Lateral 'G' Sensor/Longitudinal 'G' Sensor/Yaw Rate Sensor
WARNING: This page is about a different car, the 2021 Hyundai Kona. However, it is still accessible from the selected car via links, so may be relevant.
The Yaw Rate Sensor, Lateral G Sensor, Longitudinal G Sensor are packaged in the IMU (Inertial Measurement Unit).
If the yaw velocity reaches a certain point after IMU detects the vehicle's yawing, the ESP (ESC) control is activated.
IMU is installed in SRSCM and it interchanges signals with ESP through extra CAN line which is only used for communication between ESP and the IMU.