| Main action |
- Monitor the Lateral G sensor/Yaw rate sensor signal error
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- Faulty ESP (ESC)
- Incorrect installation condition
- Poor connector connection
- Open or short of sensor circuit
- Faulty IMU
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| Threshold Value |
Case 1 (Faulty Yaw rate sensor signal) |
- A failure is detected when Yaw sensor values is greater than 30 deg./s for more than 5 seconds on first standstill and Yaw sensor values is greater than 95 deg./s for more than 1 second during driving.
- A failure is detected if a rapidly change of ΔYaw> (10 to 25deg./s) is more than 120 milliseconds, depending on the vehicle condition.
- A failure is detected when the difference between estimated sensor value from other sensor and measured sensor value of the Yaw rate sensor is greater than (6+α) deg./s during vehicle stable driving over a certain period of time.
(Maximum 120 seconds)
(But, threshold value changes from (6+α) deg./s to (3.5+α) deg./s after offset calibration)
* "α" value is changed depending on vehicle driving status
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| Case 2 (Faulty Yaw rate sensor offset) |
- A failure is detected when the absolute value of Yaw rate sensor offset is greater than 6deg/s when straight and stable driving over 30 km/h (18.7 MPH).
- A failure is detected when the difference between estimated offset value from other sensor and measured offset value of the Yaw rate is greater than 6deg/s during vehicle standstill.
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| Case 3 (Faulty Yaw rate sensor signal) |
- Abnormal CAN message (YRS11, 12) received for more than specific times
- Any control activated: 100 ms/All control inactivated: 500 ms
- Abnormal CAN message (YRS13) received for more than specific times (HAC Applied Vehicle Only)
- Any control activated: 500 ms/All control inactivated: 2500 ms
- Abnormal Alive Counter CAN message (YRS11, 12) received for more than specific times
- Vehicle driving and control: 100 ms/Standstill and not control: 500 ms
- A failure is detected when there is a difference between the Checksum value of CAN message (YRS 11, 12) and calculated Checksum value for more than specific times.
- Vehicle driving and control: 100 ms/Standstill and not control: 500 ms
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| Case 4 (Faulty Lateral G sensor signal) |
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| Case 5 (Faulty Lateral G offset) |
- A failure is detected when the monitoring value of Lateral G sensor offset is greater than 7 m/s2 during vehicle standstill.
- A failure is detected if the absolute value of Lateral G sensor offset is greater than 2.5m/s2 when straight and stable driving over 30 km/h (18.7 MPH).
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| Case 6 (Faulty Longitudinal G sensor) |
- When Longitudinal G sensor variation is greater than 15 m/s2 for more than 1 second during non-control.
- When Longitudinal G sensor offset value is greater than 12 m/s2 when vehicle is standstill.
- Monitoring 1 time after Ignition "ON"
- A failure is detected when the difference between estimated sensor value and measured sensor value of the longitudinal G sensor is greater than 4.5 m/s2 for more than 2 seconds during vehicle stable driving.
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| MIL |
- ESP (ESC) warning lamp is activated
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| Reset condition |
- After the ignition switch is turned OFF and ON, and the sensor signal is normal after driving more than 12 km/h (7.45 MPH).
- When the followings are normal, on a driving above 12 km/h (7.45 MPH).
- In case of straight driving, Yaw values is within 3 degree/seconds
- Yaw value for right turn is lower than -2 deg./s.
Yaw value for left turn is greater than +2 deg./s.
- When the vehicle is running to left or right more than ± 2deg./s, if the measured Yaw value is in between lower limit 50% and upper limit 150% of estimated Yaw value over a certain period of time.
- After ignition switch turned OFF and ON.
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