2013 SSANGYONG KORANDO change wheel

4110-01
2. TORQUE STEER
Torque steer is a condition in which a vehicle pulls to either side because of an inequality of traction
between the left and right driving wheels when a large torque is applied to the front wheel of a FWD or
4WD.
Especially for a FWD vehicle, this mechanical condition can cause the steering effect because of the
output torque (rotational force) produced by the gyroscope.
This rotational force is due to the difference in distance between the left/right front wheels and the
transaxle which leads to the change of the shaft bending angle.
To prevent this, the intermediate shaft, called Intermediate shaft, is employed on each side so that the
bending angle and the length are kept constant.
A gyroscope is a device for measuring or maintaining orientation, based on the principles of angular
momentum. In essence, a mechanical gyroscope is a spinning wheel or disk whose axle is free to
take any orientation. Although this orientation does not remain fixed, it changes in response to an
external torque much less and in a different direction than it would without the large angular
momentum associated with the disk's high rate of spin and moment of inertia. Since external torque
is minimized by mounting the device in gimbals, its orientation remains nearly fixed, regardless of
any motion of the platform on which it is mounted.

1. OVERVIEW
The AWD system in this vehicle is the electronic 4WD system and controls the traction to rear wheels
according to the driving conditions.
1) Driving Mode
(1) AUTO mode (Normal driving mode)
Normally the vehicle is in 2WD mode.
Automatically change to this mode when the vehicle needs higher traction.
(2) LOCK mode (when pressing 4WD LOCK switch)
This mode provides the highest traction. Use
this mode when driving on unpaved, rugged,
steep, sandy, wet or slippery roads.
In 4WD LOCK mode, if the rear wheel speed
exceeds 40 km/h, 4WD LOCK mode is
canceled and 4WD AUTO mode is activated
(Indicator OFF). If the speed is decreased
below 35 km/h, 4WD LOCK mode is resumed
(Indicator ON again). -
-
Mode table
4WD LOCK switch Vehicle speed Driving mode
Not pressed (4WD AUTO) No conditions 4WD AUTO
Pressed (4WD LOCK) over 40 km/h 4WD AUTO
Pressed (4WD LOCK) below 35 km/h 4WD LOCK

4890-00
4) ABS Control Pattern
The ABS control is performed by comparing the reference speed with each wheel speed. Firstly, it is
determined whether the vehicle is in the deceleration or acceleration state using the wheel speed
change ratio. Then, a signal is transmitted to the valve.
Finally, the brake pressure is adjusted via the signal.

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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.

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.

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.

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5) Hydraulic Circuit of HBA
The above figure shows one front and one rear wheel and the same hydraulic circuit forms as in the ESP
operation. When HECU recognizes that it is an emergency and it is required for hard braking, depending
on the pressure value of the brake pressure sensor and pressure changes caused by the pressure sensor
timing, it operates the pump immediately to apply the brake pressure at the wheels. Then, the pressure in
the pump increases until just before the corresponding wheel gets locked. The motor still keeps rotating
and the outlet valve and the separation valve will stay closed. When the wheel starts to lock, the HBA
function cancels and switches to ABS operation.