1. Used ABS with EDS/ASR/ESP 3104
2. Hydraulic block N55 with booster pump V64
3. Brake pressure sensors 1 and 2 G201/G214
4. Lateral acceleration sensor G20G
5. Yaw angle sensor G202
6. ASR/ESP key
7. Steering wheel angle sensor G85
8. Brake light switch
9-12. Active speed sensors G44...G47
13. Diagnostic cable
14. Brake system control lamp K118
15. ABS control lamp K47
16. ASR/ESP control lamp K155
17. Behavior of the driver and the car
18. Engine control interference
19. Intervention in gearbox control (only with automatic transmission)
The rotation 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 transmits its data directly to the control unit via the CAN bus. Based on the information from these sensors, the control unit calculates the specified direction of rotation and the specified behavior of the vehicle.
The lateral acceleration sensor informs the control unit about the vehicle's tendency to skid, and the yaw rate sensor informs the control unit about the vehicle's tendency to skid. Based on the information from these two sensors, the control unit determines the vehicle's actual behavior.
If the actual values deviate from the specified values, a correction is calculated (the importance of regulatory action).
ESP determines which wheel needs to be braked or released, whether to reduce engine torque, and (with automatic transmission) whether to intervene in the operation of the transmission control unit.
Then, based on the input signals from the sensors, the system checks whether the intervention was successful: if so, the intervention is stopped and the system continues to monitor the vehicle's behavior; if not, the entire adjustment process is repeated. The driver is informed of the system's regulatory intervention by the flashing ESP indicator lamp.
Content source: the specified website: AUDIMANUAL