Hydraulic pressure control unit, saddle-type vehicle comprising hydraulic pressure control unit, and control method for hydraulic pressure control unit

Abstract

The present invention provides a hydraulic pressure control unit capable of diagnosing whether an abnormality is present or absent in a component for controlling the hydraulic pressure of a brake fluid. A hydraulic pressure control unit 10 comprises: a hydraulic pressure control mechanism including a base body 60 in which a fluid passage for a brake fluid is formed and a component which is incorporated in the base body 60 and which includes solenoid valves 40a-40d for controlling the hydraulic pressure of the brake fluid; a control board 70 including a control unit 71a that controls operation of the component; and an inertial measurement unit 74 that measures inertial motion. The control board 70 includes: an acquisition unit 71b that acquires an output signal Sgi of the inertial measurement unit 74 as inertial information pertaining to a measurement result from the inertial measurement unit 74; and a diagnostic unit 71c that executes diagnostic processing to diagnose whether an abnormality is present or absent in the first to fourth solenoid valves 40a-40d as the component, on the basis of the inertial information.

Description

[0001]

Document Name

[0002]

Title of the Invention

[0003]

Technical Field

[0004] [.001]

[0005] [[ID=十三]]The present invention relates to a hydraulic control unit that controls the hydraulic pressure of the brake fluid in the brake system of a vehicle, a saddle-type vehicle equipped with the hydraulic control unit, and a control method of the hydraulic control unit.

[0006]

Background Art

[0007]

【.002]

[0008] Conventional vehicles (for example, motorcycles, four-wheel automobiles, saddle-type vehicles, etc.) include a hydraulic control unit that controls the hydraulic pressure of the brake fluid in the brake system for braking the wheels. As such a hydraulic control unit, for example, there is a configuration including a solenoid valve, a pump, etc. as components for controlling the hydraulic pressure of the brake fluid (for example, see Patent Document 1).

[0009]

Prior Art Documents

[0010]

Patent Documents

[0011]

【.003]

[0012]

Patent Document!

[0013]

【Summary of the Invention ]

[0014]

Problems to be Solved by the Invention

[0015] [[ID=四十三]]

【.004]

[0016] It should be noted that there is an error in the original text where "

。001

【。001] " and "

。002

【。002] " and so on. The corrected text is used in the translation for better understanding. Also, the numbering in the translation might seem a bit off in the original context but is presented as accurately as possible following the rules. The "十三" in the translation of line 13 is a placeholder for the Chinese character which should be the actual Chinese text in the original.In a hydraulic control unit like the one described in Patent Document 1, for example, in a solenoid valve used as a component for controlling the hydraulic pressure of brake fluid, an abnormality may occur in which the armature becomes stuck and immobile. When such an abnormality occurs, it may become difficult to control the hydraulic pressure of the brake fluid.

[0017] [〇 0 0 5]

[0018] The present invention was made against the background of the above-mentioned problems, and aims to provide a hydraulic pressure control unit that can diagnose whether or not there is an abnormality in the components for controlling the hydraulic pressure of brake fluid.

[0019] [Means for solving the problem]

[0020] [〇 0 0 6 ]

[0021] The hydraulic control unit according to the present invention is a hydraulic control unit for controlling the hydraulic pressure of brake fluid of a vehicle, comprising: a base body having a hydraulic fluid passage formed therein; a hydraulic control mechanism including a component incorporated into the base body and including a solenoid valve for controlling the hydraulic pressure of the brake fluid; a control board including a control unit for controlling the operation of the component; and an inertial measurement unit for measuring inertial motion, wherein the control board includes an acquisition unit for acquiring inertial information relating to the measurement results of the inertial measurement unit, and a diagnostic unit for executing a diagnostic process to diagnose whether or not there is an abnormality in the component based on the inertial information.

[0022] [. 0 0 7]

[0023] With this configuration, the hydraulic control unit includes an inertial measurement unit that measures inertial motion, and a diagnostic unit that performs a diagnostic process to diagnose whether or not there is a component abnormality based on the inertial information related to the measurement results of the inertial measurement unit. Therefore, it is possible to diagnose whether or not there is a component abnormality by utilizing the inertial motion information measured by the inertial measurement unit.

[0024] [〇 0 0 8]

[0025] The vehicle according to the present invention is configured to include the above-described hydraulic control unit. With this configuration, the same effects and advantages as the hydraulic control unit described above are achieved.

[0026] [〇 0 0 9]

[0027] The control method for a hydraulic control unit according to the present invention is a control method for a hydraulic control unit that controls the hydraulic pressure of brake fluid of a vehicle, wherein the hydraulic control unit comprises a base body on which a fluid passage for brake fluid is formed, a hydraulic control mechanism which includes a component incorporated into the base body and including a solenoid valve for controlling the hydraulic pressure of brake fluid, a control board which includes a control unit for controlling the operation of the component, and an inertial measurement unit which measures inertial motion, and the configuration includes an acquisition step in which an acquisition unit acquires inertial information relating to the measurement results of the inertial measurement unit, and a diagnosis step in which a diagnosis unit performs a diagnosis process to diagnose whether or not there is an abnormality in the component based on the inertial information.

[0028] [ 0 0 1 0 ]

[0029] With this configuration, the control method for the hydraulic control unit includes a step of performing a diagnostic process to diagnose whether or not there is a component abnormality based on inertial information related to the measurement results of an inertial measurement unit that measures inertial motion. Therefore, it is possible to diagnose whether or not there is a component abnormality by utilizing the inertial motion information measured by the inertial measurement unit.

[0030] [ 0 0 1 1 ]

[0031] Furthermore, the present invention may have only the inventive features described in the claims, or it may have features other than those described in the claims.

[0032] [Brief explanation of the drawing]

[0033] [ 0 0 1 2 ]

[0034] [Figure 1] This figure illustrates a motorcycle equipped with a brake system according to an embodiment.

[0035] [Figure 2] This is a diagram illustrating the braking system of a motorcycle.

[0036] [Figure 3] This is a diagram illustrating the hydraulic control unit.

[0037] [Figure 4] This is a diagram illustrating the hydraulic control unit.

[0038] [Figure 5] This is a diagram illustrating the hydraulic control unit.

[0039] [Figure 6] A diagram illustrating the system configuration of the hydraulic control unit. [Figure 7] A diagram illustrating the diagnostic process performed by the hydraulic control unit. [Figure 8] A diagram illustrating an example of the output signal S gi of the inertial measurement unit. [Modes for Carrying Out the Invention]

[0040] [0 0 1 3] An example of an embodiment of the hydraulic control unit according to the present invention, a vehicle equipped with the hydraulic control unit, and a control method for the hydraulic control unit will be described with reference to the drawings.

[0041]

[0042] This document describes an example in which a hydraulic control unit is installed on a motorcycle as a saddle-type vehicle, but the hydraulic control unit according to the present invention may be installed on other vehicles besides motorcycles. Vehicles include, for example, automobiles (e.g., four-wheeled automobiles), trucks, trailers, saddle-type vehicles, etc. A saddle-type vehicle refers to any vehicle on which a rider straddles and rides. Saddle-type vehicles include, for example, motorcycles, buggies, bicycles, etc. Motorcycles include two-wheeled vehicles and three-wheeled vehicles that use an engine or electric motor as a propulsion source, such as motorcycles, scooters, and electric scooters. A bicycle refers to any vehicle that can be propelled by the force applied by the rider to the pedals. Bicycles include ordinary bicycles, electric assist bicycles, electric bicycles, etc.

[0043] [ 0 0 1 4 ]

[0044] In addition, in the present embodiment, an example of a configuration in which the hydraulic control unit includes two hydraulic circuits will be described. However, the configuration of the hydraulic circuit of the hydraulic control unit is not limited to this, and for example, a configuration including only one hydraulic circuit or a configuration including three or more hydraulic circuits may be used. Further, the hydraulic control unit may have a configuration including one solenoid valve according to the configuration of the hydraulic circuit, or a configuration including a plurality of (for example, any number from 2 to 10, 11 or more, etc.) solenoid valves. Further, in the present embodiment, the case where the hydraulic control unit is applied to a braking system that brakes the front and rear wheels of a motorcycle will be described. However, the hydraulic control unit may be applied to a braking system that brakes only one of the front or rear wheels.

[0045] [ 0 0 1 5 ]

[0046] In addition, the configuration, operation, etc. of the hydraulic control unit described in the present embodiment are merely examples, and the hydraulic control unit according to the present invention is not limited to such a configuration, operation, etc. Also, in each figure, the same or similar members or parts may be given the same reference numerals or the assignment of reference numerals may be omitted. Also, the detailed structure may be appropriately simplified or omitted in the illustration.

[0047] [ 0 0 1 6 ]

[0048] Hereinafter, the hydraulic control unit according to the present embodiment will be described based on FIGS. 1 to 8. FIG. 1 is a diagram for explaining a motorcycle on which the hydraulic control unit according to the present embodiment is mounted. FIG. 2 is a diagram for explaining the braking system of the motorcycle. FIGS. 3 to 5 are diagrams for explaining the hydraulic control unit. FIG. 5 is a cross-sectional view of the hydraulic control unit as seen from direction B of cross-section A shown in FIG. 3. FIG. 6 is a diagram for explaining the system configuration of the hydraulic control unit. FIG. 7 is a diagram for explaining the diagnostic process executed by the hydraulic control unit. FIG. 8 is a diagram for explaining an example of the output signal Sgi of the inertial measurement unit.

[0049] [ 0 0 1 7 ]

[0050] Regarding the vehicle and braking system >

[0051] The motorcycle 1, which is equipped with the hydraulic control unit 1〇 according to this embodiment, and the brake system 1〇〇 of the motorcycle ! controlled by the hydraulic control unit : L 0 will be described based on Figures 1 and 2.

[0052] [ 0 0 1 8 ]

[0053] As shown in Figure 1, the motorcycle 1 comprises a body 2, a handlebar 3 rotatably mounted on the body 2, a front wheel 4 rotatably mounted on the body 2 together with the handlebar 3, a front wheel disc rotor 4a that rotates with the front wheel 4, a rear wheel 5 rotatably mounted on the body 2 and driven by a drive source (not shown, e.g., engine, electric motor, etc.), a rear wheel disc rotor 5a that rotates with the rear wheel 5, a brake system 10 for braking the front wheel 4 and the rear wheel 5, and a hydraulic pressure control unit 10 for controlling the hydraulic pressure of the brake fluid in the brake system 100.

[0054] [ 0 0 1 9 ]

[0055] As shown in Figure 2, the brake system 100 includes a first operator 6 and a second operator 7 operated by the rider, a front wheel braking mechanism 20 for braking the front wheel 4, a rear wheel braking mechanism 30 for braking the rear wheel 5, a front wheel friction member 25 for generating frictional force on the front wheel disc rotor 4a, a rear wheel friction member 35 for generating frictional force on the rear wheel disc rotor 5a, and a hydraulic control unit 10.

[0056] [ 0 0 2 0 ]

[0057] In this embodiment, the first operator 6 is, for example, a brake lever provided on the handlebar 3 and operated by the rider's hand. The second operator 7 is, for example, a brake pedal provided on the lower part of the torso 2 and operated by the rider's foot.

[0058] [ 0 0 2 1 ]

[0059] As shown in Figure 2, the front wheel braking mechanism 20 consists of a first master cylinder 21 to which the motion of the first operator 6 is transmitted, a first reservoir 22 for brake fluid attached to the first master cylinder 21, a first wheel cylinder 24 connected to the first master cylinder 21 via a first fluid passage 23 filled with brake fluid, a front wheel friction member 25 pressed against the front wheel disc rotor 4a by the hydraulic pressure of the brake fluid in the first wheel cylinder 24, and a hydraulic control unit 10. The rear wheel braking mechanism 30 consists of a second master cylinder 31 to which the motion of the second operator 7 is transmitted, a second reservoir 32 for brake fluid attached to the second master cylinder 31, a second wheel cylinder 34 connected to the second master cylinder 31 via a second fluid passage 33 filled with brake fluid, a rear wheel friction member 35 pressed against the rear wheel disc rotor 5a by the hydraulic pressure of the brake fluid in the second wheel cylinder 34, and a hydraulic control unit 10. Parts 23b, 23c, 33b, and 33c of the first fluid passage 23 and the second fluid passage 33 are formed as internal fluid passages in the base 60 of the hydraulic control unit 10. The hydraulic control unit 10 is located, for example, in the body 2 of a motorcycle 1 (see Figure 1).

[0060] [ 0 0 2 2 ]

[0061] The front wheel braking mechanism 20 is configured to generate frictional force by pressing the front wheel friction member 25 against the front wheel disc rotor 4a in accordance with the amount of operation of the first operator 6, thereby generating a braking force on the front wheel 4 corresponding to the amount of operation of the first operator 6. The rear wheel braking mechanism 30 is configured to generate frictional force by pressing the rear wheel friction member 35 against the rear wheel disc rotor 5a in accordance with the amount of operation of the second operator 7, thereby generating a braking force on the rear wheel 5 corresponding to the amount of operation of the second operator 7.

[0062] [ 0 0 2 3 ]

[0063] In this embodiment, the brake system 100 is configured to include a brake lever as the first operator 6 and a brake pedal as the second operator 7. However, the brake system is not limited to this example. For example, it may be configured to include a brake pedal as the first operator and a brake lever as the second operator, or it may be configured to include one or more brake levers as the first and second operators, or it may be configured to include one or more brake pedals as the first and second operators.

[0064] [ 0 0 2 4 ]

[0065] In this embodiment, the front wheel braking mechanism 20 and the rear wheel braking mechanism 30 are configured to generate frictional force by pressing friction members against the disc rotors 4a and 5a. However, the front wheel braking mechanism and the rear wheel braking mechanism may also be configured to generate frictional force by pressing the friction members of the brake shoes against a brake drum that rotates with the wheel, or they may be configured to generate frictional force by pressing friction members against the disc rotor or brake drum using an actuator that is electrically connected to an operator and operated in response to the operation of the operator. Furthermore, the brake system may be configured to include only one of the front wheel braking mechanism or the rear wheel braking mechanism. [0 0 2 5]

[0066] <About the hydraulic control unit>

[0067] The hydraulic control unit ☐ of this embodiment will be explained based on Figures 2 to 8.

[0068] [ 0 0 2 6 ]

[0069] As shown in Figure 2, the hydraulic control unit L0, as a front wheel braking mechanism 20, includes a first main fluid passage 23b connecting the first master cylinder 21 and the first wheel cylinder 24, a first solenoid valve 40a located in the first main fluid passage 23b, a first sub-fluid passage 23c branching off from the area of ​​the first main fluid passage 23b closer to the first wheel cylinder 24 than the first solenoid valve 40a and connected to the area of ​​the first main fluid passage 23b closer to the first master cylinder 21 than the first solenoid valve 40a, a second solenoid valve 40b located in the first sub-fluid passage 23c, and the first sub-fluid passage 23 The system includes a first accumulator 26 located in the region of the first master cylinder 21 side of the second solenoid valve 4Ob in c, which temporarily stores brake fluid, and a first pump 27 located in the region of the first sub-fluid passage 23c located in the region of the first master cylinder 21 side of the first accumulator 26. The first main fluid passage 23b and the first sub-fluid passage 23c constitute a part of the first fluid passage 23 described above.

[0070] [ 0 0 2 7 ]

[0071] Furthermore, the hydraulic control unit 10 includes, as a rear wheel braking mechanism 30, a second main fluid passage 33b connecting the second master cylinder 31 and the second wheel cylinder 34, a third solenoid valve 40c positioned in the second main fluid passage 33b, and a third solenoid valve 4 in the second main fluid passage 33b that branches off from the region on the second wheel cylinder 34 side of the third solenoid valve 40c in the second main fluid passage 33b. The system includes a second sub-fluid passage 33c connected to a region on the second master cylinder 31 side of c, a fourth solenoid valve 4〇d located in the second sub-fluid passage 33c, a second accumulator 36 located in the region of the second sub-fluid passage 33c on the second master cylinder 31 side of the fourth solenoid valve 4〇d, which temporarily stores brake fluid, and a second pump 37 located in the region of the second sub-fluid passage 33c on the second master cylinder 31 side of the second accumulator 36. The second main fluid passage 33b and the second sub-fluid passage 33c constitute a part of the second fluid passage 33 described above.

[0072] [0 0 2 8] In the first to fourth solenoid valves 40a to 40d, the first to fourth coils 42a to 42d (see Figure 4) corresponding to each solenoid valve are controlled by the controller 71 of the control board 70 to be energized or de-energized, causing the first to fourth valve bodies 41a to 41d corresponding to each coil to move to an open position that opens the corresponding fluid passage or a closed position that closes the corresponding fluid passage. The vibrations generated when the first to fourth valve bodies 41a to 41d operate are propagated within the hydraulic control unit 10 (for example, the base 6, the control board 7, etc.).

[0073] [ 0 0 2 9 ]

[0074] The first pump 27 pumps up brake fluid stored in the first accumulator 26 and outputs it towards the first main fluid passage 23b. The second pump 37 pumps up brake fluid stored in the second accumulator 36 and outputs it towards the second main fluid passage 33b. The first pump 27 and the second pump 37 are driven by a common electric motor 50. The operation (stopped state and rotating state) of the motor 50 is controlled by the control board 70, which controls the energized and de-energized states. The vibrations generated when the first pump 27, the second pump 37, and the motor 5〇 operate are transmitted within the hydraulic control unit 10 (for example, the base 6〇, the control board 7〇, etc.).

[0075] [ 0 0 3 0 ]

[0076] As shown in Figure 4, the control board 70 includes a substrate 72 and electronic components mounted on the substrate 72. The substrate 72 is a so-called printed circuit board (PCB), and is constructed by providing conductive wiring on or inside an insulating substrate. The control board 70 is constructed by mounting various electronic components on the substrate 72 by soldering or press-fitting them, thereby enabling it to function as an electronic circuit. The electronic components mounted on the substrate 72 include an integrated circuit chip 73 that constitutes a controller 7I that performs various calculation processes by executing a predetermined program, and an inertial measurement unit 74 (IMU) that measures inertial motion, which will be described later.

[0077] [ 0 0 3 1 ]

[0078] The controller 71 includes a control unit 71a that controls the operation of each component of the hydraulic control unit 1〇 (for example, normal operation, pressure reduction operation, pressure increase operation, etc., as described later), an acquisition unit 71b that acquires information on detection results detected by various sensors (for example, hydraulic pressure sensors that detect the hydraulic pressure of the brake fluid in the master cylinders 21 and 31, hydraulic pressure sensors that detect the hydraulic pressure of the brake fluid in the wheel cylinders 24 and 34, wheel speed sensors that detect the wheel speed of the front wheel 4 or rear wheel 5, an inertial measurement unit 74 that measures inertial motion, etc.), and a diagnostic unit 71c that performs a diagnostic process to diagnose whether or not there is an abnormality in the components of the hydraulic control unit 1〇 (see Figure 4). The controller 71 is electrically connected to components for controlling the hydraulic pressure of the brake fluid (for example, the first to fourth coils 42a to 42d and the motor 50, etc.), and can transmit control signals to these components to control their operation. The controller 71 may be a single unit or may be composed of multiple units. Part or all of the controller 71 may be composed of, for example, a microcontroller, a microprocessor unit, or may be configured to be updatable by software such as firmware, or may be a program module executed by commands from a CPU, etc. Furthermore, the controller 71 may be provided on a single control board 70 or on multiple boards.

[0079] [ 0 0 3 2 ]

[0080] The controller 71, for example, during normal operation, controls the first solenoid valve 40a and the third solenoid valve 40c to the open position, and controls the second solenoid valve 40b and the fourth solenoid valve 40d to the closed position. In this state, when the first operator 6 is operated by the lidar, the piston (not shown) of the first master cylinder 21 is pushed in according to the amount of operation of the first operator 6, the hydraulic pressure of the brake fluid in the first master cylinder 21 increases, and the increased hydraulic pressure is supplied to the first wheel cylinder 24 via the first main fluid passage 23b, causing the hydraulic pressure of the brake fluid in the first wheel cylinder 24 to increase. Then, the front wheel friction member 25 is pressed against the front wheel disc rotor 4a in accordance with the hydraulic pressure of the first wheel cylinder 24, generating friction force and braking the front wheel 4. Also, when the rider operates the second operator 7, the piston (not shown) of the second master cylinder 31 is pushed in in accordance with the amount of operation of the second operator 7, the hydraulic pressure of the brake fluid in the second master cylinder 31 increases, and the increased hydraulic pressure is supplied to the second wheel cylinder 34 via the second main fluid passage 33b, causing the hydraulic pressure of the brake fluid in the second wheel cylinder 34 to increase. Then, the rear wheel friction member 35 is pressed against the rear wheel disc rotor 5a in accordance with the hydraulic pressure of the second wheel cylinder 34, generating friction force and braking the rear wheel 5.

[0081] [ 0 0 3 3 ]

[0082] Furthermore, the controller 71, for example, as anti-lock brake control for the front wheels, performs a depressurization operation to reduce the hydraulic pressure of the brake fluid in the first wheel cylinder 24 when it determines, based on the detection results of various sensors, that the rotation of the front wheel 4 is locked or likely to lock. When the depressurization operation of the first wheel cylinder 24 is performed, the controller 71 controls the first solenoid valve 40a to be in a closed state and the second solenoid valve 40b to be in an open state, while driving the motor 50. As a result, brake fluid is released from the first wheel cylinder 24 to the first accumulator 26, the hydraulic pressure of the brake fluid in the first wheel cylinder 24 is reduced, and the braking force of the front wheel 4 decreases, thereby releasing the lock on the rotation of the front wheel 4 or preventing it from locking. Furthermore, the brake fluid released to the first accumulator 26 is pumped up by the first pump 27, which is driven by the motor 50, and returned to the area on the first master cylinder 21 side of the first solenoid valve 4〇a in the first main fluid passage 23b.

[0083] [ 0 0 3 4 ]

[0084] Furthermore, the controller 71, for example, as rear wheel anti-lock brake control, performs a depressurization operation to reduce the hydraulic pressure of the brake fluid in the second wheel cylinder 34 when it determines, based on the detection results of various sensors, that the rotation of the rear wheel 5 is locked or likely to lock. When the depressurization operation of the second wheel cylinder 34 is performed, the controller 71 controls the third solenoid valve 40c to be in a closed state and the fourth solenoid valve 40d to be in an open state, while driving the motor 50. As a result, brake fluid is released from the second wheel cylinder 34 to the second accumulator 36, the hydraulic pressure of the brake fluid in the second wheel cylinder 34 is reduced, and the braking force of the rear wheel 5 decreases, thereby releasing the lock on the rotation of the rear wheel 5 or preventing it from locking. Furthermore, the brake fluid released to the second accumulator 36 is pumped up by the second pump 37, which is driven by the motor 50, and returned to the area on the second master cylinder 31 side of the fourth solenoid valve 4〇d in the second main fluid passage 33b.

[0085] [ 0 0 3 5 ]

[0086] The hydraulic control unit 10 may also be configured to include a hydraulic pressure sensor for detecting the hydraulic pressure of brake fluid input from the first master cylinder 21 and the second master cylinder 31, and / or a hydraulic pressure sensor for detecting the hydraulic pressure of brake fluid output to the first wheel cylinder 24 and the second wheel cylinder 34. Such hydraulic pressure sensors may be located, for example, in the main or sub-flow path of the hydraulic control unit, in brake fluid piping connected to the main flow path, or in the master cylinder or wheel cylinder.

[0087] [. 0 3 6]

[0088] Furthermore, the hydraulic control unit 10 may be configured to include, for example, a fluid passage that allows the first pump 27 to pump brake fluid from the first reservoir 22 and output the brake fluid to the first wheel cylinder 24. In such a configuration, the control board 70 may, for example, perform a pressure-boosting operation to increase the hydraulic pressure of the brake fluid in the first wheel cylinder 24 using the brake fluid output by the first pump 27 when it is determined, based on the detection results of various sensors, that the braking force of the front wheel 4 is insufficient or likely to be insufficient. In such a configuration, the pressure-boosting operation can increase the braking force of the front wheel 4 and compensate for the insufficient braking force.

[0089] [ 0 0 3 7 ]

[0090] Furthermore, the hydraulic control unit 10 may be configured to include, for example, a fluid passage that allows a second pump 37 to pump brake fluid from a second reservoir 32 and output brake fluid to a second wheel cylinder 34. In such a configuration, the control board 70 may, for example, perform a pressure-boosting operation to increase the hydraulic pressure of the brake fluid in the second wheel cylinder 34 using the brake fluid output by the second pump 37 when it is determined, based on the detection results of various sensors, that the braking force of the rear wheel 5 is insufficient or likely to be insufficient. In such a configuration, the pressure-boosting operation can increase the braking force of the rear wheel 5 and compensate for the insufficient braking force.

[0091] [ 0 0 3 8 ]

[0092] As shown in Figures 3 to 5, the hydraulic control unit 10 is configured as a unit comprising a base 60 in which a portion of the brake fluid passage described above is formed as an internal fluid passage, first to fourth solenoid valves 40a to 40d, first pump 27, second pump 37, first accumulator 26, second accumulator 36, motor 50, control board 70, and housing 80 that houses the control board 70, etc.

[0093] [ 0 0 3 9 ]

[0094] The base 60 is formed, for example, from a rectangular block made of aluminum. Inside the base 60, the first main liquid channel 23b, the first secondary liquid channel 23c, the second main liquid channel 33b, and the second secondary liquid channel 33c are formed.

[0095] [ 0 0 4 0 ]

[0096] Approximately in the center of the first surface 60A that constitutes the exterior of the base body 60, there is a motor hole 61H (housing section) in which the motor 5〇 is housed, and around the motor hole 61H on the first surface 60A of the base body 60, there are four valve holes 62H (housing sections) in which the 1st to 4th solenoid valves 40a to 40d are housed. In addition, the first surface 60A of the base body 60 has bolt holes 63H in which bolts 8 that fix the housing 80 to the base body 6〇 engage. The second surface 60B and the third surface 60C, which are adjacent to the first surface 60A of the base 60, have pump holes 64H formed therein, which house the plungers (not shown) of the first pump 27 and the second pump 37, respectively. The fourth surface 60D, which are adjacent to the first to third surfaces 60A to 60C of the base 60, has accumulator holes 65H formed therein, which house the first accumulator 26 and the second accumulator 36. Note that each surface constituting the exterior of the base 60 may include stepped portions or curved portions.

[0097] [ 0 0 4 1 ]

[0098] Furthermore, on the fifth surface 60E, which forms the exterior opposite the fourth surface 60D of the base 60, there is a first master cylinder port P! which forms part of the first fluid passage 23 and to which a brake fluid pipe 23a connecting the first master cylinder 21 and the first main fluid passage 23b is connected, a second master cylinder port P2 which forms part of the second fluid passage 33 and to which a brake fluid pipe 33d connecting the second master cylinder 31 and the second main fluid passage 33b is connected, a first wheel cylinder port P3 which forms part of the first fluid passage 23 and to which a brake fluid pipe 23e connecting the first wheel cylinder 24 and the first main fluid passage 23b is connected, and A second wheel cylinder port P4 is formed, which constitutes part of the second fluid passage 33 and to which the brake fluid pipe 33e, which connects to the second wheel cylinder 34 and the second main fluid passage 33b, is connected.

[0099] [ 0 0 4 2 ]

[0100] The motor 50 is inserted into the motor hole 61H and attached to the base 60. An eccentric body 52 that rotates together with the output shaft 51 of the motor 50 is attached. Inside the pump hole 64H, the plungers of the first pump 27 and the second pump 37 are positioned so as to press against the outer surface of the eccentric body 52. ​​When the eccentric body 52 rotates, the plungers of the first pump 27 and the second pump 3y reciprocate in the axial direction of the pump hole 64H, thereby transporting brake fluid from the suction side to the discharge side of the first pump 27 and the second pump 37. Furthermore, the motor 50 is provided with an electrical terminal 53 at the end opposite to the side where the output shaft 51 is located, which is electrically connected to the control board 70. In this embodiment, the motor 50 is mounted on the base 60, but the motor may also be mounted on a housing, for example.

[0043]

[0101] The first to fourth solenoid valves 40a to 40d each consist of a valve body and a coil. The first to fourth valve bodies 41a to 41d of the first to fourth solenoid valves 40a to 40d are inserted into the valve holes 62H, and the first to fourth coils 42a to 42d of the first to fourth solenoid valves 40a to 40d are erected on the first surface 60A of the base 60, thereby assembling the first to fourth solenoid valves 40a to 40d onto the base 60. The first accumulator 26 and the second accumulator 36 are respectively housed and assembled in the accumulator holes 65H.

[0102] [ 0 0 4 4 ]

[0103] The housing 80 is made of resin, for example, and comprises a first housing 81 that houses the first to fourth solenoid valves 40a to 40d and the motor 50, and a second housing 87 that houses the control board 70.

[0104] [ 0 0 4 5 ]

[0105] The first housing 81 is a component attached to the base 60. The first housing 81 includes a first connecting portion 81c that is connected to the base 60. Between the first connecting portion 81c of the housing 81 and the base 60, for example, a silicone-based sealing material (not shown) is placed. When attached to the base 60, the first housing 81 comprises a surrounding portion 81a that encloses the 1st to 4th solenoid valves 40a to 40d and the motor 50, and a connector portion 81b that houses the connector 75 described above.

[0106] [ 0 0 4 6 ]

[0107] The surrounding portion 81a includes a first surface 82A facing the base 6〇 and a second surface 82B facing the control board 7〇 when the first housing 81 is attached to the base 60. On the second surface 82B side of the surrounding portion 81a, a first opening 84 is formed in the region facing the control board 7〇. The control board 70 is housed inside the surrounding portion 81a through the first opening 84. Also, on the first surface 82A side of the surrounding portion 81a, a second opening 85 is formed facing the first surface 60A of the base 6〇. The first to fourth coils 42a to 42d and the motor 50 are housed within the surrounding portion 81a through the second opening 85.

[0108] [ 0 0 4 7 ]

[0109] The surrounding portion 81a has a through hole 83H through which the aforementioned bolt 18 is inserted from the first surface 82A side and penetrates to the second surface 82B side. When the bolt 18 is inserted into the through hole 83H and engages with the bolt hole 63H of the base 6〇, the first housing 8I is clamped and fixed between the head of the bolt 18 and the base 60. The surrounding portion 81a also has through holes (not shown) through which the electrical terminals 53 of the motor 5〇 and the electrical terminals 43a to 43d of the first to fourth coils 42a to 42d are inserted from the first surface 82A side and penetrate to the second surface 82B side.

[0110] [ 0 0 4 8 ]

[0111] The second housing 87 is a component formed separately from the first housing 81. The second housing 87 includes a second connecting portion 87a that connects to the first housing. With the second connecting portion 87a connected to the first housing 81 and the second housing 87 attached to the first housing 81, it covers the control board 7 and closes the first opening 84 of the first housing 81. A silicone-based sealant is placed between the first housing 81 and the second connecting portion 87a of the second housing 87. This adheres the first housing 81 and the second housing 87 and seals the space between the first housing 81 and the second housing 87.

[0112] [ 0 0 4 9 ]

[0113] When the second housing 87 is moved in the mounting direction D (see Figure 4) relative to the first housing 81 and mounted, the protrusion 86 of the first housing 81 is inserted into the opening formed in the engaging portion 88 of the second housing 87, and the protrusion 86 engages with the engaging portion 88t, thereby fixing the second housing 87 to the first housing 81.

[0114] [ 0 0 5 0 ]

[0115] <About the Inertial Measurement Unit>

[0116] The inertial measurement unit 74 according to this embodiment will be described based on Figures 4, 5, and 8.

[0117] [ 0 0 5 1 ]

[0118] As shown in Figures 4 and 5, the inertial measurement unit 74 is an electronic component mounted on the substrate 72 of the control board 7〇, and is a device that measures physical quantities related to three-dimensional inertial motion (e.g., acceleration [m / s²I], angular velocity (gyro) [deg / sec], etc.). The inertial measurement unit 74 includes detection units 74a to 74c that detect translational motion in the directions of three mutually orthogonal axes p, q, and r, and rotational motion around these three axes. The detection units 74a to 74c detect acceleration and angular velocity, respectively, detecting translational motion by acceleration and rotational motion by angular velocity (gyro). The inertial measurement unit 74 may measure other physical quantities that can be substantially converted to acceleration or angular velocity, or it may measure physical quantities related to one-dimensional or two-dimensional inertial motion.

[0119] [ 0 0 5 2 ]

[0120] The inertial measurement unit 74 and the aforementioned integrated circuit chip 73 (controller 71) are integrated and mounted on a single substrate 72. The inertial measurement unit 74 and the integrated circuit chip 73 are connected by serial communication lines on the substrate 72, so that the output signal Sgi of the inertial measurement unit 74 is received by the controller 71 of the integrated circuit chip 73 via serial communication. Connecting the inertial measurement unit 74 and the integrated circuit chip 73 via serial communication lines improves the quality of communication between the inertial measurement unit 74 and the integrated circuit chip 73 (e.g., stability and speed, noise immunity, etc.). Furthermore, since the inertial measurement unit 74 is mounted on the substrate 72, the mechanical connection strength between the inertial measurement unit 74 and the integrated circuit chip 73 can be improved. These improvements enhance the stability and speed of brake force control by the hydraulic control unit: L0.

[0121] [ 0 0 5 3 ]

[0122] The circuit board 72 on which the inertial measurement unit 74 is mounted is provided on the hydraulic control unit 10, and furthermore, the hydraulic control unit 10 is mounted on the motorcycle 1. Therefore, the inertial motion measured by the inertial measurement unit 74 includes the inertial motion occurring in the motorcycle 1 and the hydraulic control unit 10, and the output signal Sgi of the inertial measurement unit 74 contains information about these inertial motions.

[0123] [ 0 0 5 4 ]

[0124] As shown in Figure 5, the inertial measurement unit 74 is mounted on the surface of the substrate 72 facing the second housing 87. Alternatively, the inertial measurement unit 74 may be mounted on the surface of the substrate 72 facing the base body 60.

[0125] [ 0 0 5 5 ]

[0126] The electronic circuit on the substrate 72 is provided with a first electrical connection part 72a, which has terminal holes into which the electrical terminals 43a to 43d of the first to fourth coils 42a to 42d described above are inserted and is electrically connected, and a second electrical connection part 72b, which has terminal holes into which the electrical terminals 53 of the motor 50 are inserted and is electrically connected. The electrical terminals 43a to 43d of the first to fourth coils 42a to 42d and the electrical terminals 53 of the motor 5〇 are attached to the terminal holes of the first electrical connection part 72a and the second electrical connection part 72b by press-fitting, thereby electrically connecting the first to fourth coils 42a to 42d and the motor 5〇 to the electronic circuit and fixing them to the circuit board 72. Therefore, vibrations generated by the operation of the first to fourth valve bodies 41a to 41d and the motor 50 are transmitted to the control board 70 via the electrical terminals 43a to 43d, 53 and the first electrical connection 72a and the second electrical connection 72b, and these vibrations are detected by the inertial measurement unit 74 mounted on the board 72. In other words, the output signal Sgi of the inertial measurement unit 74 contains information regarding the vibrations of the first to fourth solenoid valves 40a to 40d and the motor 50, which are components for controlling the hydraulic pressure of the brake fluid. Furthermore, the electrical terminals of the first to fourth coils 42a to 42d, the electrical terminals of the motor 50, and the pin 75a described later may be electrically connected to the electronic circuit on the substrate 72 and fixed to the substrate 72 by means other than press-fit (for example, soldering).

[0056]

[0127] Furthermore, the electronic circuit on the substrate 72 is provided with a third electrical connection part 72c, which has a terminal hole into which the pins 75a of a connector 75 connected to an external device 200 (see Figure 6) and a power supply located outside the hydraulic control unit 10 are inserted and electrically connected. Pin T5a is attached to the terminal hole of this third electrical connection part 72c by press-fitting, thereby electrically connecting pin 75a to the electronic circuit and fixing it to the substrate 2. The pin 75a is fixed to the connector part 81b of the housing 80, and the housing 80 is further fixed to the base 60 on which the first pump 27 and the second pump 37 are installed. Therefore, vibrations generated by the operation of the first pump 27 and the second pump 37 are transmitted to the substrate 72 via the base 6〇, housing 8〇, pin 75a, and third electrical connection 72c, and these vibrations are detected by the inertial measurement unit 74 mounted on the substrate 72. In other words, the output signal Sgi of the inertial measurement unit 74 contains information regarding the vibrations of the first pump 27 and the second pump 37, which are components for controlling the hydraulic pressure of the brake fluid.

[0128] [ 0 0 5 7 ]

[0129] The output signal Sgi from the inertial measurement unit 74 is received by the controller 7I and used for the diagnostic processing described later (see Figure 8). The output signal Sgi may also be used to control the hydraulic pressure of the brake fluid by the hydraulic pressure control unit L0. For example, the controller 71 may, in response to the output signal Sgi from the inertial measurement unit 74, generate a braking force corresponding to the forward acceleration or widthwise acceleration of the motorcycle 1 while it is moving, or it may generate a braking force corresponding to the roll angle or roll angular velocity of the motorcycle 1 while it is moving, or it may generate a braking force corresponding to the pitch angle or pitch angular velocity of the motorcycle 1 while it is moving. Furthermore, for example, the controller 71 may be controlled to generate a braking force corresponding to the gradient of the road surface on which the motorcycle 1 stops, in response to the output signal Sgi of the inertial measurement unit 74. The output signal Sgi of the inertial measurement unit 74 may also be output to electronic components or devices other than the integrated circuit chip 73 (controller 71), and may be received by a control unit (not shown) that controls the propulsion force of the motorcycle 1 and used to control the behavior of the motorcycle 1.

[0130] [ 0 0 5 8 ]

[0131] As described above, the inertial measurement unit 74 of this embodiment is a device for measuring inertial motion and is mounted on a circuit board 72. Vibrations generated by the operation of the first pump 27, the second pump 37, the first to fourth solenoid valves 40a to 40d, and the motor 5〇, which are components for controlling the hydraulic pressure of the brake fluid, propagate to the circuit board 72. Since these vibrations also cause inertial motion in the hydraulic pressure control unit 1〇, the inertial motion measured by the inertial measurement unit 74 includes information about these vibrations. Therefore, the controller 71 can use this vibration information for the diagnostic processing described later by receiving the output signal Sgi from the inertial measurement unit 74.

[0132] [ 0 0 5 9 ]

[0133] In this embodiment, the hydraulic control unit 10 may be configured to include one inertial measurement unit 74, or it may be configured to include multiple inertial measurement units. Furthermore, the inertial measurement unit 74 only needs to be positioned at a location where vibrations generated by the operation of components for controlling the hydraulic pressure of the brake fluid reach, and may be positioned at a location other than on the substrate 72, for example, on the housing of the first to fourth solenoid valves 40a to 40d, the housing of the motor 50, the base 60, etc.

[0134] [. 0 6 0]

[0135] Regarding the diagnostic process >

[0136] The diagnostic process performed by the hydraulic control unit 10 according to this embodiment will be explained based on Figures 6 to 8.

[0137]

[0061] As shown in Figure 6, the control board 70 of the hydraulic control unit 10 includes a controller 71 which includes a control unit 71a that controls the operation of each component of the hydraulic control unit 1〇 described above, an acquisition unit 71b that acquires inertial information (for example, the output signal Sgi of the inertial measurement unit 74) related to the measurement results of the inertial measurement unit 74, and a diagnostic unit 71c that performs diagnostic processing. The control board 7〇 is also electrically connected to the first to fourth solenoid valves 40a to 40d described above, the motor 50, the inertial measurement unit 74, and the external device 200. Furthermore, the control unit 71a can control the operation of the first to fourth solenoid valves 40a to 40d and the motor 5〇, which are components for controlling the hydraulic pressure of the brake fluid, by outputting control signals to them. In addition, the control unit 71a can, for example, output a notification signal to an external device 200, causing the external device 200 to notify the results of the diagnostic process described later.

[0138] [ 0 0 6 2 ]

[0139] Below, as an example of a diagnostic process, a diagnostic process S a, which diagnoses whether there are any abnormalities in the first to fourth solenoid valves 40a to 40d, which are components for controlling the hydraulic pressure of the brake fluid, will be explained based on Figures 7 and 8. The diagnostic unit 71c of the controller 71 executes the diagnostic process based on instructions from the control unit 71a, for example, when the hydraulic pressure control unit L0 is started or at predetermined time intervals.

[0140] [ 0 0 6 3 ]

[0141] As shown in Figure 7, when the diagnostic process S a is started, the diagnostic unit 71c executes an acquisition process (acquisition step) to acquire inertial information related to inertial motion (S a 0 1). During the acquisition process, from the start of the acquisition process until the start of the determination process (S a 0 3) described later, the acquisition unit 71b acquires the output signal S gi from the inertial measurement unit 74 and stores it as inertial information in the storage unit (for example, the memory of the controller 71).

[0142] [ 0 0 6 4 ]

[0143] After step S a 0 1, the diagnostic unit 7 1 c executes a diagnostic operation process that sequentially operates the first to fourth solenoid valves 4 0 a to 4 0 d based on a diagnostic operation pattern T p pre-stored in the memory unit (e.g., the memory of the controller 7 1) (S a 0 2). In the diagnostic operation process, the diagnostic unit 7 1 c obtains the diagnostic operation pattern T p from the memory unit (e.g., the memory of the controller 7 1) and outputs an instruction to the control unit 7 1 a to sequentially open and close the first to fourth solenoid valves 4 0 a to 4 0 d using the diagnostic operation pattern T p. In other words, the diagnostic unit 71c opens and closes each of the first to fourth solenoid valves 40a to 40d in a time-staggered manner.

[0144] [ 0 0 6 5 ]

[0145] As shown in Figure 8, the diagnostic operation pattern Tp is an operation pattern that causes the control unit 71a to open and close one solenoid valve. For example, at the start of the diagnostic operation pattern Tp, the solenoid valve is set to the OFF state (closed state) at tO, and then, when a first predetermined time T1 has elapsed, the solenoid valve is operated from the OFF state to the ON state (open state). After that, the ON state is maintained until when a second predetermined period T2 has elapsed, at t3, the solenoid valve is operated from the ON state to the OFF state. After that, the OFF state is maintained until when a third predetermined period T3 has elapsed, at t5. In other words, the diagnostic operation pattern TP is a pattern that opens and closes one solenoid valve at a time. The control unit 71a operates the first to fourth solenoid valves 40a to 40d one by one in a diagnostic operation pattern Tp, thereby enabling the first to fourth solenoid valves 40a to 40d to be opened and closed sequentially once at predetermined time intervals.

[0146]

。 0 6 6

[0147] In step S a 0 2, after opening and closing all of the first to fourth solenoid valves 40a to 40d using the diagnostic operation pattern T p, the diagnostic unit 7 1 c performs a determination process (diagnosis step) to determine whether or not there is an abnormality in the first to fourth solenoid valves 40a to 40d by analyzing the inertia information stored in the memory unit through the acquisition process described above (S a 0 3).

[0148] [ 0 0 6 7 ]

[0149] In the determination process, the diagnostic unit 71c analyzes the history of the output signal Sgi of the inertial measurement unit 74 based on inertial information, and first determines whether the maximum value Sgi1 of the output signal Sgi of the inertial measurement unit 74 exceeded a predetermined first reference value rf1 during the ON operation period (for example, t2) from t1 when the solenoid valve was operated from the FF state to the N state until the first determination time tra had elapsed, when each of the first to fourth solenoid valves 4〇a to 4〇d was operated with the diagnostic operation pattern Tp.

[0150] [ 0 0 6 8 ]

[0151] The first determination time tra is the period for determining whether the vibration generated by operating the solenoid valve from the ○ FF state to the ○ N state using the diagnostic operation pattern T p has been measured by the inertial measurement unit 7 4, and is determined in advance by experiments or numerical calculations. For example, when operating the solenoid valve from the OFF state to the ○ N state using the diagnostic operation pattern T p, the first determination time tra is set to be longer than the period from t 1 when the solenoid valve is operated from the ○ FF state to the ○ N state to t 2 when the maximum value Sgi1 of the output signal Sgi of the inertial measurement unit 7 4 is measured. In other words, the first determination time tra is set to be longer than the time required for the vibration generated when the solenoid valve operates from the ○ FF state to the ○ N state to be measured by the inertial measurement unit 7 4.

[0152] [ 0 0 6 9 ]

[0153] The first reference value rf1 is a reference value used to determine whether or not vibrations caused by operating the solenoid valve from the OFF state to the ON state in the diagnostic operation pattern Tp have been measured by the inertial measurement unit 74, and is determined in advance by experiments or numerical calculations. The first reference value rf1 is, for example, a value smaller than the maximum value Sgi1 of the output signal Sgi measured by the inertial measurement unit 74 within the above-mentioned determination time tra when the solenoid valve is operated from the OFF state to the ON state in the diagnostic operation pattern Tp, and is also the output signal s measured by the inertial measurement unit 74 from t to t1 when the solenoid valve is maintained in the OFF state by the diagnostic operation pattern Tp. g The maximum value of i, sgi, is set to a value greater than 〇.

[0154] [ 0 0 7 0 ]

[0155] Furthermore, in the determination process, the diagnostic unit 71c determines whether, when each of the first to fourth solenoid valves 40a to 40d is operated with the diagnostic operation pattern Tp, the maximum value Sgi2 of the output signal Sgi of the inertial measurement unit 74 exceeds a predetermined second reference value rf2 during the FF operation period (for example, t4) from t3 when the solenoid valve is operated from the 〇N state to the OFF state until the second determination time trb has elapsed.

[0156] [ 0 0 7 1 ]

[0157] The second determination time trb is the period for determining whether the vibration generated by operating the solenoid valve from the ○ N state to the ○ FF state using the diagnostic operation pattern Tp has been measured by the inertial measurement unit 74, and is determined in advance by experiments or numerical calculations. For example, when operating the solenoid valve from the ○ N state to the ○ FF state using the diagnostic operation pattern Tp, the second determination time trb is set to be longer than the period from t3 when the solenoid valve is operated from the ○ N state to the OFF state to t4 when the maximum value Sgi2 of the output signal Sgi of the inertial measurement unit 74 is measured. In other words, the second determination time trb is set to be longer than the time required for the vibration generated when the solenoid valve operates from the ○ N state to the OFF state to be measured by the inertial measurement unit 74.

[0158] [ 0 0 7 2 ]

[0159] The second reference value rf2 is a reference value used to determine whether or not vibrations caused by operating the solenoid valve from the ON state to the OFF state in the diagnostic operation pattern Tp have been measured by the inertial measurement unit 74, and is determined in advance by experiments or numerical calculations. The second reference value rf2 is set to be a value smaller than the maximum value Sgi2 of the output signal Sgi measured by the inertial measurement unit 74 within the second determination time trb described above when the solenoid valve is operated from the ON state to the OFF state in the diagnostic operation pattern Tp, and to be a value larger than the maximum value sgi○ of the output signal sgi measured by the inertial measurement unit 74 from t1 to t3 when the solenoid valve is maintained in the ○ N state by the diagnostic operation pattern Tp.

[0160] [ 0 0 7 3 ]

[0161] Then, in the determination process, the diagnostic unit 71c determines that there is no abnormality in the solenoid valve if the maximum value Sgi! of the output signal Sgi measured within the first determination time tra exceeds the first reference value rf1, and further determines that the maximum value Sgi2 of the output signal Sgi measured within the second determination time trb exceeds the second reference value rf2, that is, if the vibrations that occur when the solenoid valve operates from the ON state to the OFF state and the vibrations that occur when the solenoid valve operates from the N state to the FF state are both measured by the inertial measurement unit 74. If it is determined that the value does not exceed the limit, or if it is determined that the maximum value Sgi2 of the output signal Sgi measured within the second determination time trb does not exceed the second reference value rf2, that is, if at least one of the vibrations that occur when the solenoid valve operates from the ○ N state to the OFF state and the vibrations that occur when the solenoid valve operates from the ○ N state to the ○ FF state is not measured by the inertial measurement unit 74, then it is determined that there is an abnormality in the corresponding 1st to 4th solenoid valves 40a to 4○d.

[0162] [ 0 0 7 4 ]

[0163] In the determination process, the presence or absence of abnormalities is sequentially determined for solenoid valves 40a to 40d (1st to 4th), the determination results for each solenoid valve are stored in the memory unit, and the determination process is terminated when the determination for all solenoid valves is completed.

[0164] [ 0 0 7 5 ]

[0165] After step S a 3, the diagnostic unit 7 1 c performs a notification process to notify the results of the diagnostic process (S a 0 4).

[0166] [ 0 0 7 6 ]

[0167] In the notification process, the diagnostic unit 71c outputs a notification signal from the controller 71 to the external device 200 to notify the external device 200 of the results of the diagnosis by diagnostic process Sa regarding the abnormality determination result for the first to fourth solenoid valves 40a to 40d, and terminates the notification process. Upon receiving the notification signal, the external device 200 notifies the rider of the motorcycle 1 of the presence or absence of abnormality for the first to fourth solenoid valves 40a to 40d using a notification means. The notification means can be configured to notify in a way that the rider can perceive, for example, a configuration that notifies by lighting, images, videos, etc., a configuration that notifies by sound, a configuration that notifies by vibration, or a combination of these. Furthermore, the notification system may issue a notification indicating that an abnormality has occurred in the hydraulic control unit if an abnormality occurs in the first to fourth solenoid valves 40a to 40d.

[0077]

[0168] Upon completion of the notification process (Sa〇4), the diagnostic unit 71c terminates the diagnostic process Sa

[0078] .

[0169] As described above, the diagnostic unit 71c of the controller 7I provided on the control board 7O of this embodiment of the bear acquires inertial information relating to the measurement results of the inertial measurement unit 74, and based on said inertial information, controls the first to fourth solenoid valves 40a to 40a as components for controlling the hydraulic pressure of the brake fluid.

[0170]

[0171] A diagnostic process S a is executed to diagnose (determine) whether or not there is an abnormality in O d.

[0172] [ 0 0 7 9 ]

[0173] In the diagnostic process S a of this embodiment, the diagnostic unit 71c determines that there is no abnormality in the solenoid valve if both the first vibration that occurs when the first solenoid valve 40a to 40d operates from ON to FF and the second vibration that occurs when it operates from N to FF are measured by the inertial measurement unit 74. On the other hand, if at least one of the first and second vibrations is not measured by the inertial measurement unit 74, the diagnostic unit determines that there is an abnormality in the solenoid valve. If the vibration caused by the operation of the solenoid valve is not measured normally by the inertial measurement unit 74, it can be estimated that an abnormality has occurred, such as the armature of the solenoid valve being stuck and unable to move.

[0174] [ 0 0 8 0 ]

[0175] Furthermore, as an example of a diagnostic process, we have described a diagnostic process Sa that diagnoses whether or not there is an abnormality in the first to fourth solenoid valves 40a to 40d, which are components for controlling the hydraulic pressure of the brake fluid, based on the measurement results of the inertial measurement unit 74. However, the diagnostic unit 71c can utilize the fact that the inertial motion information measured by the inertial measurement unit 74 includes vibrations caused by the operation of the components for controlling the hydraulic pressure of the brake fluid, and can perform a diagnostic process similar to the diagnostic process Sa described above to diagnose whether or not there is an abnormality in the first pump 27, the second pump 37, and the motor 50, which are components for controlling the hydraulic pressure of the brake fluid. Furthermore, the hydraulic control unit L0 may be configured to perform only a diagnostic process to check for abnormalities in solenoid valves 40a to 40d, or it may be configured to check for abnormalities in any one or all of the following components: the first pump 27, the second pump 37, solenoid valves 40a to 40d, and the motor 50.

[0176] [ 0 0 8 1 ]

[0177] <Regarding the effects and benefits>

[0178] Conventional vehicles (e.g., motorcycles, automobiles, etc.) are equipped with a hydraulic control unit that controls the hydraulic pressure of the brake fluid in the brake system that brakes the wheels. Such a hydraulic control unit may include components such as solenoid valves and pumps for controlling the hydraulic pressure of the brake fluid. In such a hydraulic control unit, for example, an abnormality may occur in the solenoid valve, which is a component for controlling the hydraulic pressure of the brake fluid, such as the armature becoming stuck and unable to move. When such an abnormality occurs, it may become difficult to control the hydraulic pressure of the brake fluid.

[0179] [ 0 0 8 2 ]

[0180] In contrast, the hydraulic control unit 10 of this embodiment is a hydraulic control unit that controls the hydraulic pressure of the brake fluid in the brake system 10 of a motorcycle 1 as a vehicle, and the hydraulic control unit 10 comprises a base 60 on which brake fluid passages 23, 33 are formed, a component incorporated into the base 60 and including first to fourth solenoid valves 40a to 40d for controlling the hydraulic pressure of the brake fluid, a hydraulic control mechanism, a control board 70 including a control unit 71a for controlling the operation of the component, and an inertial measurement unit 74 for measuring inertial motion, and the control board 70 includes an acquisition unit 71b that acquires the output signal Sgi of the inertial measurement unit 4 as inertial information relating to the measurement results of the inertial measurement unit 74, and based on the inertial information, the first to fourth solenoid valves as components The configuration includes a diagnostic unit 71c that performs a diagnostic process Sa to diagnose whether there is an abnormality in the solenoid valves 40a to 40d.

[0181] [ 0 0 8 3 ]

[0182] With this configuration, the hydraulic control unit 10 includes an inertial measurement unit 74 that measures inertial motion, and a diagnostic unit 71c that executes a diagnostic process Sa to diagnose whether or not there is an abnormality in the first to fourth solenoid valves 40a to 40d as components based on the inertial information related to the measurement results of the inertial measurement unit. Therefore, the hydraulic control unit 10 can use information on the inertial motion that occurs to diagnose whether or not there is an abnormality in the relevant component.

[0183] [ 0 0 8 4 ]

[0184] The inertial measurement unit 74 may be a dedicated unit used solely for diagnostic processing, or it may be a shared unit used in conjunction with other processing (for example, processing to control the behavior of the motorcycle 1). Furthermore, the diagnostic unit 71c may be configured to diagnose the presence or absence of abnormalities in at least one or all of the components for controlling the hydraulic pressure of the brake fluid, namely the first pump 27, the second pump 37, the first to fourth solenoid valves 40a to 40d, and the motor 5〇.

[0185] [ 0 0 8 5 ]

[0186] The hydraulic control unit 1 of this implementation bear is equipped with a diagnostic unit 71c that performs a diagnostic process to diagnose whether there is an abnormality in the first to fourth solenoid valves 40a to 40d as components based on inertial information, and the diagnostic unit 71c is configured to diagnose (estimate) whether there is an abnormality (sticking state) in the first to fourth solenoid valves 40a to 40d in the diagnostic process Sa.

[0187] [ 0 0 8 6 ]

[0188] With this configuration, the diagnostic unit 71c diagnoses (estimates) whether there is an abnormality (sticking) in the first to fourth solenoid valves 40a to 40d, and can detect abnormalities that would make it difficult for the hydraulic control unit 1〇 to control the hydraulic pressure of the brake fluid.

[0189] [ 0 0 8 7 ]

[0190] The hydraulic control unit 1 of this embodiment includes a diagnostic unit 71c that performs a diagnostic process to diagnose whether or not there is an abnormality in the first to fourth solenoid valves 40a to 40d as components, based on inertial information. The diagnostic unit 71c is configured to determine (diagnose) that there is no abnormality in the first to fourth solenoid valves 40a to 40d when it determines that vibrations occurring during the operation of the first to fourth solenoid valves 40a to 40d have been detected, based on the output signal Sgi of the inertial measurement unit 74 as inertial information.

[0191] [ 0 0 8 8 ]

[0192] With this configuration, by utilizing the fact that the output signal Sgi of the inertial measurement unit 74 contains information about vibrations generated during the operation of the first to fourth solenoid valves 4a to 40d, it is possible to diagnose whether or not an abnormality (sticking condition) has occurred in the first to fourth solenoid valves 40a to 40d.

[0193] [ 0 0 8 9 ]

[0194] The hydraulic control unit 1 of this embodiment includes a diagnostic unit 71c that performs a diagnostic process to diagnose whether there is an abnormality in the first to fourth solenoid valves 40a to 40d as components, based on inertial information. The diagnostic unit 71c determines (diagnoses) that an abnormality has occurred in the first to fourth solenoid valves 40a to 40d if it determines that no vibrations generated during the operation of the first to fourth solenoid valves 40a to 40d have been detected, based on the output signal 5gi of the inertial measurement unit 74 as inertial information.

[0195] [ 0 0 9 0 ]

[0196] With this configuration, it is possible to diagnose whether or not a (sticking state) has occurred in the first to fourth solenoid valves 40a to 40d by utilizing the fact that the output signal Sgi of the inertial measurement unit 74 may contain information about vibrations that occur when the first to fourth solenoid valves 40a to 40d are operating.

[0197] [ 0 0 9 1 ]

[0198] The hydraulic control unit 1 of this embodiment includes a diagnostic unit 71c that performs a diagnostic process Sa to diagnose whether there is an abnormality in the first to fourth solenoid valves 40a to 40d as components based on inertial information, and the diagnostic unit 71c is configured to open and close each of the first to fourth solenoid valves 40a to 40d using a diagnostic operation pattern TP in the diagnostic process Sa.

[0199] [ 0 0 9 2 ]

[0200] With this configuration, in the diagnostic process S a, the first to fourth solenoid valves 40a to 40d are opened and closed using the diagnostic operation pattern T p. By comparing the output signal S gi of the inertial measurement unit 7 4 with a predetermined first reference value rf ! and a second reference value rf 2, it is possible to diagnose whether or not there is an abnormality in each of the first to fourth solenoid valves 40a to 40d, thereby improving diagnostic accuracy. Furthermore, the diagnostic process S a can be completed within a predetermined period corresponding to the diagnostic operation pattern T p.

[0201] [ 0 0 9 3 ]

[0202] The hydraulic control unit 1 of this embodiment includes a diagnostic unit 71c that performs a diagnostic process Sa to diagnose whether there is an abnormality in a plurality of first to fourth solenoid valves 40a to 40d as components based on inertial information. The diagnostic unit 71c is configured to sequentially open and close each of the first to fourth solenoid valves 40a to 40d using a diagnostic operation pattern Tp in the diagnostic process Sa, and to diagnose whether there is an abnormality in each of the plurality of first to fourth solenoid valves 40a to 40d.

[0203] [ 0 0 9 4 ]

[0204] With this configuration, the diagnostic unit 71c diagnoses whether or not there is a malfunction in each of the multiple solenoid valves, so it is possible to identify the solenoid valve that is malfunctioning among the first to fourth solenoid valves 40a to 40d.

[0205] [ 0 0 9 5 ]

[0206] The hydraulic pressure control unit 1 of this embodiment includes a control board 7, which includes a control unit 7, which controls the operation of components for controlling the hydraulic pressure of brake fluid, and an inertial measurement unit 7, which measures inertial motion. The inertial measurement unit 7, which is mounted on the control board 7, is configured to be arranged on the control board 7.

[0207] [ 0 0 9 6 ]

[0208] With this configuration, the inertial measurement unit 74 is mounted on the control board 70, so it can measure vibrations caused by the operation of multiple first to fourth solenoid valves 40a to 40d connected to the control board 70, and in the diagnostic process Sa, it is possible to diagnose whether or not there is an abnormality in the multiple first to fourth solenoid valves 40a to 40d based on the measurement results of the inertial measurement unit 74.

[0209] [ 0 0 9 7 ]

[0210] The hydraulic control unit 1 of this embodiment includes a control board 7, which includes a control unit 71a that controls the operation of components for controlling the hydraulic pressure of brake fluid. The electrical terminals 43a to 43d of the first to fourth solenoid valves 4.a to 40d are connected and fixed by press-fitting into the terminal holes of the first electrical connection section 72a of the control board 7.

[0211] [ 0 0 9 8 ]

[0212] With this configuration, the electrical terminals 43a to 43d of the first to fourth solenoid valves 40a to 40d are connected to the control board 70. Therefore, vibrations generated when the eleventh to fourth solenoid valves 40a to 40d operate can be transmitted to the control board 70 via the electrical terminals 43a to 43d and the first electrical connection part 72a, thereby improving the detection intensity and accuracy of these vibrations by the inertial measurement unit 74.

[0213] [ 0 0 9 9 ]

[0214] The hydraulic control unit 1 of this embodiment includes a diagnostic unit 71c that performs a diagnostic process to diagnose whether there is an abnormality in the first to fourth solenoid valves 40a to 40d as components based on inertial information. The diagnostic unit 71c is configured to output a notification signal from the controller 71 for an external device 200 to notify the external device 200 of the result of the diagnostic process Sa, which is the result of determining an abnormality in the first to fourth solenoid valves 40a to 40d. The notification signal is output from the third electrical connection part 72c of the control board 70 to the external device 200 via the pin 75a of the connector 75.

[0215] [ 0 1 0 0 ]

[0216] With this configuration, the control board 70 is equipped with a third electrical connection unit 72c as an output unit that outputs a notification signal, which is information regarding the diagnostic results from the diagnostic unit 71c, to the outside of the control board 70. Since the notification signal is output to the external device 200, the diagnostic results can be notified by the notification means of the external device 200.

[0217] [ 0 1 0 1 ]

[0218] The motorcycle 1 of this embodiment is a saddle-type vehicle. The motorcycle 1 comprises a hydraulic control unit comprising: a base 60 having brake fluid passages 23, 33 formed thereon; a component incorporated into the base 60 and including first to fourth solenoid valves 40a to 40d for controlling the hydraulic pressure of the brake fluid; a control board 70 including a control unit 71a for controlling the operation of the component; and an inertial measurement unit 74 for measuring inertial motion. The control board 70 includes an acquisition unit 71b for acquiring the output signal Sgi of the inertial measurement unit 74 as inertial information relating to the measurement results of the inertial measurement unit 74; and a diagnostic unit 71c for executing a diagnostic process 5a to diagnose whether there is an abnormality in the first to fourth solenoid valves 40a to 40d as components based on the inertial information. It is a configuration that includes a hydraulic control unit!

[0219] [ 0 1 0 2 ]

[0220] With this configuration, the motorcycle 1, as a saddle-type vehicle, is equipped with the hydraulic control unit 10 with the above configuration. Therefore, the motorcycle 1 can use information on the inertial motion generated in the hydraulic control unit 10 to diagnose whether there is any abnormality in the components for controlling the hydraulic pressure of the brake fluid. Since the motorcycle 1 is more susceptible to the effects of braking on its attitude stability compared to a four-wheeled vehicle, the safety of the motorcycle 1 can be improved by diagnosing whether there is any abnormality in the components of the hydraulic control unit 10.

[0221]

[0103] The control method for the hydraulic control unit 1〇 of this embodiment includes, in the diagnostic process Sa, the steps of acquiring the output signal Sgi of the inertial measurement unit 74 as inertial information relating to the measurement results of the inertial measurement unit 74 (acquisition process Sa02), and diagnosing (determining) whether or not there is an abnormality in the first to fourth solenoid valves 40a to 40d as components based on the inertial information (determination process Sa03).

[0222] [ 0 1 0 4 ]

[0223] With this configuration, the control method of the hydraulic control unit 10 diagnoses whether there is an abnormality in the components 1 to 4 solenoid valves 40a to 40d based on the output signal Sgi of the inertial measurement unit 74 during the diagnostic process Sa. Therefore, it is possible to diagnose whether there is an abnormality in the relevant component by utilizing the information of the inertial motion generated in the hydraulic control unit 10.

[0224] [ 0 1 0 5 ]

[0225] In this embodiment, during the diagnostic process, the diagnostic unit 52c diagnoses whether there is an abnormality in each of the first to fourth solenoid valves 40a to 40d based on a first vibration caused by operating the solenoid valve from the OFF state to the ○ N state using a diagnostic operation pattern Tp, and a second vibration caused by operating the solenoid valve from the ○ N state to the OFF state. However, the diagnostic unit 52c may also be configured to diagnose (determine) whether there is an abnormality in the solenoid valve based on either the vibration of the first t or the second vibration described above.

[0226] [ 0 1 0 6 ]

[0227] In this embodiment, during the diagnostic process, the diagnostic unit 52c is configured to open and close each of the first to fourth solenoid valves 40a to 40d once based on the diagnostic operation pattern Tp. However, the diagnostic unit 52c only needs to be configured to operate at least the first to fourth solenoid valves 40a to 40d. For example, it may be configured to only open each of the first to fourth solenoid valves 40a to 40d, or to only close each of the first to fourth solenoid valves 40a to 40d, or to open and close each of the first to fourth solenoid valves 40a to 40d two or more times. For example, in a configuration in which a solenoid valve is opened and closed multiple times, the system may be configured to determine that there is no abnormality in the solenoid valve by measuring vibration during all opening and closing operations, or it may be configured to determine that there is no abnormality in the solenoid valve by measuring vibration during a predetermined number of opening and closing operations (for example, one or more times) out of the multiple opening and closing operations.

[0228] [ 0 1 0 7 ]

[0229] In this embodiment, the diagnostic unit 71c determines whether there is an abnormality based on the maximum value of the output signal Sgi output by the inertial measurement unit 74 when each of the first to fourth solenoid valves 40a to 40d opens and closes. However, the diagnostic unit 71c only needs to be configured to perform a diagnostic process that diagnoses whether there is an abnormality in the component based on inertial information measured by the inertial measurement unit 74. For example, it may be configured to diagnose whether there is an abnormality in the component based on the average value, integral value, waveform, etc., of the output signal sgi output by the inertial measurement unit 74.

[0230] [ 0 1 0 8 ]

[0231] In this embodiment, the diagnostic unit 71c is configured to output a notification signal from the control unit 71a to the external device 200, thereby allowing the notification means to notify whether or not there is an abnormality in the first to fourth solenoid valves 40a to 40d. However, if the diagnostic unit 71c determines that there is no abnormality in any of the first to fourth solenoid valves 40a to 40d, it may be configured not to output a notification signal and not to allow the external device 200 to notify the external device 200 of this fact.

[0232] [ 0 1 0 9 ]

[0233] In this implementation, the diagnostic unit 71c is configured to perform notification by the notification means by having the control unit 71a output a notification signal to the external device 200. However, the diagnostic unit 71c may also be configured to output a notification signal to a control device that controls, for example, the engine of the motorcycle 1, and perform notification by the notification means via the control device.

[0234] [ 0 1 1 0 ]

[0235] In this embodiment, the inertial measurement unit 74 is mounted on the control board 70, but the inertial measurement unit 74 may also be mounted on the base 60. With such a configuration, vibrations caused by the operation of the first pump 27, the second pump 37, the first to fourth solenoid valves 40a to 40d, and the motor 50, which are components assembled on the base 60, can be measured by the inertial measurement unit 74 via the base 60, thereby improving the detection intensity and detection accuracy of such vibrations by the inertial measurement unit 74.

[0236] [ 0 1 1 1 ]

[0237] In this embodiment, the diagnostic unit 71c is configured to diagnose whether there is an abnormality in the first to fourth solenoid valves 40a to 40d based on the output signal Sgi of the inertial measurement unit 74 when the first to fourth solenoid valves 40a to 40d are opened and closed using the diagnostic operation pattern TP in the diagnostic process Sa. However, the diagnostic unit 71c may also be configured to diagnose whether there is an abnormality in the first to fourth solenoid valves 40a to 40d based on the output signal Sgi of the inertial measurement unit 74 when the above-mentioned anti-lock brake control is performed by the hydraulic control unit 10. With this configuration, the opening and closing operations of the first to fourth solenoid valves 40a to 40d when anti-lock brake control is performed can be used to diagnose whether or not there is an abnormality in the first to fourth solenoid valves 40a to 40d, and the frequency of such diagnosis can be increased.

[0238] [ 0 1 1 2 ]

[0239] In this embodiment, the hydraulic control unit 10 is configured to include four solenoid valves (1st to 4th solenoid valves 40a to 40d) as components for controlling the hydraulic pressure of the brake fluid. However, the hydraulic control unit according to the present invention may be configured to include a number of solenoid valves other than four (for example, one, two, four, eight, ten, etc.). Also, in this embodiment, the hydraulic control unit 10 is configured to include two pumps 27, 37 and one motor 50 as components for controlling the hydraulic pressure of the brake fluid. However, the hydraulic control unit 10 according to the present invention may be configured to include one or three or more pumps, or two or more motors 50. Furthermore, the hydraulic pressure control unit according to the present invention may be configured to include at least a solenoid valve as a component for controlling the hydraulic pressure of the brake fluid, and may not include a pump or motor as such a component.

[0240] [ 0 1 1 3 ]

[0241] Although the hydraulic control unit 1〇 and the control method for the hydraulic control unit 1〇 according to this embodiment have been described above, the hydraulic control unit and the control method for the hydraulic control unit 1〇 according to the present invention are not limited to the description of this embodiment. For example, only a part of this embodiment may be implemented.

[0242] [Explanation of symbols]

[0243] [ 0 1 1 4 ]

[0244] 1 Motorcycle, 1 Hydraulic control unit, 2 7 First pump (component), 3 7 Second pump (component), 4 0 a to 4 0 d First to fourth solenoid valves (components), 5 0 Motor (component), 6 Base, ? Control board, 7 1 Controller, 7 1 a Control unit, 7 1 b Acquisition unit, 7 2 c Diagnostic unit, 7 4 Inertial measurement unit

Claims

[Document Name] Scope of Claim

1. A hydraulic control unit (io) for controlling the hydraulic pressure of brake fluid of a vehicle (1), comprising: a base (60) having a fluid passage for the brake fluid formed thereon; a component incorporated into the base (60) and including solenoid valves (40a to 40d) for controlling the hydraulic pressure of the brake fluid; and a hydraulic control mechanism, A control board (70) including a control unit (71a) for controlling the operation of the component, and an inertial measurement unit (74) for measuring inertial motion, Equipped with, The control board (70) is, An acquisition unit (71b) acquires inertial information relating to the measurement results of the inertial measurement unit (74), A diagnostic unit (71c) that performs a diagnostic process to diagnose whether or not there is an abnormality in the component based on the inertial information, including, Hydraulic control unit.

2. The diagnostic unit (71c) diagnoses whether or not there is an abnormality in the solenoid valves (40a to 40d) as components during the diagnostic process. The hydraulic control unit according to claim 1.

3. The diagnostic unit (71c), in the diagnostic process, determines, based on the inertial information, that vibrations generated by the operation of the solenoid valves (40a to 40d) have been detected, and diagnoses that there is no abnormality in the solenoid valves (40a to 40d). The hydraulic control unit according to claim 2.

4. The diagnostic unit (71c) determines, in the diagnostic process, that vibrations generated by the operation of the solenoid valves (40a to 40d) were not detected based on the inertial information, and diagnoses that there is an abnormality in the solenoid valves (40a to 40d). A hydraulic control unit according to claim 2 or 3.

5. The diagnostic unit (71c) operates the solenoid valves (40a to 40d) in a diagnostic operation pattern during the diagnostic process. A hydraulic control unit according to claim 2 or 3.

6. The solenoid valve includes a plurality of solenoid valves (40a to 40d), The diagnostic unit (71c) operates the plurality of solenoid valves (40a to 40d) sequentially in the diagnostic process using a diagnostic operation pattern, and diagnoses whether or not there is an abnormality in each of the plurality of solenoid valves (40a to 40d). A hydraulic control unit according to claim 2 or 3. [Claim?] The inertial measurement unit (74) is mounted on the control board (70). A hydraulic control unit according to any one of claims 1 to 3.

8. The electrical terminals (43a to 43d) of the solenoid valves (4〇a to 40d) are connected to the control board (?〇). The hydraulic control unit according to claim 7.

9. The inertial measurement unit (74) is located on the base (60), A hydraulic control unit according to any one of claims 1 to 3. [Claim 1〇] The control board (70) includes an output unit (72c) that outputs the results of the diagnosis performed by the diagnostic unit (71c) to the outside of the control board (70). A hydraulic control unit according to any one of claims 1 to 3. [Claim 1 1] The aforementioned vehicle (1) is a saddle-type vehicle. A hydraulic control unit according to any one of claims 1 to 3. [Claim 1 2] A saddle-type vehicle comprising a hydraulic control unit (10) according to any one of claims 1 to 3. [Claim! 3] A control method for a hydraulic control unit (io) that controls the hydraulic pressure of the brake fluid of a vehicle (1), The hydraulic control unit (10) is, A hydraulic pressure control mechanism comprising: a base (60) in which the brake fluid passage is formed; a component incorporated into the base (60) and including solenoid valves (40a to 40d) for controlling the hydraulic pressure of the brake fluid; A control board (70) including a control unit (71a) for controlling the operation of the component, and an inertial measurement unit (74) for measuring inertial motion, It is equipped with, An acquisition step of acquiring inertial information relating to the measurement results of the inertial measurement unit (74) and a diagnostic step of performing a diagnostic process to diagnose whether or not there is an abnormality in the component based on the inertial information, including, Control method for a hydraulic control unit.

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