The yaw-rate sensor and later G sensor is installed on the lower floor.
The yaw-rate sensor detects acceleration of the vehicle around its vertical axis, while the G sensor detects lateral acceleration of the vehicle.
When the vehicle is not moving, the G sensor output is approximately 2.5V.
The HECU monitors a signal voltage of either yaw-rate sensor or lateral G sensor to detect open or short to battery or short to ground.
A failure is detected if the lateral acceleration sensor or yaw rate sensor signal voltage stays in the fault range longer than 100ms or the lateral acceleration sensor or yaw rate sensor reference voltage stays in the fault range longer than 200ms, or the self test form is against specification during self test.
Item
Detecting Condition
Possible cause
Case 1
DTC Strategy
? Voltage Monitoring
? Faulty Yaw Rate & Lateral G sensor
? Open or short of Yaw Rate & Lateral G sensor
? Faulty HECU
Monitoring Period
? Continuous
Enable Conditions
? A line fault is detected if VLG < 0.3V or VLG > 4.7V for a time t >= 100ms.
? A line fault is detected if VYAW < 0.225V OR VYAW > 4.774V for a time t >= 100ms.
? A line fault is detected if VYAW REFERENCE < 2.1V OR VYAW REFERENCE > 2.9V for a time t >= 200ms.
Case 2
? Selftest Monitoring
? Once after power up and no low voltage.
? A line fault is detected if 0.2V < VLG < 0.8V isn’t continued for a time t >= 60ms during POS (POS : power on selftest)
Fail Safe
? Reduced controller function.
? Inhibit the ESP control and allow the ABS/EBD control.
? The ESP warning lamps are activated.