Good resources for car hacking via CAN Bus?

Question

I was reading this about Mazda Kinematic Posture Control (https://www.passportmazda.com/blogs/1766/uncategorized/mazda-has-develops-new-technology-that-provides-the-mx-5-miata-with-better-stability-when-cornering/), which is basically a cornering aid where it uses brakes on the inside wheel to make the car turn better (basically like torque vectoring instead of just with brakes).Considering most cars have had ABS for a while, I became interested whether or not its possible to develop this capability in a OBD plug in unit for any car. Basically, fool the ABS system in thinking that a wheel is spinning fast, causing it to apply brakes to that wheel.The question that I have seems to be whether or not this is possible to do. For example, Comma AI units seems to be able to command brake and steering directly, however the supported cars all require some form of driver assistance, which means that they fake the signals from these driver assist systems. For cars that don't have this, it seems that Comma units will not work.So is it such that a lot of cars without any driver aids simply do not have a way to reach the ABS unit via the CAN Bus?Any good documentation or website on this stuff would be much appreciated as well.

mdaniel · Accepted Answer

I saw that you mentioned Comma and that was going to be where I was going to point you because I doubt they have OOtB behavior for what you're describing but instead because I'd expect that kind of project has extensive CAN debugging tools, maybe even with onboarding docs for how to teach it about a new car or model
I guess that's a long way of saying, well, what have you already tried and what's the jam-up from your current approach?
It'll likely matter a great deal whether you're also trying to mod your daily driver (heh) or you have a play platform where "how about this?" doesn't cause fatalities if it segfaults some ECU