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: Pro-Pilot Assist signal Steering angle sensor signal ^1 Steering angle sensor malfunction signal ^1
ABS (Anti-lock Braking System) actuator and electric unit (control unit)	Transmits mainly the following signals to steering force control module via CAN communication: Front LH wheel sensor signal Front RH wheel sensor signal Vehicle speed signal Side G signal Yaw rate signal
ECM (Engine Control Module)	Transmits mainly the following signals to steering force control module via CAN communication: Engine status signal Engine speed signal Receives mainly the steering torque signal from steering force control module via CAN communication.
TCM (Transmission Control Module)	Transmits mainly the shift position signal to steering force control module via CAN communication.
Combination meter	Transmits mainly the odometer signal to steering force control module via CAN communication. Receives mainly the power steering warning lamp signal from steering force control module via CAN communication.
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 (Body Control Module)	Transmits mainly the sleep wake up signal signals to steering force control module via CAN communication.
Steering force control module Steering angle main control module Steering angle sub control module	Interactively transmits and receives mainly the direct adaptive steering control signal signals via FlexRay communication: ^*2 .

*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