Transmitting ECU (Transmitter) Receiving ECU Signal Communication Method Skid control ECU (brake actuator assembly) Steering angle sensor Steering angle sensor request signal CAN communication line Steering angle sensor Skid control ECU (brake actuator assembly) Steering angle sensor signal CAN communication line Skid control ECU (brake actuator assembly) Yaw rate and acceleration sensor (airbag sensor assembly) Yaw rate and acceleration request signal CAN communication line Yaw rate and acceleration sensor (airbag sensor assembly) Skid control ECU (brake actuator assembly) Yaw rate and acceleration signal CAN communication line Skid control ECU (brake actuator assembly) ECM Wheel speed signal VSC data signal CAN communication line ECM Skid control ECU (brake actuator assembly) Shift position signal Throttle position signal Engine speed signal CAN communication line Skid control ECU (brake actuator assembly) Power steering ECU (rack and pinion power steering gear assembly) Wheel speed signal VSC data signal CAN communication line Main body ECU (multiplex network body ECU) Skid control ECU (brake actuator assembly) Driver seat belt buckle switch signal Driver side courtesy switch signal CAN communication line Skid control ECU (brake actuator assembly) Combination meter assembly ABS warning light signal Brake system warning light (red indicator) signal VSC OFF indicator light signal Multi-information display (Traction Control Turned Off) signal Multi-information display (Secondary Collision Brake System Malfunction) signal Multi-information display (Brake hold system malfunction) signal Slip indicator light signal Vehicle speed signal Brake hold standby indicator light signal Brake hold operated indicator light signal CAN communication line Airbag sensor assembly Skid control ECU (brake actuator assembly) Secondary collision brake request signal CAN communication line