on the hydraulic brake force proportioning valve in the vehicle. EBD optimizes the brake design with regard to: adhesion utilization; driving stability; wear; temperature stress; and pedal force." EBD may work in conjunction with ABS and electronic stability control (ESC) to minimize yaw accelerations during turns. ESC compares the steering wheel angle to vehicle turning rate using a yaw rate sensor. "Yaw" is the vehicle's rotation around its vertical center of gravity (turning left or right). If the yaw sensor detects less(more) yaw than the steering wheel angle should create, the car is understeering(oversteering) and ESC activates one of the front or rear brakes to rotate the car back onto its intended course. For example, if a car is making a left turn and begins to understeer (the car plows forward to the outside of the turn) ESC activates the left rear brake, which will help turn the car left. The sensors are so sensitive and the actuation is so quick that the system may correct direction before the driver reacts. ABS helps prevent wheel lock-up and EBD helps apply appropriate brake force to make ESC work effectively and easily. See also Brake assist Cornering brake control Automobile safety References Vehicle braking technologies Vehicle safety technologies Mechanical power control