1. Used ABS with EDS/ASR/ESP 3104
2. Hydraulic unit N55 with booster pump V64
3. Brake pressure senders 1 and 2 G201/G214
4. Lateral acceleration sensor G20G
5. Yaw sensor G202
6. ASR/ESP key
7. Steering angle sender G85
8. Stoplight switch
9-12. Active speed sensors G44...G47
13. Diagnostic wire
14. Control lamp of the brake system K118
15. Control lamp ABS K47
16. Control lamp ASR / ESP K155
17. Driver and vehicle behavior
18. Interference with engine management
19. Intervention in the control of the gearbox (only with automatic transmission)
Speed sensors constantly transmit information about the angular speed of rotation of each individual wheel. The steering wheel angle sensor is the only sensor that sends its data to the control unit directly via the CAN bus. Based on the information from these sensors, the control unit calculates the desired direction of rotation and the desired behavior of the vehicle.
The lateral acceleration sensor informs the control unit about the drift to the side, and the yaw angle sensor about the tendency of the vehicle to skid. Based on the information from these two sensors, the control unit determines the actual behavior of the vehicle.
If the actual values deviate from the given values, a correction is calculated (control value).
ESP determines which wheel needs to be braked or released by how much, whether to reduce engine torque, and (with AKP) whether to intervene in the operation of the gearbox control unit.
Then, according to the input signals from the sensors, the system checks whether the intervention was successful: if so, the intervention stops and the system continues to monitor the behavior of the vehicle; if not, the whole adjustment process is repeated. The driver is informed of the control intervention of the system by the flashing ESP warning lamp.
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