System Diagram

Fig 1: Identifying Lane-Keeping Assist System Diagram

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COMMUNICATION TABLE

Sender ECU	Receiver ECU	Signal	Line
Driving support ECU	Combination meter assembly	LKA indicator light signal Buzzer signal Multi-information display signal	CAN
Driving support ECU	Skid control ECU	Skid control buzzer sound signal	CAN
Driving support ECU	Power steering ECU assembly	Target steering torgue Steering assist request signal Lane-keeping request signal	CAN
Steering pad switch with modulator	Driving support ECU	Lane-keeping assist main switch signal	CAN
Skid control ECU	Driving support ECU	Vehicle speed signal	CAN
Combination meter assembly	Driving support ECU	Vehicle specification information	CAN
Combination switch assembly	Driving support ECU	Windshield wiper switch signal Turn signal light switch signal	CAN
Object recognition ECU	Driving support ECU	Lane marker signal Object recognition ECU malfunction signal	CAN
Power steering ECU assembly	Driving support ECU	Steering torque sensor signal Power steering control ECU malfunction signal	CAN
Suspension control ECU	Driving support ECU	Height control sensor signal	CAN