Parent/child module diagnosis

When a child module detects a malfunction, it sends the malfunction information to the parent module via CAN communication, and the parent module outputs a DTC according to the malfunction content.

PARENT AND CHILD MODULE DESCRIPTION

Parent module	Child module
Body control module (BCM)	Electrical supply unit (ESU) LF control unit Light control module
	Instrument cluster Steering angle sensor
Vehicle control module (VCM)	Rear side radar sensor Front radar sensor Parking assist unit (ultrasonic) Forward sensing camera (FSC)
*: Differs depending on availability of each module, based on the specification.