2013 SSANGYONG KORANDO wheel

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3. PRECAUTIONS
The warning lamp flashes and warning beep sounds when the ESP is operating
When the ESP operates during vehicle movement, the ESP warning lamp on the instrument panel
flashes and beep comes on every 0.1 second. The ESP system is only a supplementary device for
comfortable driving. When the vehicle exceeds its physical limits, it cannot be controlled.
Do not rely on the system. Keep on the safe driving.
Feeling when ESP is working
When the ESP system activates, the feeling can be different depending on vehicle driving conditions.
For example, you will feel differently when the ESP system is activated during the ABS is operating
with the brakes applied and when the brakes are not applied on a curve.
If the ESP system operates when the brake is applied, the brake pressure will be increased on the
corresponding wheel which already has braking pressure for the ESP controls.
ARP Operation
During the ARP operation, vehicle safety (rollover prevention) takes the first priority and thus,
stronger engine control is in effect. Consequently, the vehicle speed decreases rapidly, so the driver
must take caution for the vehicle may drift away from the lane.
Noise and vibration that driver feels when ESP system is operating
The ESP system may transfer noise and vibration to the driver due to the pressure changes caused
by the motor and valve operations in a very short period of time. And, keep in mind that the output
and vehicle speed could be decreased without rpm increase due to the ASR function that controls
the engine power.

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2) EBD (Electronic Brake-force Distribution) Warning Lamp (Brake
Warning Lamp)
EBD warning lamp when the system perform the self diagnosis and when it detects the malfunction of
EBD system. However, the brake warning lamp comes on regardless of EBD when the parking brake is
applied.
EBD warning lamp ON:
When turning the ignition switch to ON position, ABS warning lamp and the brake warning lamp
comes on for 3 seconds for self diagnosis and goes off if the system is OK (initialization mode).
When applying the parking brake, the brake warning lamp comes on.
When the brake fluid is not sufficient, the brake warning lamp comes on.
When the self-diagnosis is performing, the warning lamp comes on.
When the HECU connector is disconnected, the warning lamp comes on.
When the system is defective, ABS warning lamp and the brake warning lamp come on
simultaneously. 1.
2.
3.
4.
5.
6.
When the solenoid valve is defective
When one or more wheel sensors are defective
When ABS HECU is defective
When the voltage is abnormal
When valve relay is defective a.
b.
c.
d.
e.
When the communication between warning lamp CAN module in meter cluster, the warning lamp
comes on. 7.
3) ESP OFF Indicator
ESP OFF indicator ON:
When turning the ignition switch to ON position, ESP warning lamp comes on for 3 seconds for self
diagnosis and goes off if the system is OK (initialization mode).
When the ESP OFF switch is pressed to turn off ESP function, ESP OFF indicator comes on. 1.
2.
4) ESP Warning Lamp
ESP warning lamp ON:
When turning the ignition switch to ON position, ESP warning lamp comes on for 3 seconds for self
diagnosis and goes off if the system is OK (initialization mode).
When the system is defective, the warning lamp comes on.
When the ESP function is activated, ESP warning lamp blinks with the interval of 2 Hz.
When the communication between warning lamp CAN module in meter cluster, the warning lamp
comes on. 1.
2.
3.
4.
5.
5) ESP OFF Switch
If ESP OFF switch is pressed, ESP function is deactivated and the ESP OFF indicator in the instrument
cluster comes on.
To resume the ESP function, press the switch again. At this time, ESP OFF indicator goes out.

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2) Operation of ESP System
The ESP (Electronic Stability Program) has been developed to help a driver avoid danger of losing
control of the vehicle stability due to understeer or oversteer during cornering. The yaw rate sensor,
lateral sensor and longitudinal sensor in the sensor cluster and the steering wheel angle sensor under
the steering column detect the vehicle conditions when the inner or outer wheels are spinning during
oversteer, understeer or cornering. The ESP ECU controls against oversteer or understeer during
cornering by controlling the vehicle stability using input values from these sensors and applying the
braking force to the corresponding wheels independently. The system also controls the engine power
right before the wheel spin synchronized with the ASR function to decelerate the vehicle automatically in
order to maintain the vehicle stable during cornering.
(1) Under steering
What is understeering?
Understeer is a term for a condition in which the steering wheel is steered to a certain angle during driving
and the front tires slip toward the reverse direction of the desired direction. Generally, vehicles are
designed to have understeer. It is because that the vehicle can return back to inside of cornering line
when the steering wheel is steered toward the inside even when the front wheels are slipped outward.
As the centrifugal force increases, the tires can easily lose the traction and the vehicle tends to slip
outward when the curve angle gets bigger and the speed increases.

ESP controls during understeer
The ESP system recognizes the directional angle with the steering wheel angle sensor and senses the
slipping route that occurs reversely against the vehicle cornering direction during understeer with the ya
w
rate sensor and lateral sensor. Then, the ESP system applies the braking force to the rear inner wheel to
compensate the yaw moment value. In this way, the vehicle does not lose its driving direction and the
driver can steer the vehicle as intended.
(2) Over steering
What is oversteering?
Oversteer is a term of a condition in which the steering wheel is steered to a certain angle during driving
and the rear tires slip outward losing traction.
Compared to understeering vehicles, it is hard to control the vehicle during cornering and the vehicle can
spin due to rear wheel moment when the rear tires lose traction and the vehicle speed increases.
ESP controls during oversteer
The ESP system recognizes the directional angle with the steering wheel angle sensor and senses the
slipping route that occurs towards the vehicle cornering direction during oversteer with the yaw rate
sensor and lateral sensor. Then the ESP system applies the braking force to the front outer wheel to
compensate the yaw moment value. In this way, the vehicle does not lose its driving direction and the
driver can steer the vehicle as intended.

4) HBA (Hydraulic Brake Assist System)
(1) Purpose
HBA (Hydraulic Brake Assist) system helps in an emergency braking situation when the driver applies
the brake fast, but not with sufficient pressure, which leads to dangerously long braking distance. ECU
recognizes the attempt at full braking and transmits the signal calling for full brake pressure from the
hydraulic booster. An inexperienced, elderly or physically weak driver may suffer from the accident by not
fully pressing the brake pedal when hard braking is required under emergency. The HBA System
increases the braking force under urgent situations to enhance the inputted braking force from the driver.
Based on the fact that some drivers depress the brake pedal too soft even under when hard braking is
necessary, the HECU system is a safety supplementary system that builds high braking force during
initial braking according to pressure value of the brake pressure sensor and the pressure changes of the
pressure sensor intervals. When the system is designed to apply high braking force when brake pedal is
depressed softly by an elderly or physically weak driver, the vehicle will make abrupt stopping under
normal braking situation due to high braking pressure at each wheels.
(2) Operation
The brake pressure value and the changed value of the pressure sensor are the conditions in which the
HBA System operates. There are 2 pressure sensors under the master cylinder. When the ESP ECU
system determines that emergency braking is present, the pump operates, the brake fluid in the master
cylinder is sent to the pump and the braking pressure is delivered to the wheels via the inlet valves . If the
drive depress the brake pedal slowly, the pressure change is not high. In this case, only the conventional
brake system with booster is activated.
(3) Operating conditions
Sensor pressure: over 40 bar
Pressure changes: over 850 bar/sec
Vehicle speed: over 30 km/h -
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5) ARP (Active Roll-Over Protection)
The ARP (Active Roll-over Protection) system is a safety assistant device that minimizes, by controlling
brakes and the engine, the physical tendency of the vehicle rollover during sharp lane changes or U-
turns. For the system, software is added to the existing ESP system and no additional device or switch is
needed. One must note that the ARP system, just as general assistant devices including the ABS, is only
a safety assistant device using the ESP system and its function is useless when the situation overcomes
the physical power. Following picture shows how the ARP compensates the vehicle position by varying
each wheel's braking power to overcome the physical tendency of the vehicle rollover during sharp turns.
Lateral sensor
(In sensor cluster)
Vehicle speedBrake force
Radius
The vehicle driving condition is controlled by the internally programmed logic according to the input
signals from wheel speed sensor, steering angle sensor and lateral sensor.
During the ARP operation, vehicle safety (rollover prevention) takes the first priority and thus,
stronger engine control is in effect. Consequently, the vehicle speed decreases rapidly, so the driver
must take caution for the vehicle may drift away from the lane.

6) HSA (Hill Start Assist)
The HSA (Hill Start Assist) prevents the vehicle from rolling backward by supplying the hydraulic
pressure to the wheels by the HECU after the brake pedal is released when starting off on uphill.

Circuit description
When compared to the vehicle equipped with ABS/EBD only, the internal hydraulic circuit has a
normally-open separation valve and a shuttle valve in primary circuit and in secondary circuit.
When the vehicle brakes are not applied during engine running or when applying the non-ABS operating
brakes, the normally-open separation valve and the inlet valve are open, whereas the normally-closed
shuttle valve and the outlet valve are closed.
When the ESP system is operating, the normally-open separation valve will be closed by the solenoid
valve operation and the hydraulic circuit will be established by the shuttle valve. Then, the inlet and outlet
valves will be closed or open depending on the braking pressure RISE, HOLD or DUMP conditions.
Flashing warning lamp and warning sound during ESP operation
When the ESP operates while the vehicle is moving, the ESP warning lamp on the instrument panel
flickers and the buzzer sounds at every 0.1 second. The ESP lamp operation is to inform a driver that the
vehicle is extremely unstable.
The ESP system is just a supplementary system for the vehicle and it cannot control the vehicle over the
physical limit. Do not solely rely on the system but be advised to drive the vehicle safely.
Drive feeling during ESP operation
When the ESP system activates, the driving feeling can be different depending on vehicle driving
conditions. For example, it will feel different when the ESP system is activated while the ABS is operated
by depressing the brake pedal and when the ESP system is in control without the brake pedal
depressed on the same curve.
If the ESP system operates with the brake applied, the brake pressure will be increased on the
corresponding wheel which already has braking pressure for the ESP controls. In other words, the ESP
system would make the driver feel more abruptly braked compared to the situation that the braking
pressure is applied to wheel which had no braking force.
Noise and vibration that driver senses during ESP operation
The ESP system may transfer noise and vibration to a driver due to the pressure changes caused by the
motor and valve operations in a very short period of time.
Extreme cornering will trigger the ESP operation and this will make the driver sense noise and vibration
due to sudden brake application.
Also, the ESP system controls the engine power. Therefore, the driver may notice the engine power
decreases even when the accelerator pedal is depressed.