When the vehicle is turning with respect to a 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 after it detects the vehicle' yawing, the ESP control is reactivated.

The later G sensor senses vehicle's lateral G. A small element inside the sensor is attached to a deflectable leverarm by later G.

Direction and magnitude of lateral G loaded to vehicle can be known with electrostatic capacity changing according to lateral G

It interchanges signals with HECU through extra CAN line which only used for communication between HECU and sensor.

A lateral acceleration reference signal is calculated from the wheel speeds, the steering angle and the yaw rate signals to observe the lateral acceleration sensor signal.

The difference between the reference signal and the sensor signal is evaluated for failure detection. A yaw rate reference signal is calculated from the wheel speeds, the steering angle and the lateral acceleration signals to observe the yaw rate sensor signal.

The difference between the reference signal and the sensor signal, and the gradient of the measured sensor signal is evaluated for the failure detection.

If the difference between estimated value and measured value of the sensor is larger than predefined value for predefined time, the failure is recognized.