Toyota Avalon (XX50): Front Camera System(for Hv Model)

Toyota Avalon (XX50) 2019-2022 Service & Repair Manual / Engine / Cruise Control / Front Camera System(for Hv Model)

Front Radar Sensor (C1A10)

DESCRIPTION

The forward recognition camera uses the millimeter wave radar sensor assembly to detect obstacles in front of the vehicle.

When the forward recognition camera receives information that there is an internal malfunction in the millimeter wave radar sensor assembly, DTC C1A10 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1A10	Front Radar Sensor	When all of the following conditions are met: 2 seconds after the power switch is turned on (IG) The vehicle speed is 5 km/h (4 mph) or more. A signal from the millimeter wave radar sensor assembly indicating that there is an internal malfunction in millimeter wave radar sensor assembly is detected by the forward recognition camera for 5 seconds or more.	Millimeter wave radar sensor assembly

DTC No.

Detection Item

DTC Detection Condition

Trouble Area

C1A10

Front Radar Sensor

When all of the following conditions are met:

2 seconds after the power switch is turned on (IG)
The vehicle speed is 5 km/h (4 mph) or more.
A signal from the millimeter wave radar sensor assembly indicating that there is an internal malfunction in millimeter wave radar sensor assembly is detected by the forward recognition camera for 5 seconds or more.

Millimeter wave radar sensor assembly

CAUTION / NOTICE / HINT

NOTICE:

When replacing the millimeter wave radar sensor assembly, always replace it with a new one. If a millimeter wave radar sensor assembly which was installed to another vehicle is used, the information stored in the millimeter wave radar sensor assembly will not match the information from the vehicle. As a result, a DTC may be stored.
When the millimeter wave radar sensor assembly is replaced with a new one, adjustment of the radar sensor beam axis must be performed.
Click here
The front camera system uses the CAN communication system. First, confirm that there are no malfunctions in the CAN communication system. Refer to How to Proceed with Troubleshooting.
Click here

PROCEDURE

1.	REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

(a) Replace the millimeter wave radar sensor assembly.

Click here

(b) Adjust the millimeter wave radar sensor assembly.

Click here

END

Front Radar Sensor Incorrect Axial Gap (C1A11,C1A14)

DESCRIPTION

The forward recognition camera uses the millimeter wave radar sensor assembly to detect obstacles in front of the vehicle.

When the vehicle is determined to be driving in a straight line or on a gradual curve based on signals from the yaw rate sensor etc., the millimeter wave radar sensor assembly performs self diagnosis to check if the sensor beam axis has deviated from the vehicle movement direction. When the millimeter wave radar sensor assembly beam axis has deviated, the forward recognition camera detects this, and stores DTC C1A11.

After installing a new millimeter wave radar sensor assembly, if sensor beam axis adjustment is not performed, DTC C1A14 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1A11	Front Radar Sensor Incorrect Axial Gap	2 seconds after the power switch is turned on (IG), misalignment of the millimeter wave radar sensor assembly is detected for approximately 5 seconds.	Pre-collision system
C1A14	Front Radar Sensor Beam Axis Not Adjusted	2 seconds after the power switch is turned on (IG), incompletion of the millimeter wave radar sensor assembly beam axis alignment is detected for approximately 5 seconds.	Pre-collision system

PROCEDURE

1.	GO TO PRE-COLLISION SYSTEM

HINT:

If DTC C1A11 or C1A14 is output by the front camera system, perform troubleshooting for the pre-collision system.

Click here

END

Front Camera Module Circuit (C1AA0)

DESCRIPTION

When an internal malfunction is detected in the forward recognition camera, DTC C1AA0 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1AA0	Front Camera Module Circuit	2 seconds after the power switch is turned on (IG), the forward recognition camera detects an internal malfunction.	Forward recognition camera

CAUTION / NOTICE / HINT

NOTICE:

When replacing the forward recognition camera, always replace it with a new one. If a forward recognition camera which was installed to another vehicle is used, the information stored in the forward recognition camera will not match the information from the vehicle. As a result, a DTC may be stored.
If the forward recognition camera has been replaced with a new one, be sure to perform forward recognition camera adjustment.
Click here

PROCEDURE

1.	REPLACE FORWARD RECOGNITION CAMERA

(a) Replace the forward recognition camera.

Click here

(b) Perform forward recognition camera adjustment.

Click here

END

FCM Destination Information Unmatched (C1AA1)

DESCRIPTION

When the forward recognition camera is replaced with a new one, the new forward recognition camera attempts to store country specification information received from the main body ECU (multiplex network body ECU) and hybrid vehicle control ECU. If the country specification information stored in the forward recognition camera is different from that stored in the main body ECU (multiplex network body ECU) or hybrid vehicle control ECU, DTC C1AA1 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1AA1	FCM Destination Information Unmatched	2 seconds after the power switch is turned on (IG), destination information stored in the forward recognition camera and that received from the main body ECU (multiplex network body ECU) or hybrid vehicle control ECU do not match for 5 seconds or more.	CAN communication system Forward recognition camera Main body ECU (Multiplex network body ECU) Hybrid vehicle control ECU

CAUTION / NOTICE / HINT

NOTICE:

Recognition code registration is necessary when replacing the main body ECU (multiplex network body ECU).
If the main body ECU (multiplex network body ECU) is replaced, refer to Registration.
Click here
When replacing the forward recognition camera, always replace it with a new one. If a forward recognition camera which was installed to another vehicle is used, the information stored in the forward recognition camera will not match the information from the vehicle. As a result, a DTC may be stored.
If the forward recognition camera has been replaced with a new one, be sure to perform forward recognition camera adjustment.
Click here

HINT:

This DTC is stored when the destination information stored in the forward recognition camera and that stored in the main body ECU (multiplex network body ECU) do not match. If the forward recognition camera or main body ECU (multiplex network body ECU) has been replaced, check if a forward recognition camera or main body ECU (multiplex network body ECU) from another vehicle was used.

PROCEDURE

1.	CHECK FOR DTCs

HINT:

When DTC C1AA1 is stored, lane departure alert system (w/ steering control) DTC C1AAC may be stored at the same time.

(a) Check for DTCs.

Chassis > LKA/LDA > Trouble Codes

Result	Proceed to
DTC C1AAC is not output	A
DTC C1AAC is output	B

GO TO DTC CHART (C1AAC)

2.	CHECK FOR DTCs

HINT:

The forward recognition camera communicates with the main body ECU (multiplex network body ECU) via CAN communication. Confirm that the CAN communication system is functioning normally before proceeding.

(a) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
DTC U0142 is not output	A
DTC U0142 is output	B

GO TO CAN COMMUNICATION SYSTEM

3.	CHECK FOR DTCs

(a) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

(b) Make sure that the DTC detection conditions are met.

HINT:

If the detection conditions are not met, the system cannot detect the malfunction.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
DTC C1AA1 is not output	A
DTC C1AA1 is output	B

USE SIMULATION METHOD TO CHECK

4.	REPLACE FORWARD RECOGNITION CAMERA

(a) Replace the forward recognition camera.

Click here

(b) Perform forward recognition camera adjustment.

Click here

5.	CHECK FOR DTCs

(a) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

(b) Make sure that the DTC detection conditions are met.

HINT:

If the detection conditions are not met, the system cannot detect the malfunction.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
DTC C1AA1 is not output	A
DTC C1AA1 is output	B

END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)

REPLACE MAIN BODY ECU (MULTIPLEX NETWORK BODY ECU)

Vehicle Speed Sensor Circuit (C1AA3)

DESCRIPTION

The forward recognition camera receives vehicle speed signals from the skid control ECU (brake booster with master cylinder assembly). If the skid control ECU (brake booster with master cylinder assembly) receives a vehicle speed sensor malfunction signal, it informs the forward recognition camera via CAN communication, and DTC C1AA3 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1AA3	Vehicle Speed Sensor Circuit	2 seconds after the power switch is turned on (IG), a signal from the skid control ECU (brake booster with master cylinder assembly) indicating a malfunction in a vehicle speed sensor is detected by the forward recognition camera for 5 seconds or more.	Electronically controlled brake system

CAUTION / NOTICE / HINT

NOTICE:

The front camera system uses the CAN communication system. First, confirm that there are no malfunctions in the CAN communication system. Refer to How to Proceed with Troubleshooting.

Click here

PROCEDURE

1.	GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM

HINT:

If DTC C1AA3 is output by the front camera system, perform troubleshooting for the electronically controlled brake system.

Click here

END

Yaw Rate Sensor Circuit (C1AA4,C1AA5)

DESCRIPTION

The forward recognition camera receives vehicle stability signals from the yaw rate sensor (airbag ECU assembly). If the yaw rate sensor (airbag ECU assembly) detects an abnormal yaw rate sensor signal or yaw rate sensor power supply voltage, it informs the forward recognition camera via CAN communication, and DTC C1AA4 or C1AA5 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1AA4	Yaw Rate Sensor Circuit	2 seconds after the power switch is turned on (IG), a signal from the yaw rate sensor (airbag ECU assembly) indicating a malfunction in the yaw rate sensor is detected by the forward recognition camera for 5 seconds or more.	Electronically controlled brake system
C1AA5	Yaw Rate Sensor Power Supply Voltage Circuit	2 seconds after the power switch is turned on (IG), a signal from the yaw rate sensor (airbag ECU assembly) indicating an abnormal yaw rate sensor power supply voltage signal is detected by the forward recognition camera for 5 seconds or more.	Electronically controlled brake system

CAUTION / NOTICE / HINT

NOTICE:

The front camera system uses the CAN communication system. First, confirm that there are no malfunctions in the CAN communication system. Refer to How to Proceed with Troubleshooting.

Click here

PROCEDURE

1.	GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM

HINT:

If DTC C1AA4 or C1AA5 is output by the front camera system, perform troubleshooting for the electronically controlled brake system.

Click here

END

Yaw Rate Sensor Zero Point Malfunction (C1AA6)

DESCRIPTION

The skid control ECU (brake booster with master cylinder assembly) receives vehicle stability signals from the yaw rate sensor (airbag ECU assembly). If the skid control ECU (brake booster with master cylinder assembly) detects a yaw rate sensor zero point malfunction signal, it informs the forward recognition camera via CAN communication, and DTC C1AA6 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1AA6	Yaw Rate Sensor Zero Point Malfunction	2 seconds after the power switch is turned on (IG), a signal from the skid control ECU (brake booster with master cylinder assembly) indicating a malfunction in the yaw rate sensor zero point is detected by the forward recognition camera for 5 seconds or more.	Electronically controlled brake system

CAUTION / NOTICE / HINT

NOTICE:

The front camera system uses the CAN communication system. First, confirm that there are no malfunctions in the CAN communication system. Refer to How to Proceed with Troubleshooting.

Click here

PROCEDURE

1.	GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM

HINT:

If DTC C1AA6 is output by the front camera system, perform troubleshooting for the electronically controlled brake system.

Click here

END

Front Camera Module Beam Axis Not Adjusted (C1AA9)

DESCRIPTION

If forward recognition camera adjustment is not performed after installing the forward recognition camera, DTC C1AA9 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1AA9	Front Camera Module Beam Axis Not Adjusted	2 seconds after the power switch is turned on (IG), the forward recognition camera detects that forward recognition camera adjustment has not been completed.	Forward recognition camera

CAUTION / NOTICE / HINT

NOTICE:

When replacing the forward recognition camera, always replace it with a new one. If a forward recognition camera which was installed to another vehicle is used, the information stored in the forward recognition camera will not match the information from the vehicle. As a result, a DTC may be stored.
If the forward recognition camera has been replaced with a new one, be sure to perform forward recognition camera adjustment.
Click here

PROCEDURE

1.	PERFORM FORWARD RECOGNITION CAMERA ADJUSTMENT

(a) Perform forward recognition camera adjustment.

Click here

2.	CHECK FOR DTCs

(a) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

(b) Make sure that the DTC detection conditions are met.

HINT:

If the detection conditions are not met, the system cannot detect the malfunction.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
DTC C1AA9 is not output	A
DTC C1AA9 is output	B

END

REPLACE FORWARD RECOGNITION CAMERA

FCM Destination Information Uninitialized (C1AAA)

DESCRIPTION

When the forward recognition camera is replaced with a new one, the new forward recognition camera attempts to store the country specification information received from the main body ECU (multiplex network body ECU). If the forward recognition camera cannot store the country specification information, DTC C1AAA is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1AAA	FCM Destination Information Uninitialized	2 seconds after the power switch is turned on (IG), the forward recognition camera cannot store the vehicle specification information.	Forward recognition camera

CAUTION / NOTICE / HINT

NOTICE:

When replacing the forward recognition camera, always replace it with a new one. If a forward recognition camera which was installed to another vehicle is used, the information stored in the forward recognition camera will not match the information from the vehicle. As a result, a DTC may be stored.
If the forward recognition camera has been replaced with a new one, be sure to perform forward recognition camera adjustment.
Click here

HINT:

This DTC is stored when the forward recognition camera cannot store the country specification information received from the main body ECU (multiplex network body ECU). If the forward recognition camera or main body ECU (multiplex network body ECU) has been replaced, check if a forward recognition camera or main body ECU (multiplex network body ECU) from another vehicle was used.

PROCEDURE

1.	REPLACE FORWARD RECOGNITION CAMERA

(a) Replace the forward recognition camera.

Click here

(b) Perform forward recognition camera adjustment.

Click here

END

Heater Circuit (C1AAE)

DESCRIPTION

The forward recognition camera controls the flow of current to the forward recognition with heater hood sub-assembly.

If the forward recognition camera detects a malfunction in the forward recognition with heater hood sub-assembly circuit, it will store this DTC.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1AAE	Heater Circuit	Either of the following conditions is met after 2 seconds have elapsed since the power switch was turned on (IG): Short to +B detected in the forward recognition with heater hood sub-assembly circuit for 1 second or more cumulatively Open or short to ground detected in the forward recognition with heater hood sub-assembly circuit for 5 seconds or more	Forward recognition with heater hood sub-assembly Forward recognition camera Wire harness or connector

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

Inspect the fuses for circuits related to this system before performing the following procedure.
When replacing the forward recognition camera, always replace it with a new one. If a forward recognition camera which was installed to another vehicle is used, the information stored in the forward recognition camera will not match the information from the vehicle. As a result, a DTC may be stored.
If the forward recognition camera has been replaced with a new one, be sure to perform forward recognition camera adjustment.
Click here

PROCEDURE

1.	CHECK FOR DTCs

(a) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

(b) Make sure that the DTC detection conditions are met.

HINT:

If the detection conditions are not met, the system cannot detect the malfunction.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
DTC C1AAE is not output	A
DTC C1AAE is output	B

USE SIMULATION METHOD TO CHECK

2.	INSPECT FORWARD RECOGNITION WITH HEATER HOOD SUB-ASSEMBLY

(a) Turn the power switch off.

(b) Disconnect the O11 forward recognition with heater hood sub-assembly connector.

*a	Component without harness connected (Forward Recognition with Heater Hood Sub-assembly)

Standard Resistance:

Tester Connection	Condition	Specified Condition
O11-1 (IG1) - O11-2 (HTR)	Power switch off	38 to 42 Ω

(d) Connect the O11 forward recognition with heater hood sub-assembly connector.

REPLACE FORWARD RECOGNITION WITH HEATER HOOD SUB-ASSEMBLY

3.	CHECK HARNESS AND CONNECTOR (POWER SOURCE VOLTAGE)

(a) Disconnect the O11 forward recognition with heater hood sub-assembly connector.

*a	Front view of wire harness connector (to Forward Recognition with Heater Hood Sub-assembly)

(b) Measure the voltage according to the value(s) in the table below.

Standard Voltage:

Tester Connection	Condition	Specified Condition
O11-1 (IG1) - Body ground	Power switch on (IG)	11 to 14 V
O11-1 (IG1) - Body ground	Power switch off	Below 1.5 V

REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

4.	CHECK HARNESS AND CONNECTOR (FORWARD RECOGNITION WITH HEATER HOOD SUB-ASSEMBLY - FORWARD RECOGNITION CAMERA)

(a) Disconnect the O11 forward recognition with heater hood sub-assembly connector.

(b) Disconnect the O5 forward recognition camera connector.

Standard Resistance:

Tester Connection	Condition	Specified Condition
O11-2 (HTR) - O5-1 (HTR)	Always	Below 1 Ω
O11-2 (HTR) or O5-1 (HTR) - Body ground	Always	10 kΩ or higher

(d) Connect the O5 forward recognition camera connector.

(e) Connect the O11 forward recognition with heater hood sub-assembly connector.

REPAIR OR REPLACE HARNESS OR CONNECTOR (FORWARD RECOGNITION WITH HEATER HOOD SUB-ASSEMBLY - FORWARD RECOGNITION CAMERA)

5.	CHECK HARNESS AND CONNECTOR (FORWARD RECOGNITION CAMERA - BODY GROUND)

(a) Turn the power switch off.

(b) Disconnect the O5 forward recognition camera connector.

Standard Resistance:

Tester Connection	Condition	Specified Condition
O5-10 (GND) - Body ground	Always	Below 1 Ω

(d) Connect the O5 forward recognition camera connector.

REPLACE FORWARD RECOGNITION CAMERA

REPAIR OR REPLACE HARNESS OR CONNECTOR (FORWARD RECOGNITION CAMERA - BODY GROUND)

Data List / Active Test

DATA LIST / ACTIVE TEST

DATA LIST

NOTICE:

In the table below, the values listed under "Normal Condition" are reference values. Do not depend solely on these reference values when deciding whether a part is faulty or not.

HINT:

Using the Techstream to read the Data List allows the values or states of switches, sensors, actuators and other items to be read without removing any parts. This non-intrusive inspection can be very useful because intermittent conditions or signals may be discovered before parts or wiring is disturbed. Reading the Data List information early in troubleshooting is one way to save diagnostic time.

(a) Connect the Techstream to the DLC3.

(b) Turn the power switch on (IG).

(d) Enter the following menus: Chassis / Front Recognition Camera / Data List.

(e) Read the Data List according to the display on the Techstream.

Chassis > Front Recognition Camera > Data List

Tester Display	Measurement Item	Range	Normal Condition	Diagnostic Note
Blockage Status	Camera obstruction malfunction status	ON or OFF	ON: Forward recognition camera obstructed OFF: Forward recognition camera not obstructed	-
Blockage History	Camera obstruction history status	ON or OFF	ON: Forward recognition camera obstruction history exists OFF: Forward recognition camera obstruction history does not exist	-
Low Temperature Status	Low temperature malfunction status	ON or OFF	ON: Forward recognition camera low temperature malfunction exists OFF: Forward recognition camera low temperature malfunction does not exist	-
Low Temperature History	Low temperature history status	ON or OFF	ON: Forward recognition camera low temperature history exists OFF: Forward recognition camera low temperature history does not exist	-
High Temperature Status1	High temperature malfunction status	ON or OFF	ON: Forward recognition camera high temperature malfunction exists OFF: Forward recognition camera high temperature malfunction does not exist	-
High Temperature History1	High temperature history status	ON or OFF	ON: Forward recognition camera high temperature history exists OFF: Forward recognition camera high temperature history does not exist	-
High Temperature Status2	High temperature malfunction status	ON or OFF	ON: Forward recognition camera high temperature malfunction exists OFF: Forward recognition camera high temperature malfunction does not exist	-
High Temperature History2	High temperature history status	ON or OFF	ON: Forward recognition camera high temperature history exists OFF: Forward recognition camera high temperature history does not exist	-
Backlight Status	Backlight Status	OFF or Driving Backlight	OFF: Not driving towards the sun Driving Backlight: Driving towards the sun	-
Vehicle Information (2WD/4WD)	Vehicle information (drivetrain) stored in forward recognition camera	2WD, 4WD or Unknown	2WD: for 2WD 4WD: for AWD Unknown: Vehicle information not confirmed	-
Vehicle Information (Conv/HV)	Vehicle information (conventional/hybrid) stored in forward recognition camera	Conv, HV or Unknown	Conv: Conventional HV: Hybrid vehicle Unknown: Vehicle information not confirmed	-
Heater Connection	Forward recognition with heater hood sub-assembly connection state	ON or OFF	ON: Forward recognition with heater hood sub-assembly connected OFF: Forward recognition with heater hood sub-assembly not connected	-
Heater Control Status	Forward recognition with heater hood sub-assembly control state	Permit or Prohibit	Permit: Control permitted Prohibit: Control prohibited	-
Heater Activation	Forward recognition with heater hood sub-assembly operation state	ON or OFF	ON: Forward recognition with heater hood sub-assembly operating OFF: Forward recognition with heater hood sub-assembly not operating	-

ACTIVE TEST

HINT:

Using the Techstream to perform Active Tests allows relays, VSVs, actuators and other items to be operated without removing any parts. This non-intrusive functional inspection can be very useful because intermittent operation may be discovered before parts or wiring is disturbed. Performing Active Tests early in troubleshooting is one way to save diagnostic time. Data List information can be displayed while performing Active Tests.

(a) Connect the Techstream to the DLC3.

(b) Turn the power switch on (IG).

(d) Enter the following menus: Chassis / Front Recognition Camera / Active Test.

(e) Perform Active Test according to the display on the Techstream.

HINT:

The power switch must be turned on (IG) to proceed with the Active Test using the Techstream.

Chassis > Front Recognition Camera > Active Test

Tester Display	Measurement Item	Control Range	Diagnostic Note
PCS Buzzer	Sounds PCS Buzzer	ON/OFF	Test possible with power switch on (IG), vehicle stopped

Diagnostic Trouble Code Chart

DIAGNOSTIC TROUBLE CODE CHART

Front Camera System

DTC No.	Detection Item	Link
C1A10	Front Radar Sensor
C1A11	Front Radar Sensor Incorrect Axial Gap
C1A14	Front Radar Sensor Beam Axis Not Adjusted
C1AA0	Front Camera Module Circuit
C1AA1	FCM Destination Information Unmatched
C1AA3	Vehicle Speed Sensor Circuit
C1AA4	Yaw Rate Sensor Circuit
C1AA5	Yaw Rate Sensor Power Supply Voltage Circuit
C1AA6	Yaw Rate Sensor Zero Point Malfunction
C1AA9	Front Camera Module Beam Axis Not Adjusted
C1AAA	FCM Destination Information Uninitialized
C1AAE	Heater Circuit
U0101	Lost Communication with TCM
U0123	Lost Communication with Yaw Rate Sensor Module
U0129	Lost Communication with Brake System Control Module
U0142	Lost Communication with Body Control Module "B"
U0235	Lost Communication with Cruise Control Front Distance Range Sensor
U0293	Lost Communication with HV ECU
U1104	Lost Communication with Driving Support ECU

Dtc Check / Clear

DTC CHECK / CLEAR

CHECK DTC

(a) Connect the Techstream to the DLC3.

(b) Turn the power switch on (IG).

(d) Enter the following menus: Chassis / Front Recognition Camera / Trouble Codes.

(e) Check for details of the DTCs.

Click here

Chassis > Front Recognition Camera > Trouble Codes

CLEAR DTC

(a) Connect the Techstream to the DLC3.

(b) Turn the power switch on (IG).

(d) Enter the following menus: Chassis / Front Recognition Camera / Clear DTCs.

(e) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

Fail-safe Chart

FAIL-SAFE CHART

FAIL-SAFE FUNCTION

(a) If a malfunction is detected in the front camera system, the systems that use the forward recognition camera perform the fail-safe function.

Freeze Frame Data

FREEZE FRAME DATA

DESCRIPTION

(a) Whenever a front camera system DTC is stored, the forward recognition camera stores the current vehicle state (ECU and sensor information) as Freeze Frame Data.

CHECK FREEZE FRAME DATA

(a) Connect the Techstream to the DLC3.

(b) Turn the power switch on (IG).

(d) Enter the following menus: Chassis / Front Recognition Camera / Trouble Codes.

Chassis > Front Recognition Camera > Trouble Codes

(e) According to the display on the Techstream, select a DTC with freeze frame data.

(f) Read the freeze frame data recorded when the DTC was stored.

Chassis > Front Recognition Camera

Tester Display	Measurement Item	Range	Normal Condition	Diagnostic Note
Blockage Status	Camera obstruction malfunction status	ON or OFF	ON: Forward recognition camera obstructed OFF: Forward recognition camera not obstructed	-
Blockage History	Camera obstruction history status	ON or OFF	ON: Forward recognition camera obstruction history exists OFF: Forward recognition camera obstruction history does not exist	-
Low Temperature Status	Low temperature malfunction status	ON or OFF	ON: Forward recognition camera low temperature malfunction exists OFF: Forward recognition camera low temperature malfunction does not exist	-
Low Temperature History	Low temperature history status	ON or OFF	ON: Forward recognition camera low temperature history exists OFF: Forward recognition camera low temperature history does not exist	-
High Temperature Status1	High temperature malfunction status	ON or OFF	ON: Forward recognition camera high temperature malfunction exists OFF: Forward recognition camera high temperature malfunction does not exist	-
High Temperature History1	High temperature history status	ON or OFF	ON: Forward recognition camera high temperature history exists OFF: Forward recognition camera high temperature history does not exist	-
High Temperature Status2	High temperature malfunction status	ON or OFF	ON: Forward recognition camera high temperature malfunction exists OFF: Forward recognition camera high temperature malfunction does not exist	-
High Temperature History2	High temperature history status	ON or OFF	ON: Forward recognition camera high temperature history exists OFF: Forward recognition camera high temperature history does not exist	-
Backlight Status	Backlight Status	OFF or Driving Backlight	OFF: Not driving towards the sun Driving Backlight: Driving towards the sun	-
Vehicle Information (2WD/4WD)	Vehicle information (drivetrain) stored in forward recognition camera	2WD, 4WD or Unknown	2WD: for 2WD 4WD: for AWD Unknown: Vehicle information not confirmed	-
Vehicle Information (Conv/HV)	Vehicle information (conventional/hybrid) stored in forward recognition camera	Conv, HV or Unknown	Conv: Conventional HV: Hybrid vehicle Unknown: Vehicle information not confirmed	-

How To Proceed With Troubleshooting

CAUTION / NOTICE / HINT

HINT:

Use these procedures to troubleshoot the front camera system.
*: Use the Techstream.

PROCEDURE

1.	VEHICLE BROUGHT TO WORKSHOP

2.	INSPECT AUXILIARY BATTERY VOLTAGE

(a) Measure the auxiliary battery voltage with the power switch off.

Standard Voltage:

11 to 14 V

If the voltage is below 11 V, replace or recharge the auxiliary battery before proceeding to the next step.

3.	CHECK CAN COMMUNICATION SYSTEM*

(a) Using the Techstream, check if the CAN communication system is functioning normally.

HINT:

Refer to CAN Bus Check in CAN Communication System.

Click here

OK:

CAN communication system is functioning normally.

GO TO CAN COMMUNICATION SYSTEM

4.	CHECK FOR DTCs*

HINT:

Refer to DTC Check / Clear.

Click here

(a) Check for DTCs and note any codes that are output.

Chassis > Front Recognition Camera > Trouble Codes

(b) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
DTCs are not output	A
DTCs are output	B

GO TO DTC CHART

5.	PROBLEM SYMPTOMS TABLE

HINT:

Refer to Problem Symptoms Table.

Click here

Result	Proceed to
Fault is not listed in Problem Symptoms Table	A
Fault is listed in Problem Symptoms Table	B

GO TO STEP 7

6.	OVERALL ANALYSIS AND TROUBLESHOOTING*

(a) Terminals of ECU

Click here

(b) Data List / Active Test

Click here

7.	ADJUST, REPAIR OR REPLACE

NOTICE:

If the forward recognition camera has been replaced with a new one, it is necessary to perform forward recognition camera adjustment.

Click here

8.	CONFIRMATION TEST

END

Parts Location

PARTS LOCATION

ILLUSTRATION

FORWARD RECOGNITION CAMERA

FORWARD RECOGNITION WITH HEATER HOOD SUB-ASSEMBLY

MILLIMETER WAVE RADAR SENSOR ASSEMBLY

BRAKE BOOSTER WITH MASTER CYLINDER ASSEMBLY

- SKID CONTROL ECU

ILLUSTRATION

*1	DRIVING SUPPORT ECU ASSEMBLY	*2	MAIN BODY ECU (MULTIPLEX NETWORK BODY ECU)
*3	CENTRAL GATEWAY ECU (NETWORK GATEWAY ECU)	*4	AIRBAG ECU ASSEMBLY - YAW RATE SENSOR
*5	HYBRID VEHICLE CONTROL ECU	*6	INSTRUMENT PANEL JUNCTION BLOCK ASSEMBLY - ECU-IG1 NO. 3 FUSE
*7	DLC3	-	-

Precaution

PRECAUTION

PRECAUTION FOR DISCONNECTING CABLE FROM NEGATIVE AUXILIARY BATTERY TERMINAL

NOTICE:

When disconnecting the cable from the negative (-) auxiliary battery terminal, initialize the following systems after the cable is reconnected.

System Name	See Procedure
Lane Departure Alert System (w/ Steering Control)
Pre-collision System
Intelligent Clearance Sonar System
Lighting System (w/ Cornering Light)
Parking Assist Monitor System
Panoramic View Monitor System

PRECAUTIONS FOR SERVICING VEHICLE EQUIPPED WITH FORWARD RECOGNITION CAMERA

(a) When running the vehicle on a chassis dynamometer, cover the area in front of the forward recognition camera to prevent it from operating.

HINT:

The front camera system captures the image ahead of the vehicle using the monocular camera and learns the direction of traffic while driving. When the actual driving situation is different from what is determined by the forward recognition camera, such as when running the vehicle on a chassis dynamometer, the front camera system may learn incorrect information.
When the forward recognition camera is covered, the message "Front Camera Unavailable Remove Debris On Windshield" is displayed on the multi-information display. The message will disappear and the operation of the front camera system will return to normal after the cover is removed.

HANDLING PRECAUTIONS FOR FORWARD RECOGNITION CAMERA

(a) The forward recognition camera is a precision part. Be sure to observe the following precautions when handling it.

(1) Do not apply excessive force to the forward recognition camera or subject it to a strong impact.

(2) Do not disassemble the forward recognition camera.

(3) Do not change the installation position of the forward recognition camera or modify the surrounding components.

(4) Do not touch the forward recognition camera lens when replacing the forward recognition camera.

HINT:

If the forward recognition camera lens is touched, replace the forward recognition camera with a new one.

PRECAUTION FOR REPLACING FORWARD RECOGNITION CAMERA

(a) If the forward recognition camera has been replaced with a new one or the windshield glass has been removed and installed, it is necessary to perform forward recognition camera adjustment. If the system is turned on without performing forward recognition camera adjustment, DTC C1AA9 will be stored.

Click here

(b) When replacing the forward recognition camera, replace it with a new one. If a forward recognition camera which was installed to another vehicle is used, the information stored in the forward recognition camera will not match the information from the vehicle and a DTC may be stored.

(c) When replacing the forward recognition camera, do not damage the camera lens or allow it to become contaminated with foreign matter.

(d) Do not reuse a forward recognition camera that has been dropped or subjected to a strong impact.

HANDLING PRECAUTIONS FOR CAN COMMUNICATION SYSTEM

(a) First check the CAN communication system by following How to Proceed with Troubleshooting. After checking that there are no malfunctions in the CAN communication system, proceed with troubleshooting.

Click here

PRECAUTIONS FOR COMPONENTS SURROUNDING FORWARD RECOGNITION CAMERA

(a) Be sure to use Toyota genuine front wiper blades.

HINT:

If non-Toyota genuine parts are used, the forward recognition camera view may be blocked, affecting the operation of systems that use the forward recognition camera.

(b) Be sure to replace the wiper rubbers before they wear out.

HINT:

If streaks are left on the windshield glass, the forward recognition camera may not operate properly, affecting the operation of systems that use the forward recognition camera.

HINT:

The forward recognition camera view may be blocked, affecting the operation of systems that use the forward recognition camera.

(d) Do not allow any objects mounted on the roof rack to obstruct the area in front of the forward recognition camera.

HINT:

The forward recognition camera view may be blocked, affecting the operation of systems that use the forward recognition camera.

(e) Keep the windshield glass clean.

HINT:

If the windshield glass is dirty, fogged up or has an oily film, the forward recognition camera may not operate properly, affecting the operation of systems that use the forward recognition camera.

(f) Do not attach any stickers or install any accessories to the area of the windshield glass in front of the forward recognition camera.

HINT:

If it is necessary to attach a sticker or install an accessory to the windshield glass, do not attach it to the area in front of the forward recognition camera.
If a sticker or accessory is installed to the windshield glass, the forward recognition camera view may be blocked, affecting the operation of systems that use the forward recognition camera.

(g) Even if a water repellent glass coating is applied to the windshield, it is still necessary to use the wipers if the area in front of the forward recognition camera is covered with water droplets.

(h) If the windshield glass is chipped or cracked, replace it.

(i) When replacing the windshield glass of a vehicle equipped with a forward recognition camera, make sure to use a Toyota genuine part.

HINT:

If a non-Toyota genuine part is used, the forward recognition camera may not be able to be installed due to a missing bracket or the front camera system may not operate properly due to a difference in the transmissivity or black ceramic border.

FEATURES OF FORWARD RECOGNITION CAMERA

(a) The forward recognition camera has characteristics similar to those of human eyes. When the visibility is poor for the driver, the forward recognition camera may not properly detect lane markers or vehicles and objects on the road ahead.

(b) Only the objects in the forward recognition camera detection area can be detected.

(c) The forward recognition camera has a function to detect foreign matter in the area in front of the forward recognition camera.

HINT:

The forward recognition camera may not always detect dirt in the area in front of the forward recognition camera.

(d) In the following situations, the forward recognition camera may not detect objects such as a preceding vehicle, pedestrians or lane makers:

(1) When driving in inclement weather such as heavy rain or snow, dense fog, a sandstorm, etc.

(2) When the view of the forward recognition camera is obscured by steam, sand, smoke, water, snow or dust.

(3) When an intensely bright light, such as the sun or high beams of an oncoming vehicle shine directly into the forward recognition camera.

(4) When the surrounding area is dim, such as at dawn or dusk.

(5) When the headlights of the vehicle are turned off at night or in a tunnel.

(6) The contrast of the area around the vehicle is poor due to snow, etc.

(7) When the ambient temperature is low, the heater is operating with FOOT mode selected.

HINT:

If the upper area of the windshield glass fogs up, the system may not operate.

(e) In the following situations, the forward recognition camera may not be detect objects appropriately:

(1) When the vehicle is being driven where a sudden change in brightness occurs, such as at the entrance or exit of a tunnel or in the shade.

(2) When the forward recognition camera is facing upward or downward due to inclination of the vehicle when overloaded.

(3) When the vehicle height is not standard due to modified suspension or non-standard tires.

(4) When the windshield glass is covered with water drops, snow, ice, dirt, frost, dust, oil, etc.

(5) When the windshield glass is fogged-up.

(6) When rain drops, washer fluid, or a wiper blade blocks the forward recognition camera.

(7) An object mounted on the roof rack is obstructing the area in front of the forward recognition camera.

(f) The front camera system may not operate properly in any of the following conditions:

(1) The forward recognition camera is misaligned or damaged due to a strong impact being applied to the camera or the area around it.

(2) The cabin temperature is extremely high.

(3) The cabin temperature is extremely low.

(4) Immediately after the hybrid system is started.

Problem Symptoms Table

PROBLEM SYMPTOMS TABLE

HINT:

Use the table below to help determine the cause of problem symptoms. If multiple suspected areas are listed, the potential causes of the symptoms are listed in order of probability in the "Suspected Area" column of the table. Check each symptom by checking the suspected areas in the order they are listed. Replace parts as necessary.
Inspect the fuses and relays related to this system before inspecting the suspected areas below.

Front Camera System

Symptom	Suspected Area	Link
The message "Front Camera Unavailable Remove Debris On Windshield" is frequently displayed	Non-Toyota genuine front wiper blades are installed	-
	The front wiper rubbers are worn	-
	A sticker, accessory or other object is obstructing the forward recognition camera	-
	There is snow, frost, dirt, dust or oil on the windshield glass, or the windshield glass is fogged up	-
	A glass coating has been applied to the windshield glass	-
	The windshield glass is chipped or cracked	-
	Non-Toyota genuine windshield glass is installed	-
	Forward recognition camera
The message "Front Camera Unavailable" is frequently displayed	Immediately after the hybrid system is started	-
	The cabin temperature is extremely high	-
	The cabin temperature is extremely low	-
	Forward recognition camera
A system that uses the forward recognition camera does not operate	Forward recognition camera

System Diagram

SYSTEM DIAGRAM

Communication Table

Sender	Receiver	Signal	Line
Forward Recognition Camera	Main Body ECU (Multiplex Network Body ECU)	Automatic high beam control signal	CAN
Driving Support ECU Assembly	Forward Recognition Camera	PCS control information signal	CAN
Hybrid Vehicle Control ECU	Forward Recognition Camera	Shift position signal (P, R, N, D) Engine type information signal Vehicle specification information (2WD/4WD information, conventional/ hybrid information) Cruise control system control signal	CAN
Main Body ECU (Multiplex Network Body ECU)	Forward Recognition Camera	Vehicle specification information (destination)	CAN
Skid Control ECU (Brake Booster with Master Cylinder Assembly)	Forward Recognition Camera	Vehicle speed signal Stop light switch signal Vehicle yaw rate sensor zero point malfunction signal Electronically controlled brake system operation signal Electronically controlled brake system malfunction signal	CAN
Yaw Rate Sensor (Airbag ECU Assembly)	Forward Recognition Camera	Vehicle yaw rate sensor signal	CAN

Terminals Of Ecu

TERMINALS OF ECU

NOTICE:

DTCs may be output when connectors are disconnected during inspection. Therefore, be sure to clear the DTCs using the Techstream once the inspection has been completed.
Do not apply excessive force to the O5 forward recognition camera connector.

CHECK FORWARD RECOGNITION CAMERA

(a) Measure the voltage and resistance according to the value(s) in the table below.

Terminal No. (Symbol)	Wiring Color	Terminal Description	Condition	Specified Condition
O5-7 (IGB) - O5-10 (GND)	LA-P - LA	Power source	Power switch on (IG)	11 to 14 V
O5-7 (IGB) - O5-10 (GND)	LA-P - LA	Power source	Power switch off	Below 1 V
O5-10 (GND) - Body ground	LA - Body ground	Ground	Always	Below 1 Ω

(b) Measure the voltage according to the value(s) in the table below.

Terminal No. (Symbol)

Wiring Color

Terminal Description

Condition

Specified Condition

O5-1 (HTR) - O5-10 (GND)

B - LA

Forward recognition with heater hood sub-assembly operation signal

Power switch on (IG)

Forward recognition with heater hood sub-assembly not operating

11 to 14 V

Power switch on (IG)

Forward recognition with heater hood sub-assembly operating

Below 1 V

HINT:

If the waveform is not similar to that shown in the illustration, a malfunction of a CAN bus line, terminating resistor, or the forward recognition camera is suspected.

Terminal No. (Symbol)	Wiring Color	Terminal Description	Condition	Specified Condition
O5-5 (CA1P) - O5-10 (GND)	L - LA	CAN communication signal	Power switch on (IG)	Pulse generation (See waveform 1)
O5-11 (CA1N) - O5-10 (GND)	W - LA	CAN communication signal	Power switch on (IG)	Pulse generation (See waveform 2)
O5-6 (CANH) - O5-10 (GND)	G - LA	CAN communication signal	Power switch on (IG)	Pulse generation (See waveform 1)
O5-12 (CANL) - O5-10 (GND)	W - LA	CAN communication signal	Power switch on (IG)	Pulse generation (See waveform 2)

(1) WAVEFORM 1

Item

Content

Terminal Name

Between O5-5 (CA1P) and O5-10 (GND)

Between O5-6 (CANH) and O5-10 (GND)

Tester Range

1 V/DIV., 10 μsec./DIV.

Condition

Power switch on (IG)

HINT:

The waveform varies depending on the CAN communication signal.

(2) WAVEFORM 2

Item

Content

Terminal Name

Between O5-11 (CA1N) and O5-10 (GND)

Between O5-12 (CANL) and O5-10 (GND)

Tester Range

1 V/DIV., 10 μsec./DIV.

Condition

Power switch on (IG)

HINT:

The waveform varies depending on the CAN communication signal.

Lost Communication with TCM (U0101,U0123,U0129,U0142,U0293)

DESCRIPTION

When a malfunction is detected between various ECUs and sensors, these DTCs are stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
U0101	Lost Communication with TCM	While the vehicle is being driven at 1 km/h or 1 mph or more, a communication error between the TCM (hybrid vehicle control ECU) and the forward recognition camera is detected for approximately 5 seconds or more.	CAN communication system
U0123	Lost Communication with Yaw Rate Sensor Module	While the vehicle is being driven at 1 km/h or 1 mph or more, a communication error between the yaw rate sensor (airbag ECU assembly) and the forward recognition camera is detected for approximately 5 seconds or more.	CAN communication system
U0129	Lost Communication with Brake System Control Module	2 seconds after the power switch is turned on (IG), a communication error between the skid control ECU (brake booster with master cylinder assembly) and the forward recognition camera is detected for approximately 5 seconds or more.	CAN communication system
U0142	Lost Communication with Body Control Module "B"	2 seconds after the power switch is turned on (IG), a communication error between the main body ECU (multiplex network body ECU) and the forward recognition camera is detected for approximately 5 seconds or more.	CAN communication system
U0293	Lost Communication with HV ECU	2 seconds after the power switch is turned on (IG), a communication error between the hybrid vehicle control ECU and the forward recognition camera is detected for approximately 5 seconds.	CAN communication system

PROCEDURE

1.	CHECK FOR DTCs

(a) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

(b) Make sure that the DTC detection conditions are met.

HINT:

If the detection conditions are not met, the system cannot detect the malfunction.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
DTC U0101, U0123, U0129, U0142 and U0293 are not output	A
DTC U0101, U0123, U0129, U0142 or U0293 is output	B

USE SIMULATION METHOD TO CHECK

GO TO CAN COMMUNICATION SYSTEM

Lost Communication with Cruise Control Front Distance Range Sensor (U0235)

DESCRIPTION

The forward recognition camera communicates with the millimeter wave radar sensor assembly via CAN communication. If there is a communication error with the millimeter wave radar sensor assembly, the forward recognition camera stores DTC U0235.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
U0235	Lost Communication with Cruise Control Front Distance Range Sensor	2 seconds after the power switch is turned on (IG), a communication error between the millimeter wave radar sensor assembly and the forward recognition camera is detected for approximately 5 seconds.	CAN communication system CAN bus line Millimeter wave radar sensor assembly Forward recognition camera

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

Inspect the fuses for circuits related to this system before performing the following procedure.
When replacing the millimeter wave radar sensor assembly, always replace it with a new one. If a millimeter wave radar sensor assembly which was installed to another vehicle is used, the information stored in the millimeter wave radar sensor assembly will not match the information from the vehicle. As a result, a DTC may be stored.
When the millimeter wave radar sensor assembly is replaced with a new one, adjustment of the radar sensor beam axis must be performed.
Click here
When replacing the forward recognition camera, always replace it with a new one. If a forward recognition camera which was installed to another vehicle is used, the information stored in the forward recognition camera will not match the information from the vehicle. As a result, a DTC may be stored.
If the forward recognition camera has been replaced with a new one, be sure to perform forward recognition camera adjustment.
Click here

PROCEDURE

1.	READ VALUE USING TECHSTREAM (CAN BUS CHECK)

(a) Connect the Techstream to the DLC3.

(b) Turn the power switch on (IG).

(d) Enter the following menus: System Select / Can Bus Check.

Click here

CAN Bus Check

Result	Proceed to
All of the ECUs and sensors that are currently connected to the CAN communication system are displayed	A
None of the ECUs and sensors that are currently connected to the CAN communication system are displayed, or some of them are not displayed	B

GO TO CAN COMMUNICATION SYSTEM

2.	CHECK FOR DTCs

HINT:

When pre-collision system DTC U1002 is output, check that the local bus is functioning normally by performing the diagnostic procedure for U1002.

(a) Check for DTCs.

Body Electrical > Pre-Collision 2 > Trouble Codes

Result	Proceed to
DTC U1002 is not output	A
DTC U1002 is output	B

GO TO PRE-COLLISION SYSTEM

3.	CHECK CAN BUS LINE

(a) Turn the power switch off.

(b) Disconnect the cable from the negative (-) auxiliary battery terminal.

*a	Front view of wire harness connector (to Forward Recognition Camera)

(d) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Tester Connection	Condition	Specified Condition
O5-6 (CANH) - O5-12 (CANL)	Cable disconnected from negative (-) auxiliary battery terminal	108 to 132 Ω

HINT:

If the result is not as specified, a malfunction in a CAN communication line is suspected.

(e) Connect the O5 forward recognition camera connector.

REPAIR OR REPLACE HARNESS OR CONNECTOR (CAN BUS LINE)

4.	CHECK FOR DTCs

(a) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
Only DTC U0235 is output	A
DTC U0235 and U1104 are output	B

REPLACE FORWARD RECOGNITION CAMERA

5.	CHECK FOR DTCs

(a) Check for DTCs.

HINT:

The malfunction area can be determined by the combination of DTCs output at the same time.

Body Electrical > Pre-Collision 2 > Trouble Codes Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
Front camera system (Front Recognition Camera) DTC U0235 and pre-collision system (Pre-Collision 2) DTC U1104 are output.	A
Front camera system (Front Recognition Camera) DTC U0235 and pre-collision system (Pre-Collision 2) DTC U0235 are output.	A
Only front camera system (Front Recognition Camera) DTC U0235 is output.	B

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

REPLACE FORWARD RECOGNITION CAMERA

Lost Communication with Driving Support ECU (U1104)

DESCRIPTION

The forward recognition camera communicates with the driving support ECU assembly via CAN communication. If there is a communication error with the driving support ECU assembly, the forward recognition camera store DTC U1104.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
U1104	Lost Communication with Driving Support ECU	2 seconds after the power switch is turned on (IG), a communication error between the driving support ECU assembly and the forward recognition camera is detected for approximately 5 seconds.	CAN communication system CAN bus line Driving support ECU assembly Forward recognition camera

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

Inspect the fuses for circuits related to this system before performing the following procedure.
When replacing the driving support ECU assembly, always replace it with a new one. If a driving support ECU assembly which was installed to another vehicle is used, the information stored in the driving support ECU assembly will not match the information from the vehicle. As a result, a DTC may be stored.
When replacing the forward recognition camera, always replace it with a new one. If a forward recognition camera which was installed to another vehicle is used, the information stored in the forward recognition camera will not match the information from the vehicle. As a result, a DTC may be stored.
If the forward recognition camera has been replaced with a new one, be sure to perform forward recognition camera adjustment.
Click here

PROCEDURE

1.	READ VALUE USING TECHSTREAM (CAN BUS CHECK)

(a) Connect the Techstream to the DLC3.

(b) Turn the power switch on (IG).

(d) Enter the following menus: System Select / Can Bus Check.

Click here

CAN Bus Check

Result	Proceed to
All of the ECUs and sensors that are currently connected to the CAN communication system are displayed	A
None of the ECUs and sensors that are currently connected to the CAN communication system are displayed, or some of them are not displayed	B

GO TO CAN COMMUNICATION SYSTEM

2.	CHECK CAN BUS LINE

(a) Turn the power switch off.

(b) Disconnect the cable from the negative (-) auxiliary battery terminal.

*a	Front view of wire harness connector (to Forward Recognition Camera)

(d) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Tester Connection	Condition	Specified Condition
O5-6 (CANH) - O5-12 (CANL)	Cable disconnected from negative (-) auxiliary battery terminal	108 to 132 Ω

HINT:

If the result is not as specified, a malfunction in a CAN communication line is suspected.

(e) Connect the O5 forward recognition camera connector.

REPAIR OR REPLACE HARNESS OR CONNECTOR (CAN BUS LINE)

3.	CHECK FOR DTCs

(a) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
Only DTC U1104 is output	A
DTC U0235 and U1104 are output	B

REPLACE FORWARD RECOGNITION CAMERA

4.	CHECK FOR DTCs

(a) Check for DTCs.

HINT:

The malfunction area can be determined by the combination of DTCs output at the same time.

Body Electrical > Pre-Collision 2 > Trouble Codes Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
Front camera system (Front Recognition Camera) DTC U1104 and pre-collision system (Pre-Collision 2) DTC U1002 are output.	A
Front camera system (Front Recognition Camera) DTC U1104 and pre-collision system (Pre-Collision 2) DTC U1104 are output.	B
Only front camera system (Front Recognition Camera) DTC U1104 is output.	C

GO TO PRE-COLLISION SYSTEM

REPLACE DRIVING SUPPORT ECU ASSEMBLY

REPLACE FORWARD RECOGNITION CAMERA

Utility

UTILITY

NOTICE:

If the forward recognition camera has been replaced with a new one or the windshield glass has been removed and installed, it is necessary to perform forward recognition camera adjustment. If the system is turned on without performing forward recognition camera adjustment, DTC C1AA9 will be stored.
Click here
When replacing the windshield glass of a vehicle equipped with a forward recognition camera, make sure to use a Toyota genuine part. If a non-Toyota genuine part is used, the forward recognition camera may not be able to be installed due to a missing bracket or the front camera system may not operate properly due to a difference in the transmissivity or black ceramic border.

RECOGNITION CAMERA/TARGET POSITION MEMORY

HINT:

Recognition Camera/Target Position Memory is used to enter required information into the forward recognition camera.

(a) Perform Recognition Camera/Target Position Memory according to the display on the Techstream.

Click here

Chassis > Front Recognition Camera > Utility

Tester Display
Recognition Camera/Target Position Memory

HINT:

Recognition Camera Axis Adjust is used to calibrate the internal data of the forward recognition camera to enhance its recognition accuracy.

RECOGNITION CAMERA AXIS ADJUST

(a) Perform Recognition Camera Axis Adjust according to the display on the Techstream.

Click here

Chassis > Front Recognition Camera > Utility

Tester Display
Recognition Camera Axis Adjust

HINT:

History Clear is used to clear the history of Data List items Blockage, Low Temperature, or High Temperature.

HISTORY CLEAR

(a) Connect the Techstream to the DLC3.

(b) Turn the power switch on (IG).

(d) Enter the following menus: Chassis / front recognition camera / Utility / History Clear.

(e) Perform History Clear according to the display on the Techstream.

Chassis > Front Recognition Camera > Utility

Tester Display
History Clear

PCS IMAGE INFORMATION CLEAR

HINT:

PCS Image Information Clear is used to clear the PCS Image Information data.

(a) Connect the Techstream to the DLC3.

(b) Turn the power switch on (IG).

(d) Enter the following menus: Chassis / front recognition camera / Utility / PCS Image Information Clear.

(e) Perform PCS Image Information Clear according to the display on the Techstream.

Chassis > Front Recognition Camera > Utility

Tester Display
PCS Image Information Clear

PCS IMAGE RECORD SETTING

HINT:

PCS Image Record Setting is used to activate/deactivate the PCS image recording function.

(a) Connect the Techstream to the DLC3.

(b) Turn the power switch on (IG).

(d) Enter the following menus: Chassis / front recognition camera / Utility / PCS Image Record Setting.

(e) Perform PCS Image Record Setting according to the display on the Techstream.

Chassis > Front Recognition Camera > Utility

Tester Display
PCS Image Record Setting

Front Camera System(for Gasoline Model)

Front Camera

See More:

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