PRE-COLLISION SYSTEM SYSTEM DIAGRAM


*1	Central Gateway ECU (Network Gateway ECU)
*2	CAN Communication Line

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	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/4WD 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