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09-9 4891-01 1. ESP (Electronic Stability Program) As the single-track vehicle model used for the calculations is only valid for a vehicle moving forward, ESP intervention never takes place during backup. The ESP system includes the ABS/EBD and ASR systems allowing the system to be able to operate depending to the vehicle driving conditions. 1) Overview For example, when the brakes are applied during cornering at the speed of 100 km/h, the ABS will operate at the same time the ASR or ABD systems operate to reduce the power from the slipping wheel. And when yaw rate sensor detects the rate exceeding 4 degree/seconds, the ESP system is activated to apply the brake force to the corresponding wheel to compensate the yaw moment with the vehicle stability control function. This may cause a problem in vehicle control system due to multi-operation of systems, thus there is a priority as below: |