CAN communication is a circuit that consists of a low line and a high line and two resister. The CAN is used for communication with each control module(PCM, 4WD ECM, TCM, ABS, etc).

Vehicle Stability Management (VSM) is a function to maintain optimum steering stability and braking distance while a vehicle slips. When the vehicle slips, the ESP sends required torque value to EPS ECU via the CAN line. After receiving the torque value, the EPS ECU performs steering control.