The yaw rate sensor, lateral G sensor, longituginal G sensor are packaged in IMU(Inertial Measurement Unit).

The IMU is installed in SRSCM and it interchanges signals with HECU through extra CAN line which is only used for communication between HECU and the IMU.

This longitudinal G sensor detects vertical acceleration of the vehicle, while the lateral G sensor detects lateral acceleration of the vehicle. The HECU uses thses signals for the HAC(Hill start Assist Control) function and DBC(Down hill Brake Control) function.