Yaw sensor

The YAW sensor is part of the electronic stability control system. Basically, the YAW identifies the vehicle's vertical axis. When there is a certain level of deviation (if you swerve, slam on the brakes in a skid.), The YAW kicks in and helps stabilize the vehicle. To do that, it can cut engine power, apply brake pressure to any of the wheels (based on need). To answer your question, yes the abs module is tied in to the YAW sensor.