Control Unit
The ESP control unit is integrated into the ABS/TC control unit. The ESP control unit compares the driver requirement (nominal characteristic), with the vehicle characteristics (actual characteristic) and, if necessary, actuates the relevant regulator in order to maintain the vehicle in a stable, driveable state (maximum possible adhesion between tyres and road surface). Disturbance variables such as road surface conditions, condition of brakes, driving manoeuvres of the driver, slip and tyre condition are taken into account.