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 Yaw rate and acceleration request signal CAN communication line Yaw rate and acceleration sensor 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 Diagnosis (TC terminal) signal CAN communication line Skid control ECU (Brake actuator assembly) Power steering ECU assembly VSC data signal CAN communication line Power steering ECU assembly Skid control ECU (Brake actuator assembly) Sensor check (TS terminal) signal CAN communication line Main body ECU (Multiplex network body ECU) Skid control ECU (Brake actuator assembly) Parking brake switch signal CAN communication line Skid control ECU (Brake actuator assembly) Combination meter assembly ABS warning light signal Brake warning light signal TRC OFF indicator light signal VSC OFF indicator light signal Slip indicator light signal Wheel speed signal CAN communication line Roll rate and vertical acceleration sensor Skid control ECU (Brake actuator assembly) Vertical acceleration sensor signal CAN communication line