Toyota Avalon (XX50): Lane Departure Alert System (w/ Steering Control)(for Gasoline Model)

Toyota Avalon (XX50) 2019-2022 Service & Repair Manual / Engine / Cruise Control / Lane Departure Alert System (w/ Steering Control)(for Gasoline Model)

Driving Support ECU (C1A01)

DESCRIPTION

If the forward recognition camera detects a malfunction in the internal circuit of the driving support ECU assembly, DTC C1A01 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1A01	Driving Support ECU	2 seconds after the engine switch is turned on (IG), a malfunction in the driving support ECU assembly internal circuit is detected for 5 seconds or more.	Driving support ECU assembly

CAUTION / NOTICE / HINT

NOTICE:

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.
The lane departure alert system (w/ steering control) 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 DRIVING SUPPORT ECU ASSEMBLY

(a) Replace the driving support ECU assembly.

Click here

END

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	2 seconds after the engine switch is turned on (IG), 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 lane departure alert system (w/ steering control) 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 engine 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 engine 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 lane departure alert system (w/ steering control), perform troubleshooting for the pre-collision system.

Click here

END

Steering Angle Sensor (C1A47)

DESCRIPTION

The forward recognition camera receives steering angle information from the steering sensor. If the forward recognition camera detects a steering sensor malfunction, DTC C1A47 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1A47	Steering Angle Sensor	2 seconds after the engine switch is turned on (IG), a signal from the steering sensor indicating that there is a steering sensor malfunction is detected by the forward recognition camera for 5 seconds or more.	Electronically controlled brake system

CAUTION / NOTICE / HINT

NOTICE:

The lane departure alert system (w/ steering control) 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 C1A47 is output by the lane departure alert system (w/ steering control), perform troubleshooting for the electronically controlled brake system.

Click here

END

G Sensor (C1A48)

DESCRIPTION

The forward recognition camera receives G sensor signals from the airbag ECU assembly via CAN communication.

If the forward recognition camera receives a G sensor malfunction signal from the airbag ECU assembly, DTC C1A48 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1A48	G Sensor	2 seconds after the engine switch is turned on (IG), a signal from the airbag ECU assembly indicating that there is a G sensor malfunction is detected by the forward recognition camera for 5 seconds or more.	Electronically controlled brake system

CAUTION / NOTICE / HINT

NOTICE:

Click here

PROCEDURE

1.	GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM

HINT:

If DTC C1A48 is output by the lane departure alert system (w/ steering control), perform troubleshooting for the electronically controlled brake system.

Click here

END

Brake System Malfunction (C1A50)

DESCRIPTION

The forward recognition camera receives electronically controlled brake system control signals from the skid control ECU (brake actuator assembly). If the forward recognition camera receives a malfunction signal from the electronically controlled brake system, DTC C1A50 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1A50	Brake System Malfunction	2 seconds after the engine switch is turned on (IG), a signal from the skid control ECU (brake actuator assembly) indicating an electronically controlled brake system malfunction is detected by the forward recognition camera for 5 seconds or more.	Electronically controlled brake system

CAUTION / NOTICE / HINT

NOTICE:

Click here

PROCEDURE

1.	GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM

HINT:

If DTC C1A50 is output by the lane departure alert system (w/ steering control), perform troubleshooting for the electronically controlled brake system.

Click here

END

Power Steering Control System (C1A70)

DESCRIPTION

If the forward recognition camera receives an internal malfunction signal from the power steering ECU (rack and pinion power steering gear assembly), DTC C1A70 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1A70	Power Steering Control System	2 seconds after the engine switch is turned on (IG), a malfunction in the power steering system internal circuit is detected for 5 seconds or more.	Power steering system

CAUTION / NOTICE / HINT

NOTICE:

Click here

PROCEDURE

1.	GO TO POWER STEERING SYSTEM

HINT:

If DTC C1A70 is output by the lane departure alert system (w/ steering control), perform troubleshooting for the power steering system.

Click here

END

Power Steering Control Torque (C1A71)

DESCRIPTION

If the power steering ECU (rack and pinion power steering gear assembly) detects an abnormality in the steering torque requested by the forward recognition camera, the power steering ECU (rack and pinion power steering gear assembly) sends a malfunction signal to the forward recognition camera, and DTC C1A71 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1A71	Power Steering Control Torque	2 seconds after the engine switch is turned on (IG), a malfunction signal from the power steering ECU (rack and pinion power steering gear assembly) is detected by the forward recognition camera for 5 seconds or more.	Power steering system

CAUTION / NOTICE / HINT

NOTICE:

Click here

PROCEDURE

1.	GO TO POWER STEERING SYSTEM

HINT:

If DTC C1A71 is output by the lane departure alert system (w/ steering control), perform troubleshooting for the power steering system.

Click here

END

Communication Error from FCM to Driving Support ECU (C1A72)

DESCRIPTION

If a communication error between the driving support ECU assembly and forward recognition camera is detected, DTC C1A72 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1A72	Communication Error from FCM to Driving Support ECU	2 seconds after the engine switch is turned on (IG), a communication error between the driving support ECU assembly and the forward recognition camera is detected.	CAN communication system Forward recognition camera Pre-collision system

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
The lane departure alert system (w/ steering control) 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.	CHECK FOR DTCs

HINT:

Confirm that there is no communication error between the forward recognition camera and driving support ECU assembly.

(a) Check for DTCs.

Body Electrical > Pre-Collision 2 > Trouble Codes

Result	Proceed to
DTC U023A is not output	A
DTC U023A is output	B

GO TO PRE-COLLISION SYSTEM

2.	CHECK FOR DTCs

(a) Clear the DTCs.

Chassis > LKA/LDA > 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 > LKA/LDA > Trouble Codes

Result	Proceed to
DTC C1A72 is not output	A
DTC C1A72 is output	B

USE SIMULATION METHOD TO CHECK

REPLACE FORWARD RECOGNITION CAMERA

Driving Support ECU Receive Data Malfunction (C1A73)

DESCRIPTION

If a communication error between the driving support ECU assembly and another ECU is detected, DTC C1A73 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1A73	Driving Support ECU Receive Data Malfunction	2 seconds after the engine switch is turned on (IG), a communication error between the driving support ECU assembly and other ECUs is detected 5 seconds or more.	CAN communication system Forward recognition camera Pre-collision system

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
The lane departure alert system (w/ steering control) 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.	CHECK FOR DTCs

HINT:

The driving support ECU communicates with other ECUs via CAN communication. Confirm that the CAN communication system is functioning normally before proceeding.

(a) Check for DTCs.

Body Electrical > Pre-Collision 2 > Trouble Codes

Result	Proceed to
DTC U0100, U0125, U0126, U0129, U0155, U0235, U023A, U1002 and U1104 are not output	A
DTC U0100, U0125, U0126, U0129, U0155, U0235, U023A, U1002 or U1104 are output	B

GO TO PRE-COLLISION SYSTEM

2.	CHECK FOR DTCs

(a) Clear the DTCs.

Chassis > LKA/LDA > 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 > LKA/LDA > Trouble Codes

Result	Proceed to
DTC C1A73 is not output	A
DTC C1A73 is output	B

USE SIMULATION METHOD TO CHECK

REPLACE FORWARD RECOGNITION CAMERA

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 engine 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). 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), DTC C1AA1 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1AA1	FCM Destination Information Unmatched	2 seconds after the engine 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) do not match for 5 seconds or more.	CAN communication system Forward recognition camera Main body ECU (Multiplex network body 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, 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 > LKA/LDA > 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 > LKA/LDA > 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 > LKA/LDA > 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 > LKA/LDA > 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 > LKA/LDA > 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 Tolerance Malfunction (C1AA2)

DESCRIPTION

The forward recognition camera receives vehicle speed tolerance signals from the combination meter assembly. If the combination meter assembly detects a vehicle speed tolerance malfunction signal, it informs the forward recognition camera via CAN communication, and DTC C1AA2 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1AA2	Vehicle Speed Tolerance Malfunction	2 seconds after the engine switch is turned on (IG), a signal from the combination meter assembly indicating an abnormal vehicle speed tolerance is detected by the forward recognition camera for 50 seconds or more.	Electronically controlled brake system

CAUTION / NOTICE / HINT

NOTICE:

Click here

PROCEDURE

1.	GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM

HINT:

If DTC C1AA2 is output by the lane departure alert system (w/ steering control), perform troubleshooting for the electronically controlled brake system.

Click here

END

Vehicle Speed Sensor Circuit (C1AA3)

DESCRIPTION

The forward recognition camera receives vehicle speed signals from the skid control ECU (brake actuator assembly). If the skid control ECU (brake actuator 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 engine switch is turned on (IG), a signal from the skid control ECU (brake actuator 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:

Click here

PROCEDURE

1.	GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM

HINT:

If DTC C1AA3 is output by the lane departure alert system (w/ steering control), 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

When all of the following conditions are met:

2 seconds after the engine switch is turned on (IG)
The vehicle speed is 1 km/h or 1 mph or more.
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

When all of the following conditions are met:

2 seconds after the engine switch is turned on (IG)
The vehicle speed is 1 km/h or 1 mph or more.
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:

Click here

PROCEDURE

1.	GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM

HINT:

If DTC C1AA4 or C1AA5 is output by the lane departure alert system (w/ steering control), perform troubleshooting for the electronically controlled brake system.

Click here

END

Yaw Rate Sensor Zero Point Malfunction (C1AA6)

DESCRIPTION

The skid control ECU (brake actuator assembly) receives vehicle stability signals from the yaw rate sensor (airbag ECU assembly). If the skid control ECU (brake actuator 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

When all of the following conditions are met:

2 seconds after the engine switch is turned on (IG)
The vehicle speed is 1 km/h or 1 mph or more.
A signal from the skid control ECU (brake actuator 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:

Click here

PROCEDURE

1.	GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM

HINT:

If DTC C1AA6 is output by the lane departure alert system (w/ steering control), 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 engine 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 > LKA/LDA > 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 > LKA/LDA > 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 engine 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

Vehicle Information Unmatched (C1AAC)

DESCRIPTION

When the forward recognition camera is replaced with a new one, the new forward recognition camera attempts to store the vehicle information received from the ECM. If the vehicle information stored in the forward recognition camera is different from that stored in the ECM, DTC C1AAC is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1AAC	Vehicle Information Unmatched	2 seconds after the engine switch is turned on (IG), the vehicle information received from the ECM and that stored in the forward recognition camera do not match.	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 vehicle information stored in the forward recognition camera and that stored in the ECM do not match. If the forward recognition camera or ECM has been replaced, check if a forward recognition camera or ECM 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

Vehicle Information Initialization Incomplete (C1AAD)

DESCRIPTION

When the forward recognition camera is replaced with a new one, the new forward recognition camera attempts to store the vehicle information received from the ECM. If the forward recognition camera cannot store the vehicle information, DTC C1AAD is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1AAD	Vehicle Information Initialization Incomplete	2 seconds after the engine switch is turned on (IG), the vehicle information from the ECM cannot be stored.	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

Customize Parameters

CUSTOMIZE PARAMETERS

CUSTOMIZE LANE DEPARTURE ALERT SYSTEM (w/ Steering Control)

NOTICE:

When the customer requests a change in a function, first make sure that the function can be customized.
Be sure to make a note of the current settings before customizing.
When troubleshooting a function, first make sure that the function is set to the default setting.

HINT:

The following items can be customized.

(a) Customizing with the Multi-information display

(1) Turn the engine switch on (IG).

(2) Enter the following menus: Settings Tab / Settings / Lane Departure Alert Setup

(3) Select the setting by referring to the table below.

(4) Change the settings of the lane departure alert system (w/ steering control) using the steering pad switch assembly.

HINT:

Each item is displayed on the "Setting" screen on the multi-information display.

Lane Departure Alert System (w/ Steering Control)

Display	Content	Setting	Default
Steering Assist	Steering control function	On/Off	On
Sensitivity	Timing of lane departure alert	High/Standard	Standard
Sway Warning	Vehicle sway warning function	On/Off	On
Sway Sensitivity	Sway warning sensitivity	High/Standard/Low	Standard

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 engine switch on (IG).

(d) Enter the following menus: Chassis / LKA/LDA / Data List.

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

Chassis > LKA/LDA > Data List

Tester Display	Measurement Item	Range	Normal Condition	Diagnostic Note
LDA Control	Lane departure alert system (w/ steering control) control status	Prohibit or Permit	Prohibit: Control prohibited Permit: Control permitted	-
Turn Signal Switch (Right)	Turn signal switch (right) status	OFF or ON	ON: Turn signal light switch on (right) OFF: Turn signal light switch off	-
Turn Signal Switch (Left)	Turn signal switch (left) status	OFF or ON	ON: Turn signal light switch on (left) OFF: Turn signal light switch off	-
Destination Information	-	-	-	This item is displayed on the Techstream but is not used.
Left Lane Indicator	Left lane marker detection status	Nothing, Heavy, Thin or H blink	Nothing: Lane departure alert system (w/ steering control) deactivated Heavy: Left lane marker detected Thin: Left lane marker not detected H blink: Departing from lane	-
Right Lane Indicator	Right lane marker detection status	Nothing, Heavy, Thin or H blink	Nothing: Lane departure alert system (w/ steering control) deactivated Heavy: Right lane marker detected Thin: Right lane marker not detected H blink: Departing from lane	-
Skid Control Buzzer Demand	Lane departure alert Buzzer Demand Status	OFF or ON	OFF: Lane departure alert buzzer not operating ON: Lane departure alert buzzer operating	-
Vehicle Information (2WD/4WD)	-	-	-	This item is displayed on the Techstream but is not used.
Vehicle Information (Conv/HV)	-	-	-	This item is displayed on the Techstream but is not used.
The Number of DTCs	Number of stored DTCs	0 to 255	Number of stored DTCs	-

HINT:

The Data List will also be displayed when you enter the following menus, but do not use this: Chassis / LKA/LDA (Sub) / Data List.

Chassis > LKA/LDA (Sub) > Data List

Tester Display	Measurement Item	Range	Normal Condition	Diagnostic Note
Engine / HV Communication Failure	-	-	-	This item is displayed on the Techstream but is not used.
DRS Communication Failure	-	-	-	This item is displayed on the Techstream but is not used.
Meter Communication Failure	-	-	-	This item is displayed on the Techstream but is not used.
Yaw Rate Sensor Communication Failure	-	-	-	This item is displayed on the Techstream but is not used.
Steering Angle Sensor Communication Failure	-	-	-	This item is displayed on the Techstream but is not used.
EPS Communication Failure	-	-	-	This item is displayed on the Techstream but is not used.
VSC Communication Failure	-	-	-	This item is displayed on the Techstream but is not used.
VGRS Communication Failure	-	-	-	This item is displayed on the Techstream but is not used.

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

(g) 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

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

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 engine switch on (IG).

(d) Enter the following menus: Chassis / LKA/LDA / Active Test.

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

HINT:

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

Chassis > LKA/LDA > Active Test

Tester Display	Measurement Item	Control Range	Diagnostic Note
LDA Buzzer	Sounds the lane departure alert buzzer	ON/OFF	Confirm that the vehicle is stopped with the engine switch on (IG).
Steering Wheel Vibration	-	-	This item is displayed on the Techstream but is not used.

(f) Enter the following menus: Body Electrical / Combination Meter / Active Test.

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

HINT:

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

Body Electrical > Combination Meter > Active Test

Tester Display	Measurement Item	Control Range	Diagnostic Note
Multi Display All (White)	Multi-information display (White display)	ON	-

Diagnosis System

DIAGNOSIS SYSTEM

CHECK DLC3

(a) Check the DLC3.

Click here

FUNCTION OF WARNING INDICATOR AND MESSAGE

(a) If the lane departure alert system (w/ steering control) is not functioning properly, the driver is warned by the lane departure alert indicator and a warning message displayed on the multi-information display.

Master Warning Indicator	Warning Message	Details	DTC	Lane Departure Alert Indicator
Illuminated	Lane Departure Alert Malfunction Visit Your Dealer	Lane departure alert system (w/ steering control) is malfunctioning	Stored	Illuminates (yellow)
Not illuminated	Front Camera Unavailable	Abnormal forward recognition camera voltage Forward recognition camera temperature outside of operational range Other forward recognition camera malfunction	Not stored	Illuminates (yellow)
Not illuminated	Front Camera Unavailable Remove Debris On Windshield	Forward recognition camera view is unclear	Not stored	Illuminates (yellow)
Illuminated	Lane Departure Alert Unavailable	Sensor other than forward recognition camera sensor is temporarily disabled	Not stored	Illuminates (yellow)

Lane Departure Alert Indicator Status

Lane Departure Alert Indicator	Condition
*If the lane departure alert steering control function operates while the lane departure alert function is operating, the lane departure alert indicator blinks (yellow).
Illuminates (yellow)	The LDA system is malfunctioning or temporarily disabled
Blinks (yellow)	Lane departure alert function is operating
Illuminates (green)	Lane departure alert steering control function is operating*
Illuminates (white)	Monitoring for lane departure
Not illuminated	Lane departure alert system (w/ steering control) is not operating

Diagnostic Trouble Code Chart

DIAGNOSTIC TROUBLE CODE CHART

Lane Departure Alert System (w/ Steering Control)

DTC No.	Detection Item	Link
C1A01	Driving Support ECU
C1A10	Front Radar Sensor
C1A11	Front Radar Sensor Incorrect Axial Gap
C1A14	Front Radar Sensor Beam Axis Not Adjusted
C1A47	Steering Angle Sensor
C1A48	G Sensor
C1A50	Brake System Malfunction
C1A70	Power Steering Control System
C1A71	Power Steering Control Torque
C1A72	Communication Error from FCM to Driving Support ECU
C1A73	Driving Support ECU Receive Data Malfunction
C1AA0	Front Camera Module Circuit
C1AA1	FCM Destination Information Unmatched
C1AA2	Vehicle Speed Tolerance Malfunction
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
C1AAC	Vehicle Information Unmatched
C1AAD	Vehicle Information Initialization Incomplete
U0100	Lost Communication with ECM / PCM "A"
U0101	Lost Communication with TCM
U0123	Lost Communication with Yaw Rate Sensor Module
U0126	Lost Communication with Steering Angle Sensor Module
U0129	Lost Communication with Brake System Control Module
U0131	Lost Communication with Power Steering Control Module
U0142	Lost Communication with Body Control Module "B"
U0155	Lost Communication with Combination Meter
U0235	Lost Communication with Cruise Control Front Distance Range Sensor
U023A	Lost Communication with Front Camera Module
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 engine switch on (IG).

(d) Enter the following menus: Chassis / LKA/LDA / Trouble Codes.

(e) Check for details of the DTCs.

Click here

Chassis > LKA/LDA > Trouble Codes

CLEAR DTC

(a) Connect the Techstream to the DLC3.

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

(d) Enter the following menus: Chassis / LKA/LDA / Clear DTCs.

(e) Clear the DTCs.

Chassis > LKA/LDA > Clear DTCs

Fail-safe Chart

FAIL-SAFE CHART

FAIL-SAFE FUNCTION

(a) When a malfunction occurs in the lane departure alert system (w/ steering control), a message will be displayed on the multi-information display and the lane departure alert system (w/ steering control) will be disabled depending on the malfunction.

Warning Message	Cause	Fail-safe Operation			Conditions to Return to Normal Condition
Warning Message	Cause	Lane Departure Alert Function	Steering Control Function	Vehicle Sway Warning Function	Conditions to Return to Normal Condition
X: Control is suspended
Lane Departure Alert Malfunction Visit Your Dealer	Lane departure alert system (w/ steering control) is malfunctioning	X	X	X	After system returns to normal, engine switch is turned off and then on (IG)
Front Camera Unavailable	Abnormal forward recognition camera voltage Forward recognition camera temperature outside of operational range Other forward recognition camera malfunction	X	X	X	Forward recognition camera temperature returns to normal Forward recognition camera voltage returns to normal Forward recognition camera returns to normal
Front Camera Unavailable Remove Debris On Windshield	Forward recognition camera view is unclear	X	X	X	Forward recognition camera or area of windshield glass in front of forward recognition camera is cleaned
Lane Departure Alert Unavailable	Sensor other than forward recognition camera sensor is temporarily unavailable	X	X	X	Temporarily unavailable sensor becomes available

Freeze Frame Data

FREEZE FRAME DATA

DESCRIPTION

(a) Whenever a lane departure alert system (w/ steering control) 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 engine switch on (IG).

(d) Enter the following menus: Chassis / LKA/LDA / Trouble Codes.

Chassis > LKA/LDA > Trouble Codes

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

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

Chassis > LKA/LDA

Tester Display	Measurement Item	Range	Normal Condition	Diagnostic Note
LDA Control	Lane departure alert system (w/ steering control) control status	Prohibit or Permit	Prohibit: Control prohibited Permit: Control permitted	-
Turn Signal Switch (Right)	Turn signal switch (right) status	OFF or ON	ON: Turn signal light switch on (right) OFF: Turn signal light switch off	-
Turn Signal Switch (Left)	Turn signal switch (left) status	OFF or ON	ON: Turn signal light switch on (left) OFF: Turn signal light switch off	-
Destination Information	-	-	-	This item is displayed on the Techstream but is not used.
Left Lane Indicator	Left lane marker detection status	Nothing, Heavy, Thin or H blink	Nothing: Lane departure alert system (w/ steering control) deactivated Heavy: Left lane marker detected Thin: Left lane marker not detected H blink: Departing from lane	-
Right Lane Indicator	Right lane marker detection status	Nothing, Heavy, Thin or H blink	Nothing: Lane departure alert system (w/ steering control) deactivated Heavy: Right lane marker detected Thin: Right lane marker not detected H blink: Departing from lane	-
Skid Control Buzzer Demand	Lane departure alert Buzzer Demand Status	OFF or ON	OFF: Lane departure alert buzzer not operating ON: Lane departure alert buzzer operating	-
Vehicle Information (2WD/4WD)	-	-	-	This item is displayed on the Techstream but is not used.
Vehicle Information (Conv/HV)	-	-	-	This item is displayed on the Techstream but is not used.
The Number of DTCs	Number of stored DTCs	min.: 0, max.: 255	Number of stored DTCs	-

How To Proceed With Troubleshooting

CAUTION / NOTICE / HINT

HINT:

Use these procedures to troubleshoot the lane departure alert system (w/ steering control).
*: Use the Techstream.

PROCEDURE

1.	VEHICLE BROUGHT TO WORKSHOP

2.	INSPECT BATTERY VOLTAGE

(a) Measure the battery voltage.

Standard Voltage:

11 to 14 V

If the voltage is below 11 V, replace or recharge the 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 > LKA/LDA > Trouble Codes

(b) Clear the DTCs.

Chassis > LKA/LDA > Clear DTCs

Chassis > LKA/LDA > 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 8

6.	OVERALL ANALYSIS AND TROUBLESHOOTING*

(a) Terminals of ECU

Click here

(b) Data List / Active Test

Click here

7.	ADJUST, REPAIR OR REPLACE

NOTICE:

When the forward recognition camera is replaced with a new one, forward recognition camera adjustment must be performed.

Click here

8.	CONFIRMATION TEST

END

Indicator Circuit

DESCRIPTION

The forward recognition camera sends indicator illumination request signals to the combination meter assembly via CAN communication.

PROCEDURE

1.	READ VALUE USING TECHSTREAM (CAN BUS CHECK)

(a) Connect the Techstream to the DLC3.

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

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

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 (HEALTH CHECK)

(a) Connect the Techstream to the DLC3.

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

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

(e) Check DTCs.

(f) Turn the engine switch off.

Result	Proceed to
No DTCs are output.	A
DTCs are output.	B

GO TO DTC CHART

3.	PERFORM ACTIVE TEST USING TECHSTREAM

(a) Connect the Techstream to the DLC3.

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

(d) Enter the following menus: Body Electrical / Combination Meter / Active Test.

(e) According to the display on the Techstream, perform the Active Test.

Body Electrical > Combination Meter > Active Test

Tester Display	Measurement Item	Control Range	Diagnostic Note
Multi Display All (White)	Multi-information display (White display)	ON	-

Body Electrical > Combination Meter > Active Test

Tester Display
Multi Display All (White)

(f) Turn the engine switch off.

Result	Proceed to
The multi-information display in the combination meter assembly turns on according to the operation of the Active Test.	A
The multi-information display in the combination meter assembly does not turn on according to the operation of the Active Test.	B

GO TO METER / GAUGE SYSTEM

4.	READ VALUE USING TECHSTREAM

(a) Connect the Techstream to the DLC3.

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

(d) Enter the following menus: Chassis / LKA/LDA / Data List.

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

Chassis > LKA/LDA > Data List

Tester Display

Measurement Item

Range

Normal Condition

Diagnostic Note

LDA Control

Control status of lane departure alert system (w/ steering control)

Prohibit or Permit

Prohibit: Control prohibited

Permit: Control permitted

Chassis > LKA/LDA > Data List

Tester Display
LDA Control

Result	Proceed to
The lane departure alert indicator illuminates and turns on according to the operation of the lane departure alert main switch	A
The lane departure alert indicator does not illuminate but the Data List item LDA Control changes according to the operation of the lane departure alert main switch	B
The lane departure alert indicator does not illuminate and the Data List item LDA Control does not change according to the operation of the lane departure alert main switch	C

PROCEED TO NEXT SUSPECTED AREA SHOWN IN PROBLEM SYMPTOMS TABLE

REPLACE COMBINATION METER ASSEMBLY

REPLACE FORWARD RECOGNITION CAMERA

Operation Check

OPERATION CHECK

CHECK LANE DEPARTURE ALERT MAIN SWITCH (STEERING PAD SWITCH ASSEMBLY)

(a) Check the lane departure alert main switch (steering pad switch assembly) on/off operation.

(1) Turn the engine switch on (IG).

(2) Confirm that the lane departure alert indicator (white) in the combination meter assembly illuminates or turns off when the lane departure alert main switch (steering pad switch assembly) is pressed.

HINT:

The ON/OFF status of the lane departure alert system (w/ steering control) remains unchanged when the engine switch is turned off and back to on (IG).

*a	Lane Departure Alert Indicator

Parts Location

PARTS LOCATION

ILLUSTRATION

FRONT SPEED SENSOR RH

FRONT SPEED SENSOR LH

REAR AXLE HUB AND BEARING ASSEMBLY RH

- REAR SPEED SENSOR RH

REAR AXLE HUB AND BEARING ASSEMBLY LH

- REAR SPEED SENSOR LH

ILLUSTRATION

FORWARD RECOGNITION CAMERA

MILLIMETER WAVE RADAR SENSOR ASSEMBLY

BRAKE ACTUATOR ASSEMBLY

- SKID CONTROL ECU

ECM

RACK AND PINION POWER STEERING GEAR ASSEMBLY

- POWER STEERING ECU

ILLUSTRATION

DRIVING SUPPORT ECU ASSEMBLY

COMBINATION METER ASSEMBLY

- MULTI-INFORMATION DISPLAY

- LANE DEPARTURE ALERT INDICATOR

- LANE DEPARTURE ALERT BUZZER

TURN SIGNAL SWITCH

STEERING PAD SWITCH ASSEMBLY

- LANE DEPARTURE ALERT MAIN SWITCH

- FUNCTION SWITCH (CUSTOMIZE SWITCH)

AIRBAG ECU ASSEMBLY

- YAW RATE SENSOR

DLC3

ILLUSTRATION

MAIN BODY ECU (MULTIPLEX NETWORK BODY ECU)

CENTRAL GATEWAY ECU (NETWORK GATEWAY ECU)

STEERING SENSOR

INSTRUMENT PANEL JUNCTION BLOCK ASSEMBLY

- ECU-IG1 NO. 3 FUSE

Precaution

PRECAUTION

PRECAUTION FOR DISCONNECTING CABLE FROM NEGATIVE BATTERY TERMINAL

NOTICE:

When disconnecting the cable from the negative (-) 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

If the battery has been discharged and charged or the cable has been disconnected and reconnected to the negative (-) battery terminal, perform Steering Sensor Zero Point Calibration.
Click here

HANDLING PRECAUTION FOR LANE DEPARTURE ALERT SYSTEM (w/ Steering Control)

(a) Keep in mind the following points when inspecting the lane departure alert system (w/ steering control).

The lane departure alert system (w/ steering control) provides information and steering assistance in accordance with the road and driving conditions. However, the system alone is not sufficient for maintaining the vehicle position in the lane. Be sure to control the vehicle using the steering wheel to correct the vehicle's path while paying attention to your surroundings and the road ahead. Drive the vehicle in a responsible manner under all circumstances.
The lane departure alert system (w/ steering control) operates when it recognizes lane markers using the forward recognition camera mounted on the upper portion of the windshield glass. Therefore, the system does not operate when lane markers are not detected. Additionally, a light amount of steering assist force that will not interfere with driving may be applied or a warning buzzer may sound unnecessarily. Be sure to control the vehicle using the steering wheel in a responsible manner under all circumstances even when the system is operating.
The lane departure alert system (w/ steering control) operates when the lane departure alert main switch is turned on and lane markers are detected while the vehicle is traveling within the system operating speed. However, depending on the road and driving conditions, the system may not operate or operation may be canceled.

(b) The lane departure alert system (w/ steering control) may not operate in any of the following conditions:

When driving through an area with no lane markers or such as a tollbooth
When lane markers are obscured or cannot be recognized due to backlight, bad weather or standing water
When driving in a location where the light level changes rapidly, such as the entrance to or exit from a tunnel
When the tires are excessively worn or the tire inflation pressure is insufficient
When non-standard tires are used (incorrect tire size or tire maker)
When winter tires or a spare tire is used
When a non-standard suspension is installed
When the road is partially covered in snow.
When there are shadows on the road running parallel with the lane markers
When the lane markers are Bott's dots (raised pavement markers), stone, etc.
When there are markings on the road due to road repairs, etc.
When driving through a road construction area
When turning a sharp corner
When driving on a road that is branching or merging
When a lane is extremely narrow or wide
When driving on a particularly bright road surface, such as concrete
When driving on a road surface that is bright due to reflected sunlight or the headlights of oncoming vehicles
When driving on a road surface that is wet due to rain, standing water, etc.
When driving on a winding or uneven road
When the distance between the vehicle and the preceding vehicle is extremely short
When the vehicle experiences strong up-and-down motion such as when driving over a joint in the road surface or on an extremely rough road
The vehicle is extremely tilted due to carrying heavy luggage or having improper tire pressure
When the headlight lenses are dirty causing the headlights to be dim at night or the beam axis is misaligned
The vehicle is struck by a crosswind
When the headlights are abnormal (bulbs are broken, etc.).
When the vehicle is tilted due to a flat tire, towing, etc.
When the windshield glass is fogged-up
When the windshield glass is covered with water drops, snow, ice, dirt, frost, dust, oil, etc.

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

HANDLING PRECAUTIONS FOR AIRBAG SYSTEM

(a) The vehicle is equipped with a Supplemental Restraint System (SRS) which includes components such as airbags. Before servicing (including removal or installation of parts), be sure to read the precaution for Supplemental Restraint System.

Click here

TROUBLESHOOTING PRECAUTIONS

(a) If a terminal contact point malfunction or part installation problem occurs, removal and reinstallation of the suspected part may return the system to normal. However, be aware that the normal condition may only be temporary.

(b) Before disconnecting connectors or removing/installing parts, determine the malfunctioning area by checking and writing down the vehicle condition at the time the malfunction occurred (DTC outputs etc.).

(c) Be sure to check for DTCs related to other systems. The lane departure alert system (w/ steering control) may be influenced by malfunctions in other systems.

HANDLING PRECAUTIONS

(a) When removing and installing ECUs, sensors, switches or other lane departure alert system (w/ steering control) related parts, perform the following:

Make sure that the engine switch is off unless otherwise specified in the inspection procedure.
After removal/installation, check for DTCs and confirm that a normal system code is output.

REPLACEMENT PRECAUTIONS

(a) DRIVING SUPPORT ECU ASSEMBLY:

(1) 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 it will not match the information from the vehicle and a DTC may be stored.

(b) MILLIMETER WAVE RADAR SENSOR ASSEMBLY:

(1) When replacing the millimeter wave radar sensor assembly, always replace it with a new one. When a new millimeter wave radar sensor assembly is installed to the vehicle, it receives vehicle information from the driving support ECU assembly and stores it. If a millimeter wave radar sensor assembly which was installed to another vehicle is used, the information stored in the driving support ECU assembly and millimeter wave radar sensor assembly will not match and a DTC may be stored.

(2) 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

(1) 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

(2) 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.

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

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

(d) WINDSHIELD GLASS:

(1) 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 lane departure alert system (w/ steering control) may not operate properly due to a difference in the transmissivity or black ceramic border.

(2) Do not attach stickers, including transparent stickers, or other items to the outer side of the windshield glass within the area in front of the forward recognition camera.

Problem Symptoms Table

PROBLEM SYMPTOMS TABLE

HINT:

If any of the following symptoms exist despite the normal system code being output when checking for CAN communication and lane departure alert system (w/ steering control) DTCs, check the suspected areas in the order they are listed.
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.
Inspect the fuses and relays related to this system before inspecting the suspected areas below.

Lane Departure Alert System (w/ Steering Control)

Symptom	Suspected Area	Link
Lane departure alert system (w/ steering control) does not operate	Steering pad switch circuit
	CAN communication system
	Driving support ECU assembly
	Forward recognition camera
The lane departure alert indicator does not illuminate even when the lane departure alert main switch is operated.	Indicator circuit
	Steering pad switch circuit
	CAN communication system
	Combination meter assembly
	Forward recognition camera
	Driving support ECU assembly
The lane departure alert indicator does not turn off even when the lane departure alert main switch is operated.	Indicator circuit
	Steering pad switch circuit
	CAN communication system
	Combination meter assembly
	Driving support ECU assembly
	Forward recognition camera
Lane departure alert system (w/ steering control) is not canceled even when turn signal light switch is operated	Data List/Active Test (Check turn signal switch signal)
	Turn signal switch circuit (w/ Cornering Light)
	Turn signal switch circuit (w/o Cornering Light)
	Forward recognition camera
Increase in cases that driver can see lane markers but system cannot detect lane markers	Windshield glass is dirty	-
	Forward recognition camera is dirty	-
	Headlight assemblies are dirty or worn	-
	Non-standard suspension is installed	-
	Non-standard tires are installed	-
	Non-Toyota genuine windshield glass is installed	-
	There is a foreign object or foreign matter between the windshield glass and forward recognition camera	-
	A sticker or similar item is attached to the area in front of the forward recognition camera	-
	Adjust forward recognition camera
	Forward recognition camera
Lane departure alert system (w/ steering control) is operating, but no operation condition is displayed on multi-information display in combination meter assembly	Data List/Active Test (Check the item LDA Control)
	Combination meter assembly
	Forward recognition camera
Buzzer does not sound even when vehicle deviates from its lane.	Combination meter assembly
	Forward recognition camera

Steering Pad Switch Circuit

DESCRIPTION

The driving support ECU assembly receives a lane departure alert switch signal from the steering pad switch assembly and sends the signal to the forward recognition camera via CAN communication.

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

The vehicle is equipped with a Supplemental Restraint System (SRS) which includes components such as airbags. Before servicing (including removal or installation of parts), be sure to read the precaution for Supplemental Restraint System.

Click here

PROCEDURE

1.	READ VALUE USING TECHSTREAM (CAN BUS CHECK)

(a) Connect the Techstream to the DLC3.

(b) Turn the engine 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 (HEALTH CHECK)

(a) Connect the Techstream to the DLC3.

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

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

(e) Check DTCs.

(f) Turn the engine switch off.

Result	Proceed to
No DTCs are output.	A
DTCs are output.	B

GO TO DTC CHART

3.	INSPECT STEERING PAD SWITCH ASSEMBLY

(a) Remove the steering pad switch assembly.

Click here

(b) Inspect the steering pad switch assembly.

Click here

REPLACE STEERING PAD SWITCH ASSEMBLY

4.	INSPECT SPIRAL CABLE SUB-ASSEMBLY

(a) Remove the spiral cable sub-assembly.

Click here

(b) Inspect the spiral cable sub-assembly.

Click here

REPLACE SPIRAL CABLE SUB-ASSEMBLY

5.	CHECK HARNESS AND CONNECTOR (SPIRAL CABLE SUB-ASSEMBLY - DRIVING SUPPORT ECU ASSEMBLY)

(a) Disconnect the G17 spiral cable sub-assembly connector.

(b) Disconnect the G39 driving support ECU assembly connector.

Standard Resistance (Check for Open):

Tester Connection	Condition	Specified Condition
G17-6 (DIST) - G39-23 (SPSW)	Always	Below 1 Ω
G17-2 (ECC) - Body ground	Always	Below 1 Ω

Standard Resistance (Check for Short):

Tester Connection	Condition	Specified Condition
G17-6 (DIST) or G39-23 (SPSW) - Body ground	Always	10 kΩ or higher

(d) Connect the G39 driving support ECU assembly connector.

(e) Connect the G17 spiral cable sub-assembly connector.

PROCEED TO NEXT SUSPECTED AREA SHOWN IN PROBLEM SYMPTOMS TABLE

REPAIR OR REPLACE HARNESS OR CONNECTOR

System Diagram

SYSTEM DIAGRAM

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	Engine switch on (IG)	11 to 14 V
O5-7 (IGB) - O5-10 (GND)	LA-P - LA	Power source	Engine switch off	Below 1 V
O5-10 (GND) - Body ground	LA - Body ground	Ground	Always	Below 1 Ω

(b) Check for pulses according to the value(s) in the table below.

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	Engine switch on (IG)	Pulse generation (See waveform 1)
O5-11 (CA1N) - O5-10 (GND)	W - LA	CAN communication signal	Engine switch on (IG)	Pulse generation (See waveform 2)
O5-6 (CANH) - O5-10 (GND)	G - LA	CAN communication signal	Engine switch on (IG)	Pulse generation (See waveform 1)
O5-12 (CANL) - O5-10 (GND)	W - LA	CAN communication signal	Engine 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

Engine 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

Engine switch on (IG)

HINT:

The waveform varies depending on the CAN communication signal.

CHECK DRIVING SUPPORT ECU ASSEMBLY

(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
G39-7 (B) - G39-28 (GND)	B - W-B	Power source	Engine switch on (IG)	11 to 14 V
G39-7 (B) - G39-28 (GND)	B - W-B	Power source	Engine switch off	Below 1 V
G39-23 (SPSW) - G39-28 (GND)	R - W-B	Steering pad switch signal (Lane departure alert main switch signal)	Engine switch off Lane departure alert main switch off	1 MΩ or higher
G39-23 (SPSW) - G39-28 (GND)	R - W-B		Engine switch off Lane departure alert main switch on	228 to 252 Ω
G39-28 (GND) - Body ground	W-B - Body ground	Ground	Always	Below 1 Ω

(b) Check for pulses according to the value(s) in the table below.

HINT:

If the waveform is not similar to that shown in the illustration, a malfunction of a CAN bus line, terminating resistor, or the driving support ECU assembly is suspected.

Terminal No. (Symbol)	Wiring Color	Terminal Description	Condition	Specified Condition
G39-8 (CA1P) - G39-28 (GND)	G - W-B	CAN communication signal	Engine switch on (IG)	Pulse generation (See waveform 1)
G39-9 (CA1N) - G39-28 (GND)	W - W-B	CAN communication signal	Engine switch on (IG)	Pulse generation (See waveform 2)
G39-10 (CA2H) - G39-28 (GND)	R - W-B	CAN communication signal	Engine switch on (IG)	Pulse generation (See waveform 1)
G39-11 (CA2L) - G39-28 (GND)	W - W-B	CAN communication signal	Engine switch on (IG)	Pulse generation (See waveform 2)

(1) WAVEFORM 1

Item

Content

Terminal Name

Between G39-8 (CA1P) - G39-28 (GND)

Between G39-10 (CA2H) - G39-28 (GND)

Tester Range

1 V/DIV., 10 μsec./DIV.

Condition

Engine switch on (IG)

HINT:

The waveform varies depending on the CAN communication signal.

(2) WAVEFORM 2

Item

Content

Terminal Name

Between G39-9 (CA1N) - G39-28 (GND)

Between G39-11 (CA2L) - G39-28 (GND)

Tester Range

1 V/DIV., 10 μsec./DIV.

Condition

Engine switch on (IG)

HINT:

The waveform varies depending on the CAN communication signal.

Lost Communication with Front Camera Module (U023A)

DESCRIPTION

When a communication error between the forward recognition camera and the power steering ECU (rack and pinion power steering gear assembly) is detected, the forward recognition camera notifies other ECUs and DTC U023A is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
U023A	Lost Communication with Front Camera Module	When the engine switch is on for 2 seconds or more, a communication malfunction between the forward recognition camera and the power steering ECU (rack and pinion power steering gear assembly) is detected for 5 seconds or more.	Power steering system 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.
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The lane departure alert system (w/ steering control) uses the CAN communication system. First, confirm that there are no malfunctions in the CAN communication system. Refer to How to Proceed with Troubleshooting.
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PROCEDURE

1.	CHECK FOR DTCs

HINT:

If DTC U023A is stored, the power steering system may be malfunctioning. Check for DTCs related to the power steering system first.

(a) Check for DTCs.

Chassis > EMPS > Trouble Codes

Result	Proceed to
Power steering system DTCs are not output	A
Power steering system DTCs are output	B

GO TO POWER STEERING SYSTEM

2.	CHECK FOR DTCs

(a) Clear the DTCs.

Chassis > LKA/LDA > 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 > LKA/LDA > Trouble Codes

Result	Proceed to
DTC U023A is not output	A
DTC U023A is output	B

USE SIMULATION METHOD TO CHECK

REPLACE FORWARD RECOGNITION CAMERA

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 engine 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.	Front camera system

PROCEDURE

1.	GO TO FRONT CAMERA SYSTEM (U0235)

HINT:

If DTC U0235 is output by the lane departure alert system (w/ steering control), perform troubleshooting for the front camera system.

Click here

END

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 engine 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.	Front camera system

PROCEDURE

1.	GO TO FRONT CAMERA SYSTEM (U1104)

HINT:

If DTC U1104 is output by the lane departure alert system (w/ steering control), perform troubleshooting for the front camera system.

Click here

END

Front Camera

Lane Departure Alert System (w/ Steering Control)(for Hv Model)

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