SSANGYONG Rodius 2012.07 Manual page 617

2) Operation of ESP System
(1) Under steering
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What is understeering?
Understeer is a term for a condition in which the steering wheel is steered to a certain angle
during driving and the front tires slip toward the reverse direction of the desired direction.
Generally, vehicles are designed to have understeer. It is because that the vehicle can return back
to inside of cornering line when the steering wheel is steered toward the inside even when the
front wheels are slipped outward.
As the centrifugal force increases, the tires can easily lose the traction and the vehicle tends to
slip outward when the curve angle gets bigger and the speed increases.
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ESP controls during understeer
The ESP system recognizes the directional angle with the steering wheel angle sensor and senses
the slipping route that occurs reversely against the vehicle cornering direction during understeer
with the yaw rate sensor and lateral sensor. Then, the ESP system applies the braking force to the
rear inner wheel to compensate the yaw moment value. In this way, the vehicle does not lose its
driving direction and the driver can steer the vehicle as intended.
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