LANE DEPARTURE ALERT SYSTEM(w/ Steering Control), Diagnostic DTC:C1AA6

DTC Code DTC Name
C1AA6 Yaw Rate Sensor Zero Point Malfunction

DESCRIPTION

The skid control ECU (brake actuator assembly) receives vehicle stability signals from the yaw rate and acceleration sensor (yaw rate sensor). 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 2 seconds after the engine switch is turned on (IG), the vehicle speed is 1 km/h or more and a signal from the brake actuator assembly (skid control ECU) indicating a malfunction in the yaw rate sensor zero point is detected by the forward recognition camera for 5 seconds or more.

  • Vehicle stability control system

  • Skid control ECU (Brake actuator assembly)

  • 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 forward recognition camera learning.

    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)

    Tech Tips

    If DTC C1AA6 is stored, the VSC system may be malfunctioning. Check for DTCs related to the VSC system first.


    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


      Chassis > ABS/VSC/TRC > Trouble Codes
      Result
      Result Proceed to
      Vehicle stability control system DTCs are not output A
      Vehicle stability control system DTCs are output B

    B

    GO TO VEHICLE STABILITY CONTROL SYSTEM Click here

    A

  2. CHECK DTC OUTPUT (LANE DEPARTURE ALERT SYSTEM (w/ Steering Control))


    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 / LKA/LDA / Trouble Codes.

    5. Clear the DTCs.

      Click here


      Chassis > LKA/LDA > Clear DTCs

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

      Tech Tips

      If the following procedure is not performed, the previously output DTC cannot be detected.


      1. Turn the engine switch on (IG) and wait 7 seconds or more.

      2. Drive the vehicle at 1 km/h (0.6 mph) or more.

    7. Check for DTCs.

      Click here


      Chassis > LKA/LDA > Trouble Codes
      Result
      Result Proceed to
      DTC C1AA6 is output A
      DTC C1AA6 is not output B

    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

      Result
      Proceed to
      NEXT

    NEXT

  4. CHECK DTC OUTPUT (LANE DEPARTURE ALERT SYSTEM (w/ Steering Control))


    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 / LKA/LDA / Trouble Codes.

    5. Clear the DTCs.

      Click here


      Chassis > LKA/LDA > Clear DTCs

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

      Tech Tips

      If the following procedure is not performed, the previously output DTC cannot be detected.


      1. Turn the engine switch on (IG) and wait 7 seconds or more.

      2. Drive the vehicle at 1 km/h (0.6 mph) or more.

    7. Check for DTCs.

      Click here


      Chassis > LKA/LDA > Trouble Codes
      Result
      Result Proceed to
      DTC C1AA6 is output (for LHD) A
      DTC C1AA6 is output (for RHD) B
      DTC C1AA6 is not output C

    A

    REPLACE SKID CONTROL ECU (BRAKE ACTUATOR ASSEMBLY) Click here

    B

    REPLACE SKID CONTROL ECU (BRAKE ACTUATOR ASSEMBLY) Click here

    C

    END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)