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Table 1. Communication Table Transmitting ECU (Transmitter) Receiving ECU (Receiver) Signal Communication Method Skid control ECU Steering angle sensor Steering angle sensor request signal CAN communication Skid control ECU Yaw rate sensor Yaw rate and acceleration request signal CAN communication Skid control ECU ECM Wheel speed signal VSC data signal CAN communication Steering angle sensor Skid control ECU Steering angle sensor data signal CAN communication Yaw rate sensor Skid control ECU Yaw rate and acceleration data signal CAN communication ECM Skid control ECU Shift position signal (except M/T) Engine speed signal Engine and transaxle specification signal Engine torque request signal Accelerator pedal position signal CAN communication Skid control ECU Combination meter ABS warning light signal Brake warning light signal Slip indicator light signal Master warning light signal Multi-information display signal Skid control buzzer request signal CAN communication Wheel speed signal Serial communication Main body ECU Skid control ECU Parking brake switch signal CAN communication