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System Diagram

WARNING: This page is about a different car, the 2008 Toyota Tundra. However, it is still accessible from the selected car via links, so may be relevant.
Fig 1: Identifying Vehicle Stability Control System Diagram (1 Of 2)
G05159713Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
Fig 2: Identifying Vehicle Stability Control System Diagram (2 Of 2)
G05686589Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

Communication table: 

COMMUNICATION TABLE

Sender Receiver Signal Line
ECM Skid control ECU Throttle position signal CAN
ECM Skid control ECU Engine revolution signal CAN
ECM Skid control ECU Accelerator pedal position signal CAN
ECM Skid control ECU Intake temperature sensor signal CAN
Skid control ECU ECM Yaw rate and deceleration signal CAN
Steering angle sensor ECM Steering angle signal CAN
Skid control ECU ECM Throttle opening angle request signal CAN