Over the past few decades, the automotive industry has undergone a remarkable transformation in vehicle safety. While manufacturers once focused primarily on minimizing injuries after a collision, the modern approach emphasizes preventing accidents before they occur. This shift has been made possible through the development of active safety technologies such as the Anti-lock Braking System (ABS), Traction Control System (TCS), and, most importantly, Electronic Stability Control (ESC). Among all active safety technologies, ESC is considered one of the most significant