4892 13
3. PRINCIPLE OF ESP
A/T
Understeer & Oversteer Control
ESP (Electronic Stability Program) recognizes critical driving conditions, such as panic reactions in dangerous
M / T
situations, and stabilizes the vehicle by wheel-individual braking and engine control intervention with no need for
actuating the brake. This system is developed to help the driver avoid the danger of losing the control of the vehicle
stability due to under-steering or over-steering during cornering.
The yaw rate sensor, lateral sensor and longitudinal sensor in the sensor cluster and the steering angle sensor
T/C
under the steering column detect the spin present at any wheels during over-steering, under-steering or cornering.
The ESP ECU controls against over-steering or under-steering during cornering by controlling the vehicle stability
using the input values from the sensors and applying the brakes independently to the corresponding wheels.
CLUTCH
The system also controls during cornering by detecting the moment right before the spin and automatically limiting
the engine output (coupled with the ASR system).
AXLE
Under Steering Over Steering
Desired
course
SP
Desired With ESP
course Without
ESP
ST’NG
With ESP
Braked
Braked wheel
BRAKE
wheel Without
ESP
Compen-
Braking sating yaw
A / BAG
force moment Compensating
yaw moment
Braking
A / CON
force
Understeering Oversteering
Understeering is when the steering wheel is steered to Oversteering is when the steering wheel is steered to a
a certain angle during driving and the front tires slip to- certain angle during driving and the rear tires slip out-
ward the reverse direction of the desired direction. ward losing traction.
Generally, vehicles are designed to have under steering. When compared with under steering vehicles, the con-
The vehicle can return back to inside of cornering line trolling of the vehicle is difficult during cornering and the
when the steering wheel is steered toward the inside vehicle can spin due to rear wheel moment when the
even when the vehicle front is slipped outward. As the rear tires lose traction and the vehicle speed increases.
centrifugal force increases, the tires can easily lose the
traction and the vehicle tends to slip outward when the
curve angle gets bigger and the speed increases.
CHANGED BY ABS/ESP SYSTEM
EFFECTIVE DATE ACTYON SM - 2006.03
AFFECTED VIN
14 4892
ESP Controls During Under Steering ESP Controls During Oversteering
The ESP system recognizes the directional angle with The ESP system recognizes the directional angle with
the steering wheel angle sensor and senses the slip- the steering wheel angle sensor and senses the slip-
ping route that occurs reversely against the vehicle cor- ping route that occurs towards the vehicle cornering di-
nering direction during understeering with the yaw rate rection during oversteering with the yaw rate sensor and
sensor and the lateral sensor. Then the ESP system the lateral sensor. Then the ESP system applies the
applies the brake at the rear inner wheel to com- brake at the front outer wheel to compensate the
pensate the yaw moment value. In this way, the vehicle yaw moment value. In this way, the vehicle does not
does not lose its driving direction and the driver can steer lose its driving direction and the driver can steer the
the vehicle as driver intends. vehicle as he or she intends.
ESP Control
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. For example, when the brakes
are applied during cornering at the speed of 100 km/h, the ABS system 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.
When various systems operate simultaneously under a certain situation, there may be vehicle control problems due
to internal malfunction of a system or simultaneous operations. In order to compensate to this problem, the ESP
system sets the priority among systems. The system operates in the order of TCS (ASR or ABD), ESP and ABS.
The order may be changed depending on the vehicle driving situations and driving conditions.
The following figure shows the operating range according to driving conditions.
Operating
range
Turning Turning
ABS/ESP SYSTEM CHANGED BY
ACTYON SM - 2006.03 EFFECTIVE DATE
AFFECTED VIN
4892 15
Vehicle Control During Cornering
A/T
The figure below shows the vehicle controls by ESP system under various situations such as when the brake pedal is
pressed (or not pressed) during cornering and when the ABS is operating or when just the conventional brake is operating
during braking. It also includes the vehicle conditions when the TCS that is included in the ESP system is operating.
M / T
Operations Understeering Control Oversteering Control
ESP auto brake
T/C
Only ESP operating e
Engin l
o
No braking by driver contr
CLUTCH
ESP auto brake
AXLE
Non-ESP auto brake
ESP
+
SP
Conventional
brake
(ABS not operating)
ST’NG
ESP auto brake
Driver foot brake operation
BRAKE
ESP
A / BAG
+
ABS brake
The slip occurs
A / CON
under ESP operation
ABS operation
ESP
nt e
e
c o gin
Engin l
l
ro
En
+ o n t r o
c
TCS (Engine control)
The slip occurs
under ESP operation
TCS operation
CHANGED BY ABS/ESP SYSTEM
EFFECTIVE DATE ACTYON SM - 2006.03
AFFECTED VIN
