether the voltage on the power supply line 8 side relative to the third switching element SW3 in the third line L3 is stable. As described above, the above voltage corresponds to the voltage of the power supply line 8. Therefore, the determination in step S103 is equivalent to the determination of whether the voltage of the power supply line 8 is stable.

[0067] The voltage on the power supply line 8 side relative to the third switching element SW3 in the third line L3 can be obtained based on, for example, the detection result of the voltage sensor 43. For example, the diagnosis unit 52c acquires the above voltage for a continuous set time, and determines that the above voltage is stable when the difference between the minimum value and the maximum value of the above voltage within the set time is less than or equal to the reference value. On the other hand, when the difference between the minimum value and the maximum value of the above voltage within the set time is greater than the reference value, the diagnosis unit 52c determines that the above voltage is unstable.

[0068] When it is determined that the voltage on the power supply line 8 side relative to the third switching element SW3 in the third line L3 is unstable (step S103 / No), the process returns to step S102. On the other hand, when it is determined that the above voltage is stable (step S103 / Yes), the process proceeds to step S104.

[0069] In step S104, the diagnosis unit 52c performs a power supply line diagnosis. Figure 5 The control flow shown ends here. Here, in the power supply line diagnosis, the diagnosis unit 52c diagnoses an abnormality of the power supply line 8 based on the voltage change of the power supply line 8 when the current applied to the resistor 35 is changed in a state where no current is applied to the filling valve 31 and current is applied to the resistor 35. Hereinafter, with reference to Figure 6 The details of the power supply line diagnosis will be described.

[0070] Figure 6 is a diagram for explaining the flow of current during the execution of the power supply line diagnosis. In Figure 6 the flow of current is indicated by a dotted arrow. First, in the power supply line diagnosis, the diagnosis unit 52c switches the current path in the hydraulic control unit 5 so that no current is applied to the filling valve 31 and current is applied to the resistor 35. Specifically, the diagnosis unit 52c controls the open / closed states of the respective switching elements so that the first switching element SW1 is in the open state, the second switching element SW2 is in the closed state, and the third switching element SW3 is in the closed state. Thereby, the current path in the hydraulic control unit 5 is switched so that no current flows in the first line L1 and current flows in the second line L2. Therefore, as Figure 6 shown, no current is applied to the filling valve 31 and current is applied to the resistor 35.

[0071] Next, the diagnostic unit 52c changes the current (specifically, the current value) applied to the resistor 35. For example, the diagnostic unit 52c can change the current applied to the resistor 35 by switching the second switching element SW2 between the on state and the off state and changing the duration of the on state per unit time. Then, the diagnostic unit 52c diagnoses an abnormality of the power supply line 8 based on the change in the voltage of the power supply line 8 at this time, that is, the voltage change. For example, the diagnostic unit 52c obtains the voltage of the power supply line 8 based on the voltage on the P1 side of the confluence portion with respect to the third switching element SW3 in the third line L3. The voltage on the P1 side of the confluence portion with respect to the third switching element SW3 in the third line L3 can be obtained based on the detection result of the voltage sensor 44, for example.

[0072] For example, in the power supply line diagnosis, the diagnostic unit 52c sequentially applies a plurality of rectangular wave-shaped pulsed currents to the resistor 35. When no pulsed current is applied to the resistor 35, there is no voltage drop caused by the resistance value of the power supply line 8. Therefore, the voltage of the power supply line 8 detected by the voltage sensor 44 becomes substantially equal to the voltage of the power supply 7. On the other hand, when a pulsed current is applied to the resistor 35, a voltage drop is caused by the resistance value of the power supply line 8. Therefore, the voltage of the power supply line 8 detected by the voltage sensor 44 becomes lower than when no pulsed current is applied to the resistor 35.

[0073] The diagnostic unit 52c performs power supply line diagnosis based on the voltage change amount of the power supply line 8 before and after switching between the state where no pulsed current is applied to the resistor 35 and the state where a pulsed current is applied to the resistor 35. For example, when the above voltage change amount is less than the reference change amount (that is, the value obtained by substituting the reference resistance value with the voltage change amount), the diagnostic unit 52c evaluates that the resistance value is normal. On the other hand, when the above voltage change amount is greater than the reference change amount, the diagnostic unit 52c evaluates that the resistance value is abnormal. For example, the diagnostic unit 52c performs such an evaluation multiple times and diagnoses whether the power supply line 8 is normal based on the evaluation results. When it is diagnosed that the power supply line 8 is abnormal, for example, the reporting device 6 reports to the rider that the power supply line 8 is abnormal.

[0074] As described above, in the power supply line diagnosis, the diagnostic unit 52c diagnoses an abnormality of the power supply line 8 based on the voltage change of the power supply line 8 when changing the current applied to the resistor 35 in a state where no current is applied to the filling valve 31. Thereby, it is possible to perform power supply line diagnosis without opening and closing the filling valve 31. Therefore, even when the rider performs a braking operation during the execution of the power supply line diagnosis, the riding vehicle 100 can be braked as intended by the rider. Thereby, it is possible to appropriately diagnose an abnormality of the power supply line 8.

[0075] Figure 7This is a diagram for explaining the flow of current when the fill valve 31 in the anti-lock braking control is energized. In Figure 7 , the flow of current is indicated by a dashed arrow. As described above, in the anti-lock braking control, the fill valve 31 is energized. At this time, the control device 52 controls the opening and closing states of the respective switching elements so that the first switching element SW1 is in the closed state, the second switching element SW2 is in the open state, and the third switching element SW3 is in the closed state. Thereby, the path of the current in the hydraulic control unit 5 is switched so that no current flows through the second line L2 and current flows through the first line L1. Therefore, as Figure 7 shown, no current is applied to the resistor 35 and current is applied to the fill valve 31.

[0076] As described above, in the case where the power supply line diagnosis is not performed, the second switching element SW2 is in the open state, and a state where no current is applied to the resistor 35 is achieved. Therefore, when the fill valve 31 in the anti-lock braking control is energized or the like, it is possible to suppress unnecessary application of current to the resistor 35.

[0077] <Effect of the hydraulic control unit>

[0078] The effect of the hydraulic control unit 5 according to the embodiment of the present invention will be described.

[0079] In the hydraulic control unit 5, in the power supply line diagnosis, the diagnosis unit 52c diagnoses an abnormality of the power supply line 8 based on the voltage change of the power supply line 8 when the current applied to the resistor 35 is changed in a state where no current is applied to the fill valve 31 and current is applied to the resistor 35. Thereby, it is possible to perform the power supply line diagnosis without opening and closing the fill valve 31. Therefore, even when the rider performs a braking operation during the execution of the power supply line diagnosis, the riding vehicle 100 can be braked as intended by the rider. Thereby, an abnormality of the power supply line 8 can be appropriately diagnosed.

[0080] Preferably, in the hydraulic control unit 5, the first line L1 provided with the fill valve 31 and the second line L2 provided with the resistor 35 are electrically connected in parallel with each other; a switching unit for switching the path of the current in the hydraulic control unit 5 (in the above example, the first switching element SW1, the second switching element SW2, and the third switching element SW3) is provided; in the power supply line diagnosis, the diagnosis unit 52c switches the path by the switching unit so that no current flows through the first line L1 and current flows through the second line L2. Thereby, in the power supply line diagnosis, a state where no current is applied to the fill valve 31 and current is applied to the resistor 35 can be appropriately achieved. Therefore, the power supply line diagnosis can be appropriately performed without opening and closing the fill valve 31.

[0081] Preferably, in the hydraulic control unit 5, the control device 52 includes an integrated circuit 521; the downstream ends of the first line L1 and the second line L2 are respectively connected to the integrated circuit 521; the switching unit includes: a first switching element SW1, electrically connected to the downstream end of the first line L1 and built in the integrated circuit 521; and a second switching element SW2, electrically connected to the downstream end of the second line L2 and built in the integrated circuit 521. Thus, by setting one of the first switching element SW1 and the second switching element SW2 to the on state and the other to the off state, it is possible to switch between a state where no current is applied to the filling valve 31 and current can be applied to the resistor 35 and a state where no current is applied to the resistor 35 and current can be applied to the filling valve 31. Therefore, in the power supply line diagnosis, a state where no current is applied to the filling valve 31 and current is applied to the resistor 35 can be more appropriately achieved.

[0082] Preferably, in the hydraulic control unit 5, a third line L3 that electrically connects the confluence portion P1 of the upstream sides of the first line L1 and the second line L2 to the power supply line 8 is provided; the switching unit includes a third switching element SW3 provided on the third line L3. Thus, by opening and closing the third switching element SW3, it is possible to switch between a state where current is applied to the filling valve 31 or the resistor 35 and a state where no current is applied. Therefore, in the power supply line diagnosis, a state where no current is applied to the filling valve 31 and current is applied to the resistor 35 can be more appropriately achieved.

[0083] In the above, examples of the first switching element SW1, the second switching element SW2, and the third switching element SW3 described as the switching unit with reference to Figure 3 and so on have been described. However, the structure of the switching unit is not limited to the above examples. For example, the number and arrangement of the switching elements used to switch between a state where no current is applied to the filling valve 31 and current can be applied to the resistor 35 and a state where no current is applied to the resistor 35 and current can be applied to the filling valve 31 may also be different from the above examples. In addition, for example, the number and arrangement of the switching elements used to switch between a state where current is applied to the filling valve 31 or the resistor 35 and a state where no current is applied may also be different from the above examples.

[0084] Preferably, in the hydraulic control unit 5, the diagnosis unit 52c performs power supply line diagnosis when it is determined that the voltage on the power supply line 8 side relative to the third switching element SW3 in the third line L3 is stable. Here, the voltage on the power supply line 8 side relative to the third switching element SW3 in the third line L3 represents a value equivalent to the voltage of the power supply line 8 even when the third switching element SW3 is in the on state. Therefore, by performing power supply line diagnosis in the above situation, it is possible to perform power supply line diagnosis on the basis of confirming the stability of the voltage of the power supply line 8. Therefore, the diagnostic accuracy of the power supply line diagnosis can be improved.

[0085] In the above, an example was described in which power supply line diagnosis is performed when it is determined that the voltage on the power supply line 8 side relative to the third switching element SW3 in the third line L3 is stable. However, power supply line diagnosis may also be performed without determining whether the voltage on the power supply line 8 side relative to the third switching element SW3 is stable.

[0086] Preferably, in the hydraulic control unit 5, the diagnosis unit 52c performs power supply line diagnosis in a state where the third switching element SW3 is closed; in the power supply line diagnosis, based on the voltage in the third line L3 on the confluence portion P1 side relative to the third switching element SW3, the voltage of the power supply line 8 is obtained. Here, the abnormality (e.g., disconnection) of the third switching element SW3 is reflected in the voltage in the third line L3 on the confluence portion P1 side relative to the third switching element SW3. Therefore, in the power supply line diagnosis, by obtaining the voltage of the power supply line 8 based on the voltage in the third line L3 on the confluence portion P1 side relative to the third switching element SW3, it is possible to diagnose not only the presence or absence of an abnormality in the power supply line 8 but also the presence or absence of an abnormality in the third line L3 (e.g., the abnormality of the third switching element SW3).

[0087] In the above, an example was described in which the voltage of the power supply line 8 is obtained based on the voltage in the third line L3 on the confluence portion P1 side relative to the third switching element SW3 in the power supply line diagnosis. However, in the power supply line diagnosis, the voltage of the power supply line 8 may also be obtained based on the voltage in the third line L3 on the power supply line 8 side relative to the third switching element SW3. In this case, in the power supply line diagnosis, the diagnosis unit 52c can change the current applied to the resistor 35 by switching the second switching element SW2 or the third switching element SW3 between the open state and the closed state and changing the duration of the open state per unit time.

[0088] Preferably, in the hydraulic control unit 5, the braking system 10 includes the hydraulic control unit 5; in the braking system 10, the number of wheel cylinders 24 communicating with one master cylinder 21 is one. In this case, if power supply line diagnosis is performed in a state where the filling valve 31 is opened and closed, even if the rider performs a braking operation using an operation unit (e.g., the second braking operation unit 13) of a braking mechanism (e.g., the rear wheel braking mechanism 14) including the filling valve 31 that has become the closed state, no braking force can be generated by this braking mechanism. Therefore, when the rider performs a braking operation during the execution of the power supply line diagnosis, it is particularly difficult to brake the riding type vehicle 100 as intended by the rider. On the other hand, the power supply line diagnosis performed by the diagnosis unit 52c is performed without opening and closing the filling valve 31. Therefore, even when the rider performs a braking operation during the execution of the power supply line diagnosis, the riding type vehicle 100 is appropriately braked as intended by the rider.

[0089] The present invention is not limited to the description of the embodiments. For example, only a part of the embodiments may be implemented.

[0090] Description of reference numerals

[0091] 1 Vehicle body; 2 Handlebar; 3 Front wheel; 3a Rotor; 4 Rear wheel; 4a Rotor; 5 Hydraulic control unit; 6 Reporting device; 7 Power source; 8 Power cord; 10 Brake system; 11 First brake operation unit; 12 Front wheel brake mechanism; 13 Second brake operation unit; 14 Rear wheel brake mechanism; 21 Master cylinder; 22 Reservoir; 23 Brake caliper; 24 Wheel cylinder; 25 Main flow path; 26 Sub-flow path; 31 Filling valve; 32 Release valve; 33 Accumulator; 34 Pump; 35 Resistor; 41 Front wheel speed sensor; 42 Rear wheel speed sensor; 43 Voltage sensor; 44 Voltage sensor; 51 Hydraulic control mechanism; 51a Substrate; 52 Control device; 52a Acquisition unit; 52b Control unit; 52c Diagnosis unit; 100 Riding vehicle; 521 Integrated circuit; L1 First line; L2 Second line; L3 Third line; P1 Confluence part; SW1 First switching element; SW2 Second switching element; SW3 Third switching element.

Claims

1. A hydraulic control unit is a hydraulic control unit (5) used in a braking system (10) of a riding vehicle (100). It is characterized in that it includes: A hydraulic control mechanism (51) including a filling valve (31), which is an electromagnetic valve that is electrically connected to a power source (7) via a power line (8), is provided in a flow path (25) that connects a master cylinder (21) and a wheel cylinder (24), is in an open state when not energized, and is in a closed state when energized; and A control device (52) that controls the operation of the aforementioned hydraulic control mechanism (51); It also includes a resistor (35) that is electrically connected to the aforementioned power source (7) via the aforementioned power line (8); The aforementioned control device (52) includes a diagnosis unit (52c), and the diagnosis unit (52c) performs a power line diagnosis for diagnosing an abnormality of the aforementioned power line (8) based on a voltage change of the aforementioned power line (8) when the current applied to the aforementioned resistor (35) is changed in a state where no current is applied to the aforementioned filling valve (31) and current is applied to the aforementioned resistor (35).

2. The hydraulic control unit according to claim 1, It is characterized in that A first line (L1) provided with the aforementioned filling valve (31) and a second line (L2) provided with the aforementioned resistor (35) are electrically connected in parallel to each other; It includes a switching unit (SW1, SW2, SW3) that switches a current path in the aforementioned hydraulic control unit (5); In the aforementioned power line diagnosis, the aforementioned diagnosis unit (52c) switches the aforementioned path by the aforementioned switching unit (SW1, SW2, SW3) so that no current flows through the aforementioned first line (L1) and current flows through the aforementioned second line (L2).

3. The hydraulic control unit according to claim 2, It is characterized in that The aforementioned control device (52) includes an integrated circuit (521); The downstream end of the aforementioned first line (L1) and the downstream end of the aforementioned second line (L2) are respectively connected to the aforementioned integrated circuit (521); The aforementioned switching unit (SW1, SW2, SW3) includes: A first switching element (SW1) that is electrically connected to the downstream end of the aforementioned first line (L1) and is built in the aforementioned integrated circuit (521); and A second switching element (SW2) that is electrically connected to the downstream end of the aforementioned second line (L2) and is built in the aforementioned integrated circuit (521).

4. The hydraulic control unit according to claim 2, It is characterized in that It includes a third line (L3) that electrically connects a confluence portion (P1) on the upstream side of the aforementioned first line (L1) and the upstream side of the aforementioned second line (L2) to the aforementioned power line (8); The aforementioned switching unit (SW1, SW2, SW3) includes a third switching element (SW3) provided on the aforementioned third line (L3).

5. The hydraulic control unit according to claim 4, It is characterized in that When the aforementioned diagnosis unit (52c) determines that the voltage on the side of the aforementioned power line (8) relative to the aforementioned third switching element (SW3) in the aforementioned third line (L3) is stable, the aforementioned power line diagnosis is performed.

6. The hydraulic control unit according to claim 4, It is characterized in that The aforementioned diagnosis unit (52c) Perform the aforementioned power supply line diagnosis in a state where the aforementioned third switching element (SW3) is closed; In the aforementioned power supply line diagnosis, based on the voltage of the aforementioned third line (L3) on the side of the aforementioned confluence part (P1) with respect to the aforementioned third switching element (SW3), obtain the voltage of the aforementioned power supply line (8).

7. A braking system, Characterized in that, It includes the hydraulic control unit (5) described in any one of claims 1 to 6; The number of the aforementioned wheel cylinders (24) communicated with one of the aforementioned master cylinders (21) is one.

8. A diagnostic method, which is a diagnostic method for a hydraulic control unit (5) used in a braking system (10) of a riding vehicle (100), Characterized in that, The aforementioned hydraulic control unit (5) includes: A hydraulic control mechanism (51), including a filling valve (31), the filling valve (31) is electrically connected to a power source (7) via a power supply line (8), is provided in a flow path (25) that communicates a master cylinder (21) with a wheel cylinder (24), and is in an open state when not energized and in a closed state when energized; and A control device (52) that controls the operation of the aforementioned hydraulic control mechanism (51); It also includes a resistor (35) electrically connected to the aforementioned power source (7) via the aforementioned power supply line (8); The diagnostic unit (52c) of the aforementioned control device (52) performs a power supply line diagnosis for diagnosing an abnormality of the aforementioned power supply line (8) based on the voltage change of the aforementioned power supply line (8) when the current applied to the aforementioned resistor (35) is changed in a state where no current is applied to the aforementioned filling valve (31) and current is applied to the aforementioned resistor (35).

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