| 摘要 |
PROBLEM TO BE SOLVED: To efficiently detect various abnormality without complicatedly operating various valve devices by detecting abnormality of a braking force control device on the basis of fluid pressure detected by plural pressure sensors arranged in a hydraulic circuit for communicating with a master cylinder and a wheel cylinder at uncontrolled time. SOLUTION: In an abnormality judging routine at uncontrolled time in a microcomputer 76, a maximum value, a minimum value, pressure large in the next place of the maximum value and pressure small in the next place of the minimum value among first/second master cylinder pressures detected by pressure sensors 66, 68 and wheel cylinder pressure detected by pressure sensors 74FL to 74RR are determined to judge whether or not these values are in a normal zone from the maximum value and the minimum value by using a map, and when it is YES, an average value of both master cylinder pressures is arithmetically operated to judge whether or not these values are in an abnormal zone from this average value and a stroke value by using the map, and when it is NO, it is judged as abnormality of a stroke sensor 70.
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