Chassis / Electronic Stability Program (ESP)

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Function description of ESP
System components of the Electronic Stability Program
(ESP):
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ESP control module

Sensors:
4 wheel speed sensors
Lateral acceleration and yaw rate sensor (MM1)
Steering angle sensor (at steering column
module, SCM)

Detecting driving state

The ESP control module processes the following measured
variables, in
addition to the ABS:
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Sensor signals over CAN from SBC control module

Wheel pressure signal of all 4 wheels
Prepressure (HZ)
Reservoir pressure Pedal travel

The ESP function can be switched off passively at the ESP

OFF pushbutton. In this position, the transverse lock
function and the ABS are fully operational. It is not possible
for the driver to deactivate the ABS. It is deactivated only in
the event of a fault, the ABS malfunction indicator lamp in
the instrument cluster indicates that a fault exists. This
might be the case if the ESP detects a fault and thereupon
is switched off together with all its component. The ESP
OFF switch, the parking brake switch, as well as the
steering angle are read in via the CAN. The stop lamps are
actuated redundantly via CAN Class B and by means of a
discrete cable to the rear SAM.
The stop lamp actuation makes it possible to activate the
stop lamps with a certain time delay, even if the foot brake
is not operated (for example in the event of a noticeable
deceleration on the part of the active Distronic system), or
to prevent operation of the stop lamps in the event of a
slight deceleration resulting from an ESP control cycle, in
order not to irritate drivers behind. The stop lamp actuation
is suppressed in the event of an ESP control cycle in which
the driver does not depress the brake pedal.

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Yaw rate
Steering wheel angle
Brake pressure
Engine torque
Transmission shift stage

The yaw rate is used as a basis for determining the sideslip angle, in other words the angle between the
longitudinal axis of the vehicle and the direction of
movement of the center of gravity of the vehicle. The yaw
angle rate, the lateral acceleration and the angle of the front
wheels, which is calculated from the steering wheel angle,
are the basis for determining the transverse forces acting
at the wheels. The longitudinal forces at the wheels are
determined from the engine torque, transmission shift stage
and brake pressure at each wheel. If the yaw angle rate or
the initially determined side-slip angle is excessive, the ESP
control module generates a signal for the appropriate wheel
to build up or reduce the braking force. The forces which
are produced in this case at the wheel, turn the vehicle
again to a smaller side-slip angle.
This active stability control is also still effective in driving
situations in which the driver no longer has any possibility of
influencing vehicle stability. In addition, the brake pedal
value and the release switch signal are processed in the
ESP control module. The brake assist function is activated,
if necessary.

The ESP function can be switched off passively using the ESP OFF switch in the
upper control panel (UCP). The switch is at present still marked as the ESP OFF
switch, but, when it is operated, it is merely the acceleration slip control (ASR)
which is switched off.
In this position, the transverse lock function (speed-sensitive power steering) and
the ABS are fully operational. It is not possible for the driver to deactivate the ABS.
It is only deactivated in the event of a fault, the ABS malfunction indicator lamp in
the instrument cluster indicates if a fault exists. This might be the case if the ESP
detects a fault and is thereupon switched off together with all its components. The
ESP off switch is read in through the CAN. The parking brake switch is also read in
through the CAN and is wired to the rear SAM.
If a control cycle with preload (ESP) is activated, the stop lights are suppressed
through the rear SAM.

ESP

Display Defect!
Visit workshop!

ESP

ESP Defect!
Visit workshop!

The driver is informed of the ESP being activated by the warning lamp in the
instrument cluster. The
information provided by the feedback through the steering wheel or brake pedal is
so limited that it does
not irritate the already greatly relaxed driver as a result of reaching the vehicle
dynamic limits.
The warning lamp flashes in the case of:
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active brake control cycle in the powered and free coasting case
reduction in engine torque
ABS brake application
The display for the ABS system or the ESP system has failed.

If there is a fault in the ESP, engine output may be reduced.

The stabilizing effect of the ESP and ASR is not available.
After an interruption to the voltage (battery disconnected or discharged), it is

necessary to recalibrate
We system. To do this, turn the steering wheel from full lock to full lock and then
back again into the
straight a head position - the fault message then disappears.
Status

Indicator

Text in multifunction display

System OK, no control

--

--

ESP OFF active; ESP passive/no

slip
ESP OFF active; ESP
passive/with slip
Engine off / ignition on

Warning lamp on

--

Warning lamp flashes

--

ABS / warning lamp /

((!))*

--

Parking brake applied, car

stationary
Parking brake applied, car rolling

((!))

--

((!))

Attention! / ((P)) / Release parking brake!

SBC fault

--

Service brake / ((!)) / Visit workshop!

SBC/ESP fault

--

Brake line! 2 / ((!)) / Visit workshop!

SBC defect

--

Info 1: Reduced brake power! / ((!)) / Visit

workshop!
Info 2: Longer braking distance! / ((!)) / Visit
workshop!

SBC defect and ignition off

((!))

Info 1: Reduced brake power! / ((!)) / Visit

workshop!
Info 2: Longer braking distance! / ((!)) / Visit
workshop!

Brake fluid below minimum

((!))

Brake fluid! / ((!)) / Visit workshop!

Stop lamp actuation defect

--

Stop lamp / Bulb" / Visit workshop!

Brake pad wear contact activated

--

Brake pad wear /() / Visit workshop!

* If no messages are transmitted by the ESP control module, the passenger-side SAM adopts an emergency mode and
transmits the fault messages to the instrument cluster.
Status

Indicator

Text in multifunction display

No information from ESP ECU and

pass.-side SAM to instrument cluster
ESP system defect

((!)) ABS: ESP

Indicator defect / Arrow" / Visit workshop!

ESP

Electr. stability progr. defect! / "ESP"/ Visit workshop!

ABS + BAS + ESP system defect

ABS; ESP

Electr. stability progr. defect! / ESP"/ Visit workshop!

Antilock brake system defect! / ABS/ Visit workshop!
Brake assist defect! / BAS/ Visit workshop!

ABS. BAS, ESP system inactive

because of temperature fault

ABS; ESP

Diagnostic or test bench mode

ABS; ESP

Instrument cluster does not receive

messages from chassis systems

ABS; ESP

ESP not available! / ESP/ Visit workshop!

ABS not available! / "ABS"/ Visit workshop!
BAS not available! / BAS"/ Visit workshop!
ESP not available! / ESP"/ Diagnosis test bench test!
ABS not available! / ABS"/ Diagnosis test bench test!
BAS not available! / "BAS/ Diagnosis test bench test!
Display defect of / "ESP/ Visit workshop!
Display defect of / ABS/ Visit workshop!
Display defect of / "BAS/ Visit workshop!

If there is a failure of the ESP control module, of the SBC-CAN between ESP and the SBC or if there is no exchange of
information between the control modules, a basic braking function is available for the servo assistance of the braking force
as well as a fixed installed distribution of the braking force.
Signal flow ESP-SBC

The Vehicle safety system Electronic Stability Program (ESP) is a consequence further development of the ABS, ETS< and
ASR systems. This has been achieved by further developing the familiar components of the hydraulics, wheel speed sensors
and control modules and supplementing these by the yaw rate and the pressure sensor.
In addition to the ABS and ASR control functions, the ESP also comprises the functions of:
Brake Assist (BAS) and
Speed-sensitive power steering (SPS)

Signal Flow SBC - ESP Instrument Cluster

A1

A7/3n1

Instrument Cluster (IC)

Multifunction display
(MFD)
SBC control module

L6/1-4

Wheel speed sensors

N47/5

ESP control module

A1p13

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