Table 1. Communication Table Sender Receiver Signal Line Driving Support ECU Assembly Brake Actuator Assembly (Skid Control ECU) Brake assist standby signal Pre-crash brake operation signal CAN Driving Support ECU Assembly Combination Meter Assembly Pre-crash safety system malfunction signal Pre-crash safety system warning distance signal Warning signal Pre-crash safety system cancel signal CAN Driving Support ECU Assembly Forward Recognition Camera Pre-crash alarm signal Pre-crash brake operation signal CAN Brake Actuator Assembly (Skid Control ECU) Driving Support ECU Assembly Vehicle speed signal Stop light switch signal Vehicle yaw rate sensor signal VSC system operation signal VSC system malfunction signal CAN Brake Actuator Assembly (Skid Control ECU) Forward Recognition Camera Vehicle speed signal Vehicle yaw rate sensor signal CAN Airbag Sensor Assembly (Yaw Rate and Acceleration Sensor) Driving Support ECU Assembly Vehicle yaw rate sensor signal CAN Airbag Sensor Assembly (Yaw Rate and Acceleration 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) OBD 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