Document ID: chunk:federal_register_of_legislation:F2017L01229:body:0:p8
Version: federal_register_of_legislation:F2017L01229
Segment Type: other
Provision Reference: 
Character Range: 21601–24348

be equipped with an Electronic Stability Control (ESC) system that:
6.1. Is capable of applying braking torques individually to all four wheels[4] and has a control algorithm that utilizes this capability;
6.2. Is operational over the full speed range of the vehicle, during all phases of driving including acceleration, coasting, and deceleration (including braking), except:
6.2.1. When the driver has disabled ESC;
6.2.2. When the vehicle speed is below 20 km/h;
6.2.3. While the initial start-up self-test and plausibility checks are completed, not to exceed two minutes when driven under the conditions of paragraph 9.10.2.;
6.2.4. When the vehicle is being driven in reverse.
6.3. Remains capable of activation even if the antilock braking system or traction control system is also activated.
 7.  Performance requirements
 During each test performed under the test conditions of paragraph 8. and the test procedure of paragraph. 9.9., the vehicle with the ESC system engaged shall satisfy the directional stability criteria of paragraphs 7.1. and 7.2., and it shall satisfy the responsiveness criterion of paragraph 7.3. during each of those tests conducted with a commanded steering wheel[5] angle of 5A or greater but limited as per paragraph 9.9.4., where A is the steering wheel angle computed in paragraph 9.6.1.
 Where a vehicle has been physically tested in accordance with paragraph 8., the compliance of versions or variants of that same vehicle type may be demonstrated by a computer simulation, which respects the test conditions of paragraph 8. and the test procedure of paragraph 9.9. The use of the simulator is defined in Annex 1 to this Regulation.
7.1 The yaw rate measured 1 second after completion of the Sine with Dwell steering input (time T0 + 1 in Figure 1) shall not exceed 35 per cent of the first peak value of yaw rate recorded after the steering wheel angle changes sign (between first and second peaks) (in Figure 1) during the same test run.
    Figure 1
       Steering wheel position and yaw velocity information used to assess lateral stability
7.2. The yaw rate measured 1.75 seconds after completion of the Sine with Dwell steering input shall not exceed twenty per cent of the first peak value of yaw rate recorded after the steering wheel angle changes sign (between first and second peaks) during the same test run.
7.3. The lateral displacement of the vehicle centre of gravity with respect to its initial straight path shall be at least 1.83 m for vehicles with a GVM of 3,500 kg or less, and 1.52 m for vehicles with a maximum mass greater than 3,500 kg when computed 1.07 seconds after the Beginning of Steer (BOS). BOS is defined in paragraph 9.11.6.
7.3.1. The computation of lateral displacement