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

If the yaw velocity reaches the specific velocity after IMU detects the vehicle's yawing, the ESP(ESC) control is activated.

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.