System Description

Chassis control to integrally control the driving system was adopted.
Chassis control module inputs the necessary information for control from CAN communication and each switch and integrally controls each system. Refer to the following table for systems controlled and input output signals.

Function		Reference page
Active Yaw Control (AYC) function		System Description
Active ride control function		System Description
Automatic brake hold function		System Description
Drive mode selector function		Drive Mode Select Switch

SYSTEM DIAGRAM

note	AWD control unit is applied to AWD models.

INPUT SIGNAL AND OUTPUT SIGNAL

Major signal transmission between each unit via communication lines is shown in the following table.

Component parts	Signal description
ECM	Mainly transmits the following signals to chassis control module via CAN communication. Accelerator pedal position signal Engine torque signal Brake torque request signal
ABS actuator and electric unit (control unit)	Mainly transmits the following signals to chassis control module via CAN communication. ABS operation signal ABS malfunction signal Brake hold status signal Brake fluid pressure signal Decel G signal Driver brake signal Electric parking brake malfunction signal Electric parking brake operation signal (switch) Electric parking brake status signal Front LH wheel speed signal Front RH wheel speed signal Rear LH wheel speed signal Rear RH wheel speed signal Side G signal Steering angle signal TCS operation signal TCS malfunction signal ASC status signal ASC malfunction signal ASC OFF signal ASC operation signal Vehicle speed signal Mainly receives the following signals from chassis control module via CAN communication. Brake torque request signal Yaw moment request signal
BCM	Mainly transmits the following signals to chassis control module via CAN communication. Ignition ON signal Brake pedal status signal Seat belt buckle switch (driver side) signal
TCM	Mainly transmits the following signals to chassis control module via CAN communication. Current gear position signal
Combination meter	Mainly receives the following signals from chassis control module via CAN communication. Automatic brake hold indicator light signal Meter display signal
AWD control unit^*	Mainly transmits the following signals to chassis control module via CAN communication. Wheel torque signal
ADAS control unit	Mainly transmits the following signals to chassis control module via CAN communication. Brake torque request signal Yaw moment request signal

*: AWD models

MAC（MESSAGE AUTHENTICATION CODE）

MAC (Message Authentication Code) is a function that prevents unauthorized communication from other than the ECU with MAC function by secure authentication communication. Chassis control module can write a MAC key required for communication between the ECUs and perform MAC diagnosis.