System Diagram

Fig 1: System Diagram

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COMMUNICATION METHOD SPECIFICATION

Transmitting ECU (Transmitter)	Receiving ECU	Signals	Communication method
Steering Angle	Sensor Steering Control ECU	Steering wheel angle signal Tire angle (during straight ahead driving) signal	CAN
Steering Angle Sensor	Steering Control ECU	Steering wheel angle signal	Serial communication
ECM	Steering Control ECU	Engine speed signal	CAN
Deceleration Sensor	Steering Control ECU	Deceleration sensor signal	CAN
Yaw Rate Sensor	Steering Control ECU	Yaw rate signal	CAN
Skid Control ECU	Steering Control ECU	Vehicle speed signal Steering cooperative control level signal	CAN
Steering Control ECU	Skid Control ECU	Steering actuator operating angle signal	CAN
Steering Control ECU	Power Steering ECU	Steering actuator operating angle signal Steering cooperative control level signal	CAN
Steering Control ECU (*1)	Combination Meter	Warning information signal	CAN - BEAN

HINT:

*1: Warning information signals are transmitted via the following route:

Steering control ECU --> (CAN) --> Power steering ECU --> (CAN) --> Gateway ECU --> (BEAN) --> Combination meter