Vehicle control while ABS/ESP® are working

When ABS is working, BCM transmits an order based on information from ESP® control module to 4WD control module via CAN communication to minimize the rear wheels' traction force and then ABS effect works well. On the other hand, when ESP® is working, BCM transmits another order to 4WD control module to reduce the rear wheels' traction force and then ESP® functions as well.