1. ‘Understeer’ means a condition in which the vehicle’s yaw rate is less than the yaw rate that would occur at the vehicle’s speed as a result of the Ackerman steer angle.

2. Understeer means a condition in which the vehicle’s yaw rate is less than the yaw rate that would occur at the vehicle’s speed as a result of the Ackerman steer angle

3. ‘Understeer’ means a condition in which the vehicle’s yaw rate is less than the yaw rate that would occur at the vehicle’s speed as a result of the Ackermann steer angle.

4. ‘Understeer’ means a condition in which the vehicle's yaw rate is less than the yaw rate that would occur at the vehicle's speed as a result of the Ackermann steer angle.

5. ESC interventions occur when the driver's intended path (calculated by the ESC control algorithms using a constant linear range understeer gradient) differs from the actual path of the vehicle as measured by ESC sensors.