System Diagram

WARNING: This page is about a different car, the 2007 Lexus ES 350. However, it is still accessible from the selected car via links, so may be relevant.

Fig 1: CAN Communication System Diagram (1 Of 3)

Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

Fig 2: CAN Communication System Diagram (2 Of 3)

Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

Fig 3: CAN Communication System Diagram (3 Of 3)

HINT:

The skid control ECU detects and stores steering angle sensor and yaw rate sensor DTCs and performs DTC communication by receiving information from the steering angle sensor and yaw rate sensor.
The ECM uses the CAN communication system to perform DTC communication instead of the conventional line (SIL).