The lateral accelerometer is used by the electronic brake control module (ebcm) to determine the sideways acceleration of the vehicle. The yaw rate sensor is used by the ebcm to determine the rate of rotation along the vehicle's vertical axis. The lateral accelerometer and yaw rate sensor are housed in a single component and the part number for a new one is AcDelco 24413377 at a cost surpassing $200. However, as an alternative option, eBay has quite a few used sensors for a fraction of the price. Am unsure if replacing the sensor is plug-n-play or if it must be "calibrated" to the vehicle. It appears the sensor (picture attached) is located behind the brake pedal and would check the condition of the wiring, connector, and sensor (snug fit) as part of the troubleshooting process. Good luck.
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