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11-14 3) Vehicle Control During Cornering The figure below shows the vehicle controls by the ESP system under various situations such as when the brake pedal is depressed or not depressed during cornering, when the ABS is operating and when braking without the ABS. It also includes the vehicle conditions when the TCS, a part of the ESP system, is operating. Condition Understeer control Oversteer control Only ESP in operation No braking by driver ESP + Normal braking (no ABS operation) ESP + ABS brake ESP + ASR |