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The Yaw Rate sensor measures the vehicle's direction around its vertical axis. It also measures the rate of change. It is found in the centre of the vehicle fixed to the floor. The information from it is used for the GPS system, Electronic Stability Program (ESP) and Adaptive Cruise Control. They're pretty reliable. I've never heard of one having failed, but there's always a first time of course. Also needed for ACC is the front sensor in the front grille. It measures the distance from obstacles ahead just like radar. Make sure this sensor is clean and unobstructed.
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