ESP

1. Introduction
2. System Control

Copyright by Hyundai Motor Company. All rights reserved.

ESP

To know the system components of ESP system.

Objectives To understand the system interface and the difference with the previous
version.

ESP essentially consists of three assemblies: the sensors, the electronic control unit and actuators.
Sensors measure the position of the steering wheel, the pressure in the brake master cylinder, the yaw
velocity (‘yaw rate’) and the acceleration transverse to the vehicle (lateral acceleration). This makes it
possible to compare the driver’s intention with the momentary vehicle behavior so that, in the event of
interfering deviations with adverse affect on driving safety, the electronic control unit can initiate
appropriate corrective action.
ESP not only checks the driver’s steering wheel inputs and compares them with the vehicle’s actual
behavior, but also whether the driver’s input and the actual direction of travel coincide.

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1. Introduction
1.1 General
ESP (Electronic Stability Control) system for PA has been developed by MANDO and the MGH-40
version has been applied. Comparing the existing MGH-25 (for JM, TUCSON) version, almost control
logic and components are the same except additional logic of ROP (Roll Over Prevention).
The following table in the slide is for the variation of MGH model which have been applied in Hyundai
ABS/TCS and ESP system. .
Item MGH 10 MGH 20 MGH 25 MGH 40

Model

Application LC, XD, SM GK, FC JM EN, TQ, PA

1999 (ABS) 2003 (ABS)

MP year 2001 (TCS) Aug. 2006 (ESP)
2000 (TCS) 2004 (ESP)
LFC + MSC +PBA LFC + MSC + PBA
+ MIRC + MIRC + ROP

LFC: Linear flow control ROP: Roll over

Key Points On-Off valve control
MSC: Motor speed control prevention (not for
PBA: Panic brake assist PA)
MIRC: Modified

independent rear control

In case of MGH-25 version for JM, there was an independent pressure sensor for PBA control which
was located in the bottom of master cylinder. But in MGH-40 version, the pressure sensor has been
built inside of ESP control module as same as one for BOSCH 8 version in NF, CM or TG.
Also the output signal of yaw rate & lateral G-sensor for JM was transferred to ESP control module by
serial line, but in PA, the sensor has a CAN communication interface with ESP control module in order to
guarantee more reliable performance and stable control due to faster communication speed. Be sure
that this is another CAN interface which has to be identified with the external CAN bus for Powertrain.

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1.2 System components

- MGH 40 components
ABS ESP

HECU
Assembly

Wheel speed
sensor

Yaw & lateral

-
G-sensor

Pressure Built in HECU

-
sensor

Steering
-
angle sensor

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2. System control
2.1 MIRC (Modified Independent Rear Control)
(1) MGH-20: Select low control

Independent control Select low control

(Uneven braking force) (Equal braking force)

(2) MGH-25, MGH-40: MIRC (Modified Independent Rear Control)

It is for considering the different road condition between left and right rear wheel in order to utilize the
frictional (grip) force on the road. So it controls independently control for both rear wheels depending
on the locking tendency. However there is a limitation for the braking pressure difference for the
vehicle safety and stable control, it is limited by 20bar or less.

Master Pres.

Pres Rise Pres Rise

Limitation Limitation

P_r1

P_r2
Gain in Braking
Performance

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2.2 Inputs & Outputs

Inputs Outputs

WSS (4EA) Motor pump

SAS, HECM Valves
Yaw rate & Warning lamp
Lateral G-sensor, Function lamp
Pressure sensor, CAN interface
Brake switch, (Diagnosis with scan
ESP OFF switch tool,
ABS active signal...)

2.3 Wheel speed sensor

Receiving and analyzing this signal, HECM will calculate the Front
vehicle speed and decide the wheel is being locked or not.
- Type: Active type (Digital waveform)
- Power supply: 12V
- Air gap: 0.2~2.0mm
- Working temp.: -40~150
- Frequency: 1~2,500Hz
- Possible to detect 0km/h
- Reduced size by 40~50% than magnetic type
- Not sensitive to the noise and air gap.
Rear

Be sure that the rear wheel speed sensor is integrated into the
wheel hub so that required to replace the wheel hub assembly in
order to replace the rear wheel speed sensor. (same structure like
TB)

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Output Waveform

2.4 Yaw rate & lateral G-sensor

It is located on the bottom of passenger seat and it detects the yaw
rate of the vehicle in order to calculate the target yaw rate. G-sensor
detects the vehicle slip amount toward lateral direction to compensate
the sensed yaw rate which was detected by Yaw sensor.
- Power supply: 6.5~18V
- Signal output: CAN interface Front of the vehicle
- G sensor : -1.5~1.5g
- Yaw sensor: -75~75°/sec

2.5 Steering angle sensor

There are two types of steering angle sensor for ESP system. One is a relative angle type and the
other one is absolute angle type. In case of later one, it is necessary to calibrate the zero angle
(neutral position) whenever replace the sensor or remove it.
- Type: Relative angle type (Same as one for JM)
- Signal output: Serial wiring ST1
- Resolution: 2 °or less
- Measuring ability: over 1,500° /sec

ST2

ST N

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2.6 Pressure sensor

To control PBA (Panic Brake Assist), HECM will refer
this signal to decide the operation and this sensor is
being installed inside control module as same as one
for ‘Bosch 8’ of NF, TG and CM. (Not possible to
replace the sensor)
- Operating voltage: 5±0.25V
- Max. pressure to measure: 200bar

2.7 Warning lamps

(1) ABS warning lamp
- This lamp turns on for 3 seconds after IG on; it turns off immediately if there is no ABS system
error.
- It turns on if any DTC is memorized.
- It turns on while the communication with the scanner.
- It turns on if the HECM connector is removed.
- ABS is not operated when this lamp is on.

(2) EBD warning lamp

- This lamp turns on for 3 seconds after IG on; it turns off immediately if there is no EBD system
error.
- It turns on if the parking brake is engaged.
- It turns on when the brake oil is not sufficient.
- It turns on while the communication with the scanner.
- It turns on if the HECM connector is removed.
- EBD is not operated when this lamp is on.
- It turns on when the solenoid valve failure, wheel speed sensor failure (more than two), HECM
failure, High voltage error and valve relay failure.

(3) ESP OFF warning lamp

- This lamp turns on for 3 seconds after IG on; it turns off immediately if there is no ESP system
error.
- It turns on if any DTC is memorized.
- It turns on while the communication with the scanner.
- Whenever ESP OFF switch is selected, this lamp turns on.

(4) ESP lamp

- This lamp turns on for 3 seconds after IG on; it turns off immediately if there is no ESP system
error and it blinks with the frequency of 2Hz while ESP operation.

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2.8 MGH40 ABS wiring diagram

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2.9 MGH40 ESP wiring diagram

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