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(4) 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.
Condition
Only ESP in
operation
No braking by
driver
ESP
+
Normal braking
(no ABS
operation)
ESP
+
ABS brake
ESP + ASR
Understeer control
4892-01
Oversteer control
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