What is the primary function of the Electronic Stability Program (ESP) in a commercial articulated truck combination?

1. It continuously monitors steering wheel angle, lateral acceleration, and yaw rate; when rollover or jackknifing risk is detected, it automatically cuts engine throttle and applies targeted braking to individual wheels to stabilize the vehicle
2. It increases maximum engine horsepower by 20% when cornering
3. It automatically steers the truck back into the lane if the driver falls asleep
4. It prevents the fuel tank from sloshing in sharp turns