System Diagram

WARNING: This page is about a different car, the 2006 Lexus RX 400h. However, it is still accessible from the selected car via links, so may be relevant.

Fig 1: Dynamic Laser Cruise Control System, System Diagram

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Communication table:

COMMUNICATION TABLE

Transmit	Receive	Data List
Distance Control ECU	Hybrid Vehicle Control ECU	Target Acceleration Speed Target Deceleration Speed Brake Request Warning Request Vehicle-to-Vehicle Distance Presence of Vehicle Ahead Beam Axis Deviation Laser Sensor Dirtiness Detection Poor Weather Detection Diagnosis Data
Hybrid Vehicle Control ECU	Distance Control ECU	Vehicle-to-Vehicle Distance Control Mode Switching Cruise Control Switch (MAIN Switch) Set Distance Setting Vehicle Speed Actual Vehicle Speed Brake Request Response Accelerator Pedal Idle Steering Angle
	Skid Control ECU	Target Deceleration Rate Target Deceleration Rate Gradient Brake Request
	Gateway ECU	Cruise Control MAIN Indicator Illumination Signal Multi-information Display Indication Signal
Skid Control ECU	Distance Control ECU	Zero Point Information of Yaw Rate Steering Angle Yaw Rate
Skid Control ECU	Hybrid Vehicle Control ECU	Cruise Control Cancel Request Brake Request Response
Gateway ECU	Hybrid Vehicle Control ECU	Taillight Control Signal
Steering Angle Sensor	Skid Control ECU	Steering Angle
Yaw Rate and Deceleration Rate Sensor	Skid Control ECU	Yaw Rate