DTC C1643-08: CAN Time-Out Yaw Rate & G Sensor: General Description

The yaw rate sensor, lateral G sensor, longitudinal G sensor are packaged in the Inertial Measurement Unit (IMU).

If the yaw velocity reaches the specific velocity after IMU detects the vehicle's yawing, the ESP(ESC) control is activated.

IMU is installed in SRSCM and it interchanges signals with ESC through extra CAN line which is only used for communication between ESC and the IMU.