Transmitting ECU (Transmitter) Receiving ECU Signal Communication Method Skid control ECU (Brake booster with master cylinder assembly) Power steering ECU assembly Target steering angle signal Target relative angle signal CAN communication line Power steering ECU assembly Skid control ECU (Brake booster with master cylinder assembly) Sensor check (TS terminal) signal CAN communication line Main body ECU (Multiplex network body ECU) Skid control ECU (Brake booster with master cylinder assembly) Parking brake switch assembly signal CAN communication line Skid control ECU (Brake booster with master cylinder assembly) Power management control ECU Wheel speed signal VSC data signal CAN communication line Power management control ECU Skid control ECU (Brake booster with master cylinder assembly) Shift lever position signal Driving torque request signal Accelerator pedal position signal CAN communication line Skid control ECU (Brake booster with master cylinder assembly) Steering angle sensor Steering angle sensor request signal CAN communication line Steering angle sensor Skid control ECU (Brake booster with master cylinder assembly) Steering angle sensor signal CAN communication line Skid control ECU (Brake booster with master cylinder 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 booster with master cylinder assembly) Yaw rate and acceleration signal CAN communication line Skid control ECU (Brake booster with master cylinder assembly) Combination meter assembly ABS warning light signal Brake warning light / red (malfunction) signal Brake warning light / yellow (minor malfunction) signal VSC OFF indicator light signal Slip indicator light signal Multi-information display (TRC OFF indicator light) signal Meter buzzer signal CAN communication line