Vehicle control while ABS/ESP® are working
WARNING: This page is about a different car, the 2010 Suzuki Kizashi. However, it is still accessible from the selected car via links, so may be relevant.
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.