To judge abnormality during un-essential brake operation by supplying driving signals to a motor during non-operation of a brake operation member, detecting quantity related to the output of the motor in the condition, and judging the case that the detected quantity does not normally correspond to the supplied driving signals to be abnormal.
By increasing idling rotational speed of an engine 10 when accelerator operation or usual brake operation are not performed, torque of an engine brake is reduced, and abnormality check driving signals for increasing real braking torque by the reduced amount are outputted to motors 20, 30 in a brake of a driving wheel. In the output state, real wheel deceleration of the driving wheel is detected, the detected real wheel deceleration is judged to be lower than a judging value or not, and if it is lower, the motors 20, 30 are judged to be abnormal. For checking abnormality, a brake abnormality check routine is stored in a ROM of the brake ECU 450.
YOSHINO YASUNARI
OOTOMO AKIHIRO
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