ROAD SIGN ASSIST SYSTEM, Diagnostic DTC:C1AA6

DTC Code DTC Name
C1AA6 Yaw Rate Sensor Zero Point Malfunction

SYSTEM DESCRIPTION

The brake actuator assembly (skid control ECU) receives vehicle stability signals from the airbag sensor assembly (yaw rate and acceleration sensor). If the brake actuator assembly (skid control ECU) 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. DTC Detection Condition Trouble Area
C1AA6 While driving with the road sign assist system activated, a yaw rate sensor zero point malfunction signal sent from the brake actuator assembly (skid control ECU) to the forward recognition camera is detected for 5 seconds or more.

  • Vehicle stability control system

  • Brake actuator assembly (skid control ECU)

  • Forward recognition camera

CAUTION / NOTICE / HINT

Note


  • 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 Recognition Camera/Target Position Memory and Recognition Camera Axis Adjust Click here.

  • 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.

PROCEDURE


  1. CHECK DTC OUTPUT (VEHICLE STABILITY CONTROL SYSTEM)


    1. Connect the GTS to the DLC3.

    2. Turn the engine switch on (IG).

    3. Turn the GTS on.

    4. Enter the following menus: Chassis / ABS/VSC/TRC / Trouble Codes.

    5. Check for DTCs Click here.

      Result
      Result Proceed to
      Vehicle stability control system DTCs are not output. A
      Vehicle stability control system DTCs are output. B

    6. Turn the engine switch off.


    B

    GO TO VEHICLE STABILITY CONTROL SYSTEM Click here

    A

  2. CHECK DTC OUTPUT (ROAD SIGN ASSIST SYSTEM)


    1. Connect the GTS to the DLC3.

    2. Turn the engine switch on (IG).

    3. Turn the GTS on.

    4. Enter the following menus: Chassis / Road Sign Assist / Trouble Codes.

    5. Clear the DTCs Click here.

    6. Make sure that the DTC detection conditions are met.

      Tech Tips

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

    7. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC C1AA6 is output. A
      DTC C1AA6 is not output. B

    8. Turn the engine switch off.


    B

    USE SIMULATION METHOD TO CHECK Click here

    A

  3. REPLACE FORWARD RECOGNITION CAMERA


    1. Replace the forward recognition camera Click here.

    2. Adjust the forward recognition camera Click here.


    NEXT

  4. CHECK DTC OUTPUT (ROAD SIGN ASSIST SYSTEM)


    1. Connect the GTS to the DLC3.

    2. Turn the engine switch on (IG).

    3. Turn the GTS on.

    4. Enter the following menus: Chassis / Road Sign Assist / Trouble Codes.

    5. Clear the DTCs Click here.

    6. Make sure that the DTC detection conditions are met.

      Tech Tips

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

    7. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC C1AA6 is output. A
      DTC C1AA6 is not output. B

    8. Turn the engine switch off.


    A

    REPLACE BRAKE ACTUATOR ASSEMBLY (SKID CONTROL ECU) Click here

    B

    END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)