Conditions for Running the DTC

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Ignition ON.
Ignition voltage is greater than 10 volts
The steer angle has been centered.
The VSES system has not been initialized.
The direction (understeer or oversteer) of the yaw rate error has not changed.
The centered lateral acceleration value is less than 0.5 g.
The yaw rate error is less than 6 degrees/second.
The side slip error is greater than 1.8 meters per second squared.
Vehicle is moving.