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I understand that the speed that shows up on the speedometer is registered from the number of times the wheels spin.

Does anyone know which axle the computer is analyzing?
Thanks:)
 

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aka John
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On the R171, it's looking at all four wheels, but I don't have any idea what formula it's using to calculate a final value.
 

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the esp module looks at all the wheelspeeds and determines the true speed, then sends it over can to the cluster/m.e. and whatever else wants to know. This is how some of the benz's can determine if a tire has low pressure it notices when the car is going straight one of the tires has a significantly higher rpm due to smaller diameter of a tire low on air. This is before they were using tpc. it also uses that same logic and looks at your steering angle sensor and if it sees a certain steering angle say 10 degrees off and notices all the wheels have identical speeds it will throw a esp code- so you have to get an alignment done.
 
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