Table 1. Communication Table Sender Receiver Signal Line Driving Support ECU Assembly Skid Control ECU Assembly Brake assist standby signal Pre-collision braking operation signal CAN Driving Support ECU Assembly Combination Meter Assembly Buzzer request signal Pre-collision system malfunction signal Pre-collision system warning distance signal Warning signal Pre-collision system cancel signal CAN Driving Support ECU Assembly Forward Recognition Camera Pre-collision warning signal Pre-collision braking operation signal CAN Skid Control ECU Assembly Combination Meter Assembly Vehicle speed signal Stop light switch signal Vehicle yaw rate sensor signal Electronically controlled brake system operation signal Electronically controlled brake system malfunction signal CAN Skid Control ECU Assembly Forward Recognition Camera Vehicle speed signal Vehicle yaw rate sensor signal CAN Yaw Rate Sensor Driving Support ECU Assembly Vehicle yaw rate sensor signal CAN Yaw Rate Sensor Forward Recognition Camera Vehicle yaw rate sensor signal CAN Main Body ECU (Multiplex Network Body ECU) Driving Support ECU Assembly Vehicle specification information (destination) CAN Main Body ECU (Multiplex Network Body ECU) Forward Recognition Camera Vehicle specification information (destination) CAN Steering Sensor Driving Support ECU Assembly Steering angle sensor signal Steering angle sensor malfunction signal CAN Steering Sensor Forward Recognition Camera Steering angle sensor malfunction signal CAN Hybrid Vehicle Control ECU Assembly Driving Support ECU Assembly Shift position signal (D, R) Engine type information signal Vehicle specification information (2WD/AWD information) CAN Millimeter Wave Radar Sensor Assembly Driving Support ECU Assembly Front obstacle recognition signal Distance signal Relative speed signal CAN Forward Recognition Camera Driving Support ECU Assembly Front obstacle recognition signal Distance signal CAN