Diagnosis Technicain - Brake ABS,EBD and BA

General Control Idea of ABS (Anti-lock Brake System)

To prevent the tires from locking and the loosing the abil-
ABS slip tolerance
ity to turn the steering wheel during emergency braking, it
: Braking force is effective to repeatedly depress and release the brake.
: Cornering force There is no time to do this, however, during emergency
braking.
The ABS uses a computer to determine the rotating con-
Dry concrete dition of the four wheels during braking and can automati-

Cornering force
cally depress and release the brake.
Braking force

The difference in ratio between the vehicle's body speed

and the speed of the wheels is known as the "slip ratio".
Wet asphalt When the difference between the wheel speed and vehi-
cle speed becomes too large, slipping occurs between
Dry concrete the tires and the road surface.
This also creates friction and may eventually act as a
Wet
asphalt braking force and slow the speed of the vehicle.
Ice
The relationship between braking force and the slip ratio
Ice can better understood from the graph at the left.
0 20 40 60 80 100 Braking force is not proportional to the slip ratio, and is at
Slip ratio (%) its maximum when the slip ratio is between 10 and 30%.
Beyond 30%, the braking force gradually declines. There-
fore, in order to maintain a maximum level of braking
Slip ratio =
Vehicle speed - Wheel speed
100%
force, the slip ratio should be maintained within the range
Vehicle speed
of 10 to 30% at all times.
In addition, it is also necessary to keep cornering force at
a high level to maintain directional stability. In order to do
this, the ABS is designed to maximize brake performance
by utilizing a slip ratio of 10-30% regardless of road con-
ditions, while also keeping cornering force as high as pos-
sible to maintain directional stability.
HINT:
1. On slippery road surfaces having a low coefficient of
friction (µ), since braking distance increases in com-
parison with road surfaces having a high value of µ
even if the ABS is activated, speed must be reduced
when traveling over those road surfaces.
2. On rough roads, or on gravel or road with fresh snow,
operation of the ABS may result in a longer stopping
distance than for vehicles not fitted with an ABS.
In addition, sound and vibrations are generated when the
ABS is activated informing the driver that the ABS is in
operation.
(1/1)

©2003 TOYOTA MOTOR CORPORATION. All right reserved.

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Diagnosis Technicain - Brake ABS,EBD and BA

Construction General
The ABS consists of the following parts.
Combination meter
4. (Built-in warning light)
3. Speed sensor 1. Skid Control ECU
6. Deceleration This determines the amount of slip
sensor
between the wheel and the road sur-
1. Skid
ECU
Control
face based on the signals from the
sensors, and controls the brake actu-
2. Brake actuator
ator.
Recently, some models have the
Skid Control ECU built in the brake
actuator.
2. Brake actuator
The brake actuator controls the
hydraulic pressure of the wheel cylin-
5. Stop light switch
4WD vehicle
ders by the Skid Control ECU output
signal.
3. Speed sensor
3. Speed sensor
The speed sensor detects the wheel
speeds of each of the four wheels
and sends a signal to the Skid Con-
trol ECU.
4. Combination meter
(1) ABS warning light
When the ECU detects a malfunction
in the ABS or brake assist system,
this light turns on to warn the driver.
(2) Brake system warning light
When this turns on at the same time
as the ABS warning light, it warns the
driver that there is a malfunction in
the ABS and EBD system.

HINT:
ECU
Combination meter
When the Skid Control ECU has
from Power source system

ABS
Failed
WA Normally, the warning light is kept off by
Brake
the signal sent to the combination meter
BRL
or the ABS control relay by the ECU.
If the ECU fails and there is no signal,
the ABS warning light, Brake system
warning light, TRC OFF indicator light
ABS warning light
(vehicles equipped with TRC), and VSC
Service connector
WA
warning light (vehicles equipped with
ABS control relay VSC) always turn on.
ABS actuator
Motor relay
Pump motor

Solenoid relay
ECU
RF SOL
LF SOL
RR SOL
LR SOL

(1/1)

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Diagnosis Technicain - Brake ABS,EBD and BA

5. Stop light switch

This detects that the brake pedal has
been depressed and sends a signal
to the Skid Control ECU.
The ABS uses a stop light switch sig-
nal. However, even if the stop light
switch signal is not input because of
the time that the stop light switch has
failed, the ABS control is performed
when the tires become to be locked
up. In this case, control begins after
the slip rate has become high
(wheels tend to lock up) than when
the stop light switch is functioning
normally.
6. Deceleration sensor(Some models
only.)
The Deceleration sensor senses the
vehicle's rate of deceleration and
sends signals to the Skid Control
ECU.
The ECU judges the precise road
surface conditions using these sig-
nals and takes appropriate control
measures.
(1/1)

Control Skid Control ECU

1. General
Based on signals from the speed
sensors, the Skid Control ECU
senses the rotational speed of the
Brake fluid level
Stop light switch
wheels as well as the vehicle speed.
warning switch
During braking, although the rota-
tional speed of the wheels drops, the
amount of deceleration will vary
depending on both the vehicle speed
Brake
during braking and the road surface
actuator conditions, such as dry asphalt, wet
Speed or icy surface, etc.
Skid sensors
Speed
sensors Control In other words, the ECU judges the
ECU amount of slipping between the
Speed meter wheels and the road surface from the
ABS warning light change in the wheel's rotational
Brake system
speed during braking, and controls
DLC3 warning light the solenoid valves of the brake actu-
Combination meter ator in the following 3 mode: pres-
sure reduction, pressure holding, and
pressure increase modes, to opti-
mally control the speed of the
wheels.
(1/4)

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Diagnosis Technicain - Brake ABS,EBD and BA

2. Control
The ECU continuously receives wheel speed signals
Vehicle speed from the four speed sensors, and estimates the vehi-
A B C D cle speed by calculating the speed and deceleration of
each wheel.
When the brake pedal is depressed, the hydraulic
Speed pressure in each wheel cylinder begins to increase
Wheel
speed and the wheel speed begins to decrease. If any of the
wheels seems about to lock up, the ECU decreases
the hydraulic pressure in the wheel cylinder of that
Wheel wheel.
acceleration
rate (1) Wheel speed control
<1> Section A
The Skid Control ECU sets the solenoid valves to
Reduction
the pressure reduction mode according to the decel-
Signal

Holding
Increase eration rate of the wheels, thus reducing the hydrau-
lic pressure in the wheel cylinder.
Wheel
After the pressure drops, the ECU switches the
cylinder solenoid valves to the ''holding'' mode to monitor the
hydraulic
pressure
change in wheel speed.
If the ECU judges that the hydraulic pressure needs
Time (sec.)
to be reduced further, it will reduce the pressure
again.
<2> Section B
When the hydraulic pressure inside the wheel cylin-
der decreases (section A), the hydraulic pressure
applied to the wheel falls.
This allows the wheel that was on the verge of lock-
ing up to speed up. However, if the hydraulic pres-
sure is held down, the braking force acting on the
wheel will become too low.
To prevent this, the ECU sets the solenoid valves to
the ''pressure increase'' mode and ''holding" mode
alternately as the wheel which was on the verge of
locking up recovers speed.
<3> Section C
As the hydraulic pressure is gradually increased in
the wheel cylinder by the ECU (section B), the
wheel tends to lock up again.
Therefore, the ECU again switches the solenoid
valves to the ''pressure reduction'' mode to reduce
the hydraulic pressure inside the wheel cylinder.
<4> Section D
Since the hydraulic pressure in the wheel cylinder is
decreased again (section C), the ECU starts to
increase the pressure again as in section B.
(2/4)

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Diagnosis Technicain - Brake ABS,EBD and BA

(2) Initial check function

The Skid Control ECU operates the solenoid valves
ON
and the pump motors in sequence in order to check
Front right BA OFF the electrical system of the ABS. This function oper-
Front left BA
ON ates each time when the ignition switch is turned ON,
OFF
and the vehicle is traveling at speeds greater than 6
ON
Front right Reduction OFF km/h (4 mph) with the stop light (brake light) switch
ON OFF.
Front right Holding
OFF It operates once only each time the ignition switch is
Front left
ON
Reduction OFF turned ON.
Solenoid system

ON
Front left Holding
OFF
ON
Rear right Reduction OFF

ON
Rear right Holding OFF
ON
Rear left Reduction OFF

ON
Rear left Holding OFF
ON
Motor
OFF

Condition
before the
initial check Solenoid check
Check start Check end

(3/4)

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Diagnosis Technicain - Brake ABS,EBD and BA

(3) Diagnostic function

: Light ON : Light OFF • If a malfunction occurs in any of the
Skid Control signal systems, the ABS warning
Item ABS EBD BA
ECU
light in the combination meter will
ABS warning light light up, as indicated in the table at
Brake system warning light
the left, and warns the driver that a
malfunction has occurred.
At the same time, the DTCs (Diagno-
C1272 / 72 Code 72 sis Trouble Codes) are stored in
ON memory. The DTCs can be read by
OFF connecting the hand-held tester to
the DLC3 to communicate with the
DLC3
ECU directly or causing a short
YES NO ENTER

F1 F2 F3
HELP 1 2 3

RCV

SEND
F4

F7
4

7
F5

F8

F0
5

8
F6

F9

ON
6

9
TC
between TC and CG terminals of the
EXIT 0 #
OFF

DLC3 and observing the blinking pat-

DLC3 CG
tern of the ABS warning light.
• This system has a sensor signal
check function. The sensor signals
can be read by connecting the hand-
held tester to the DLC3 or causing a
short between TS and CG terminals
of the DLC3 and observing the blink-
ing pattern of the ABS warning light.
• For details on the DTCs that are
stored in the Skid Control ECU mem-
ory and DTCs that are output through
the sensor check function, refer to
the Repair Manual.
• The DTCs can be cleared by con-
necting the hand-held tester to the
DLC3 or causing a short between TC
and CG terminals of check connector
and depressing the brake pedal 8 or
more times within 5 seconds.
(4) Fail-safe function
If the Skid Control ECU detects a
malfunction in the signal system or
there is a malfunction in the relay,
electrical current to the actuator from
the ECU is turned off. As a result, the
brake system operates as if the ABS
were not operating, there by assuring
normal braking functions.
(4/4)

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Diagnosis Technicain - Brake ABS,EBD and BA

Operation Brake Actuator

1. General
View from A
The brake actuator consists of the
pressure holding solenoid valve,
View from B
View from C
Motor pressure reduction solenoid valve,
pump, motor, and reservoir. When
the brake actuator receives a signal
from the Skid Control ECU, the sole-
noid is turned on or off and the
hydraulic pressure of the wheel cylin-
Brake actuator
Skid control ECU
der is increased, decreased, or held
to optimize the slip rate for each
Cross section from A view
wheel. In addition, the hydraulic cir-
Pressure holding Brake assist swiching
solenoid valve solenoid valve cuit is changed to meet the require-
ments of each type of control.

Pump

Pressure reduction solenoid valve Reservoir

Cross section from B view Cross section from C view

(1/3)

2. Operation
ABS & VSC & TRC & BA
Brake master cylinder brake actuator The hydraulic circuit in the ABS for
FF vehicles is divided into front right
Pressure sensor
wheel and rear left wheel system and
Brake assist Brake assist
switching valve switching valve the front left wheel and rear right
wheel system as shown in the dia-
gram. The explanation hereafter is
only given for the operation of one of
these systems, but the other systems
Holding
valve
Holding
valve
Holding
valve
Holding
valve
operate in the same manner.
Pump
Pump

Skid
Control
ECU
Reduction Reduction Reduction Reduction
valve valve valve valve

Reservoir Reservoir

Speed
sensors

Front left Rear right Rear left Front right Deceleration

sensor
(4WD
Front left wheel or rear Front right wheel or rear vehicle)
right wheel system left wheel system

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Diagnosis Technicain - Brake ABS,EBD and BA

(1) During normal braking (When the

Brake master cylinder system does not operate)
ABS & VSC & TRC & BA During normal braking, the control
brake actuator
signal from the Skid Control ECU is
Pressure sensor
not input. For this reason, the pres-
Brake assist
switching valve sure holding and reduction solenoid
OFF valves are off, port (a) on the pres-
Skid
Control sure holding solenoid side is opened,
Check
Port a valve 1
ECU
and port (b) on the pressure reduc-
OFF OFF tion solenoid side is closed.
Holding valve Holding valve
When the brake pedal is depressed,
Check
the brake fluid from the master cylin-
valve 2 der flows through port (a) on the
Pump
OFF
Port b
OFF (OFF) holding solenoid side and is directly
Check
valve 3 transmitted to the wheel cylinder. At
Reduction valve Reduction valve
this time, the operation of check
valve (2) prevents the brake fluid
Reservoir
from being transmitted to the pump
side.
Front Rear
(2) During emergency braking (when
the ABS operates)
Speed sensor
Speed sensor

<1> Pressure reduction mode

Brake master cylinder
The control signal from the Skid
ABS & VSC & TRC & BA Control ECU turns on the pressure
brake actuator
holding and reduction solenoids by
Pressure sensor
closing port (a) on the pressure
Brake assist
switching valve holding solenoid side and opening
OFF port (b) on the pressure reduction
Skid
Control solenoid side. This passes brake
Check
Port a valve 1
ECU
fluid through the port (b) to the res-
ON ON ervoir to decrease the hydraulic
Holding valve Holding valve
pressure on the wheel cylinder. At
Check
this time, port (e) is closed by the
valve 2 decent of the reservoir. The pump
Pump
ON
Port b
ON (ON) continues to run while the ABS is
Check
valve 3 operating, so the brake fluid that
Reduction valve Reduction valve
enters the reservoir is drawn by the
Port e pump and returned to the master
Reservoir
cylinder.

Front Rear

Speed sensor
Speed sensor

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Diagnosis Technicain - Brake ABS,EBD and BA

<2> Holding mode

Brake master cylinder The control signal from the Skid
ABS & VSC & TRC & BA Control ECU turns on the pressure
brake actuator
holding solenoid and turns off the
Pressure sensor
pressure reduction solenoid by
Brake assist
switching valve shutting off the port (a) and port
OFF (b). This shuts off the wheel cylin-
Skid
Control der hydraulic pressure from both
Check
Port a valve 1
ECU
the master cylinder and reservoir
ON ON sides to hold the wheel cylinder
Holding valve Holding valve
hydraulic pressure constant.
Check
valve 2
Port b Pump
OFF OFF (ON)
Check
valve 3
Reduction valve Reduction valve

Port e

Reservoir

Front Rear

Speed sensor
Speed sensor

<3> Pressure increasing mode

Brake master cylinder
The control signal from the Skid
ABS & VSC & TRC & BA Control ECU turns off the pressure
brake actuator
holding and reduction solenoids by
Pressure sensor
opening port (a) on the pressure
Brake assist
switching valve holding solenoid side and closing
OFF port (b) on the pressure reduction
Skid
Control solenoid side the same as during
Check
Port a valve 1
ECU
normal braking. This cause the
OFF OFF hydraulic pressure from the master
Holding valve Holding valve
cylinder to work on the wheel cylin-
Check
der to cause the wheel cylinder
valve 2 hydraulic pressure to increase.
Port b Pump
OFF OFF (ON)
Check
valve 3
Reduction valve Reduction valve

Reservoir

Front Rear

Speed sensor
Speed sensor

HINT:
The brake assist changeover sole-
noid valve is only used in vehicles
equipped with BA.
(2/3)

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Diagnosis Technicain - Brake ABS,EBD and BA

3. Inspection method
When inspecting the brake actuator
operation, it is difficult to perform the
SST Hand-held tester test while actually driving, so the fol-
lowing method is used to generate
simulated signals to simulate and
inspect the ABS operation condition.
(1) When using the SST
YES

HELP
NO

F1

F4
1
F2

F5
ENTER

2
F3

F6
3 Connect the SST and brake actuator
using the harness on the SST side
RCV 4 5 6
F7 F8 F9
SEND 7 8 9
F0 ON
EXIT 0 #

and harness on the vehicle side as

OFF

shown in the illustration at left. The

SST
Harness on the SST side
Harness on the vehicle side
Battery Hand-held tester SST sends a simulated signal to the
brake actuator causing the actuator
to operate, so perform the brake
actuator inspection.
(2) When using the hand-held tester
Connect the hand-held tester to the
DLC3.
Use ACTIVE TEST to operate the
brake actuator and then inspect the
brake actuator.
(3/3)

Types of Brake Actuator Hydraulic Circuit

The brake actuator has the following
types.
Master cylinder
1. 2-position solenoid valve (4) with flow
Flow control valve control valve (4)
ABS actuator The flow control valve is mechani-
cally operated (operates without a
direct instruction from the ECU) to
Check control the hydraulic pressure of
valve
each brake.
Pump
Check
valve

Speed
sensors

Reservoir

ABS
2-position ECU
solenoid valve

Front left Rear right Rear left Front right

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Diagnosis Technicain - Brake ABS,EBD and BA

2. 2-position solenoid valve (6) with

pressure increase valve (2)
The pressure increase valve
Master cylinder mechanically operates to control the
hydraulic pressure of the rear brake
Pressure together with the rear solenoid valve.
increse valve
ABS actuator
Front main
solenoid valve
Check
valve
Pump
Rear
solenoid valve Check
valve
Speed
Reservoir sensors

Front sub-
solenoid valve
ABS
ECU

Front left Rear right Rear left Front right

3. 3-position solenoid valve (3) with

mechanical valve (1)
The mechanical valve operates to
Master cylinder control the hydraulic pressure of the
3-position
solenoid valve
right and left rear brakes.
(A mechanical valve is used when
ABS actuator
there is diagonal piping.)
Check
valve
Pump

Check
valve
Reservoir
Speed
sensors

ABS
ECU

Mechanical valve

Front left Rear right Rear left Front right

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Diagnosis Technicain - Brake ABS,EBD and BA

4. 3-position solenoid valve (4)

The 3-position solenoid valve con-
Master cylinder
trols the hydraulic pressure of each
brake based on the signal from the
ECU.
ABS actuator

3-position
solenoid valve
Check
valve
Pump

Check Speed
valve sensors

Reservoir

ABS
ECU

*
Deceleration
sensors
Front left Rear right Rear left Front right

*Some models only

(1/1)

ABS with EBD Control

1. General
Front / Rear wheels brake force distribution The EBD control utilizes ABS, helping realize the
proper brake force distribution between front and rear
wheels in accordance with the driving conditions.
In addition, during cornering braking, it also controls
the brake forces of right and left wheels, helping to
maintain the vehicle stability.
Braking force distribution
Ideal distribution
under heavy load
at the distribution control
of front-rear braking force
2. Operation
(1) Front/Rear wheels brake force distribution
Rear braking force

Ideal distribution Under heavy load

under light load Amount of the
braking force
improvement
If the brakes are applied while the vehicle is moving
under heavy load straight forward, the transfer of the load reduces the
Under light load
load that is applied to the rear wheels.
When the braking force
distribution of front-rear
The Skid Control ECU determines this condition by
is fixed way of the signals from the speed sensors, and con-
Front braking force trols the ABS actuator in order to optimally control the
distribution to the brake force to the rear wheels.
Right / Left wheels brake force distribution For example, the amount of the load that is applied to
(During cornering braking)
the rear wheels during braking varies whether or not
the vehicle is carrying a load. The amount of the load
that is applied to the rear wheels also varies in accor-
dance with the extent of the deceleration. Thus, the
distribution of the brake force to the rear is optimally
During cornering braking
controlled in order to effectively utilize the braking
force of the rear wheels under these conditions.
(2) Right/Left wheels brake force distribution (During
cornering braking)
When the brakes are applied while the vehicle is cor-
nering, the load that is applied to the inner wheel
decreases. The Skid Control ECU determines this
condition by way of the signals from the speed sen-
sors, and controls the ABS actuator in order to opti-
mally control the distribution of the brake force to the
inner wheel.
(1/1)

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Diagnosis Technicain - Brake ABS,EBD and BA

BA (Brake Assist) Control

1. General
Sometimes people who are not used to driving or peo-
System Diagram
ple who panic easily even if they are used to driving
do not step down hard enough on the brake pedal dur-
ing emergency braking to realize the full performance
Speed sensor Brake actuator of the brake system.
BA is a system that uses the pressure sensor inside
Master cylinder
Skid
Control
the ABS actuator to detect the speed and force with
pressure sensor ECU which the brake pedal is being depressed to allow the
computer to estimate the emergency braking will of
Stop light ABS warning the driver to increase the braking force to contribute to
switch light
achieving the maximum performance from the braking
system.
This BA also features set assist timing and assist
amount to make braking feel as natural as possible by
adjusting the amount of assist as required as shown in
the graph in the figure.
Braking
with BA
HINT:
force
In the past, pedal stroke sensor is used in vehicles
equipped with BA to detect the amount the brake
without BA pedal was depressed.
Time

(1/2)

2. Operation
Brake master cylinder
When the Skid Control ECU deter-
ABS & VSC & TRC & BA
brake actuator
Emergency brake
mines that the driver is emergency
Pressure sensor braking, the brake assist switching
relief
valve 4 Brake assist solenoid valve is turned on, a path is
switching valve created between the master cylinder
ON
Skid
and the reservoir, and the fluid is sent
Check
Control to the pump.
ECU
valve 1 This fluid is drawn by the pump and
OFF OFF
sent to the wheel cylinder. Relief
Holding valve Holding valve valve 4 opens to ensure that the
Check wheel cylinder pressure does not
valve 2
Pump exceed the master cylinder pressure
OFF OFF (ON)
Check
by more than a set amount to main-
Reduction valve Reduction valve
valve 3 tain the pressure difference.
Check
valve 5

Reservoir

Front Rear

Speed sensor
Speed sensor

(2/2)

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Diagnosis Technicain - Brake ABS,EBD and BA

Exercise

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Exercise, you can use the reference button to check the pages related to the current question. When you get
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- 14 -
Diagnosis Technicain - Brake ABS,EBD and BA
Question- 1
Mark each of the statements True or False.

No. Question True or False Correct Answers

The ABS (Anti-lock Brake System) controls the hydraulic pressure

1 True False
by the master cylinder and prevents the tire from locking.

The ABS operates when the slip ratio of the tire and road surface
2 True False
exceeds 30 %.

The ABS with EBD (Electronic Brake force Distribution) system dis-
3 tributes the proper braking force into wheels depending on the vehi- True False
cle condition.

The BA (Brake Assist) system improves the braking force when the
4 True False
Skid Control ECU determines that the emergency brake operates.

Question- 2
The following graph shows the Skid Control ECU control. Select the number that the tire is locked up.

1. 0

2. Twice

3. 6th times

4. 8th times

Vehicle speed

Speed
Wheel
speed

Wheel
acceleration
rate
Signal

Reduction
Holding
Increase
Wheel
cylinder
hydraulic
pressure
Time (sec.)

Question- 3
From the following sensors, select the sensor used in the ABS.

1. Yaw rate sensor

2. Input turbine speed sensor

3. Steering angle sensor

4. Speed sensor

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Diagnosis Technicain - Brake ABS,EBD and BA
Question- 4
Select the time when the ABS initial check is performed.

1. When the brake is depressed with the ignition switch OFF

2. During 30 seconds after the engine is stopped

3. During the engine idling

4. When the vehicle is running at speeds greater than 6 km/h with the stop light switch OFF.

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