Kia Sedona (2008 year). Manual - part 17

The Steering Angle Sensor (SAS) is used to determine turning direction and speed of the steering wheel. The 
HECU uses the signals from the SAS when performing ESC-related calculations. 

DTC DESCRIPTION 

If the SAS signal is different from calculated value by yaw-rate sensor and wheel speed sensor, mechanically 
impossible SAS signal is detected, there is a difference between SAS signal and driving condition of the vehicle 
calculated from yaw-rate sensor and lateral G sensor, a failure is detected. 

DTC DETECTING CONDITION 

DTC DETECTING CONDITION CHART 

Item

Detecting Condition

Possible cause

DTC strategy



Voltage Monitoring  

Case 1

Monitoring Period



Continuous  

Enable Conditions



During normal driving conditions 
the long time filtered driving 
direction is straight ahead. The 
long time filtered SAS-value is 
equivalent to the offset. If the 
offset value exceeds a threshold 
of approximately 15 deg a SAS-
fault is determined. Failure 
detection time depends on the 
driving distance, vehicle speed 
and on the amount of failed SAS 
signal. Within 30 km of 
symmetrical driving the 
calculated offset corresponds to 
the sensor offset.  

Monitoring Period



Continuous (If the following 
conditions are satisfied) 

1. After SAS-initialization 

and vehicle reference speed 
> 1.4 m/s  

2. No under voltage  

3. At least one SAS-message 

was sent in the current 20 
ms-cycle.]  



A SAS-gradient-failure is set, if 

1. Signal gradient (steering 

angle velocity) from one 20 
ms-cycle to another is 
higher than 40° or  

 

2008 Kia Sedona 

2008 BRAKES ABS (Anti-Lock Brake System) - Sedona

  

Microsoft 

 

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© 2006 Mitchell Repair Information Company, LLC. 

Case 2

Enable Conditions

2. Change of this gradient 

(steering angle 
acceleration) is higher than 
15°: | (LwInK0K1 . 
LwInK1K2)| > 15° and | 
(LwInK0K1 + LwInK1K2)| 
> 15° 



LwInK0K1: 
Difference of the 
SAS-signal between 
the current 20 ms-
cycle and the last 20 
ms-cycle.  



LwInK1K2: 
Difference of the 
SAS-signal between 
the last 20 ms-cycle 
and 20 ms-cycle 
before.  

Case 3

Monitoring Period



Continuous (After initialization 
and no under voltage detected)  

Enable Conditions



If value is higher than 665° + 90° 
tolerance for more than 300 ms a 
fault is determined.  

Case 4

Monitoring Period



Continuous (during driving)  

Enable Conditions



Based on a vehicle model a 
reference SAS signal is build. The 
difference between measured 
SAS signal and SAS signal 
calculated from yaw-rate sensor 
signal is evaluated for fault 
detection. 

Dependent on the driving 
conditions failures in size of [10 + 
60 m/s / vehicle reference speed] 
deg at steering angle are 
recognized within 400 - 4800 ms 
through three possible recognition 
paths: 

1. Curve Branch (lateral G > 2 

m/s

2

 and left and right 

curve driving)  

 

2008 Kia Sedona 

2008 BRAKES ABS (Anti-Lock Brake System) - Sedona

  

Microsoft 

 

Saturday, May 22, 2010 6:52:42 PM

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© 2006 Mitchell Repair Information Company, LLC. 

2. Stability Branch (no large 

wheel speed differences 
and stable acceleration)  

3. Straight ahead Branch 

(lateral G < 0.5 m/s

2

 and 

yaw rate < 2 deg/s). 

The recognition time 
depends on the active 
branch (the time is shorter 
in a relation 1.:2.:3.-4:2:1) 
and the value of the 
permissible time threshold 
dependent on the deviation 
between the compared 
signals (small deviation --> 
long detection time, large 
deviation --> small 
detection time). 



Open or short of 
steering angle 
sensor circuit  



Inoperative 
steering angle 
sensor  



Inoperative 

Case 5

Monitoring Period



Initialization once in every 
ignition cycle.  



The monitoring is active until a 
reset by a change in the SAS 
signal or until a right and left 
cornering can be recognized.  

Enable Conditions



If there is no change in the signal, 
but a right and left cornering has 
been recognized, a fault is 
determined, (lateral G > 2 m/s

2

 in 

combination with a yaw rate > 
6°/s in both directions). 



At a minimum change of 
e.g. 5° in the signal, the 
monitoring is reset.  

Case 6

Monitoring Period



Continuous (during driving)  

Enable Conditions



The measured yaw rate and the 
yaw rates, calculated from the 
wheel speed sensor and SAS are 
compared. If the signals don't fit 
and forwards driving is detected, 
a fault is determined.  

Monitoring Period



Continuous (during driving)  



Under normal conditions, two 

 

2008 Kia Sedona 

2008 BRAKES ABS (Anti-Lock Brake System) - Sedona

  

Microsoft 

 

Saturday, May 22, 2010 6:52:42 PM

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© 2006 Mitchell Repair Information Company, LLC. 

MONITOR SCAN TOOL DATA 

1. Connect scan tool to Data Link Connector (DLC).  

2. Ignition "ON" & Engine "ON".  

3. Turn the steering wheel to the left or right.  

4. Monitor the "steering sensor" parameters on the scan tool. 

Fig. 43: Scan Tool Display - EBD Warning Lamp 
Courtesy of KIA MOTORS AMERICA, INC. 

5. Whenever steering wheel is turned, is the steering sensor's scan tool data changed? 

YES  



Fault is intermittent caused by poor connection in steering sensor harness and/or HECU's connector 
or was repaired and HECU memory was not cleared. Thoroughly check connectors for looseness, 
poor connection, bending, corrosion, contamination, deterioration, or damage. Repair or replace as 

Case 7

Enable Conditions

SAS messages are sent in one 20 
ms cycle, which is shown by an 
increase of the message counter 
by 2. If the message counter 
shows an increase higher than 3 
or lower than 1 in one 20 ms-cyle, 
a fault is stored after 160 ms.  

HECU  

Fail Safe



Reduced controller function 
caused by inoperative SAS signal. 
ABS/EBD control is available.  



The ESC warning lamp is 
activated.  

 

2008 Kia Sedona 

2008 BRAKES ABS (Anti-Lock Brake System) - Sedona

  

Microsoft 

 

Saturday, May 22, 2010 6:52:42 PM

Page 68 

© 2006 Mitchell Repair Information Company, LLC.