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

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.