System Diagram

Courtesy of NISSAN NORTH AMERICA, INC.

INPUT/OUTPUT SIGNAL

Communicates the signal from each control unit via CAN communication, Chassis communication or FlexRay communication.

Control unit	Signal status
Chassis control module	Transmits mainly the following signals to steering force control module via CAN communication. Drive mode signal Steering angle sensor signal Transmits mainly the following signals to steering angle main control module via Chassis communication. Active lane control signal Steering angle sensor signal ^1 Steering angle sensor malfunction signal ^1
ABS actuator and electric unit (control unit)	Transmits mainly the following signals to steering force control module via CAN communication. Front LH wheel speed signal Front RH wheel speed signal Vehicle speed signal Side G signal Yaw rate signal
ECM	Transmits mainly the following signals to steering force control module via CAN communication. Engine status signal Engine speed signal Receives mainly the following signals from steering force control module via CAN communication. Steering torque signal
TCM	Transmits mainly the following signals to steering force control module via CAN communication. Shift position signal
Combination meter	Transmits mainly the following signals to steering force control module via CAN communication. Odometer signal Receives mainly the following signals from steering force control module via CAN communication. Power steering warning lamp signal
Steering angle sensor	Transmits mainly the following signals to steering force control module via CAN communication. Steering angle sensor signal Steering angle sensor malfunction signal
BCM	Transmits mainly the following signals to steering force control module via CAN communication. Sleep wake up signal
Steering force control module Steering angle main control module Steering angle sub control module	Interactively transmits and receives mainly the following signals via FlexRay communication ^*2 . Direct adaptive steering control signal

*1: Chassis control module transmits the signal (received from steering angle sensor) via Chassis communication

*2: Communication line between the steering force control module, the steering angle main control module, and the steering angle sub control module