The yaw-rate sensor and lateral G sensor is installed on the lower floor. When the vehicle is turning around its vertical axis, the yaw rate sensor detects the yaw rate electroniclly by the vibration change of plate fork inside the yaw rate sensor. If yaw velocity reaches the specific velocity,, the ESP control is activated. The lateral G sensor senses vehicle's lateral G value. Direction and magnitude of lateral G loaded to vehicle can be known with electrostatic capacity changing according to lateral G value. It interchanges signals with HECU through extra CAN line which only used for communication between HECU and sensor.

The HECU checks the CAN communcation lines for normal ESP control, and sets this code if an Yaw Rate & Lateral G Sensor message is not received within predefined time.