| 摘要 |
PROBLEM TO BE SOLVED: To suppress increasing of brake pedal stroke amount caused by seal failure of a normally closed solenoid opening/closing valve of a circulating hydraulic modulator. SOLUTION: The detection output of a stroke sensor 17 detecting the stroke amount of a brake pedal 13, and the detection output of a pressure sensor detecting the output hydraulic pressure of a master cylinder 12 is inputted in an electronic control device 19. The electronic device 19 detects seal failure of normally closed solenoid opening/closing valves 16d, 16f, 16h, 16j from brake pedal stroke amount and master cylinder output hydraulic pressure, drives an electric motor 16m driving circulating pumps 16k, 16l of a circulating hydraulic modulator 16 according to the detection of the seal failure, and circulates a brake fluid leaking to auxiliary reservoirs 16a, 16b to the master cylinder side.
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