LANE DEPARTURE ALERT SYSTEM(w/ Steering Control), Diagnostic DTC:C1AA4, C1AA5

DTC Code DTC Name
C1AA4 Yaw Rate Sensor Circuit
C1AA5 Yaw Rate Sensor Power Supply Voltage Circuit

DESCRIPTION

The forward recognition camera receives vehicle stability signals from the yaw rate and acceleration sensor (yaw rate sensor). If the yaw rate and acceleration sensor (yaw rate sensor) 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 engine switch is turned on (IG), the vehicle speed is 1 km/h or more and a signal from the yaw rate and acceleration sensor (yaw rate sensor) indicating a malfunction in the yaw rate and acceleration sensor (yaw rate sensor) is detected by the forward recognition camera for 5 seconds or more.

  • Vehicle stability control system

  • Yaw rate and acceleration sensor (yaw rate sensor)

  • Forward recognition camera
C1AA5 Yaw Rate Sensor Power Supply Voltage Circuit 2 seconds after the engine switch is turned on (IG), the vehicle speed is 1 km/h or more and a signal from the yaw rate and acceleration sensor (yaw rate sensor) indicating an abnormal yaw rate sensor power supply voltage signal is detected by the forward recognition camera for 5 seconds or more.

  • Vehicle stability control system

  • Yaw rate and acceleration sensor (yaw rate sensor)

  • 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 the yaw rate and acceleration sensor (yaw rate sensor) is malfunctioning, DTCs for the vehicle stability control system will be stored. Troubleshoot the vehicle stability control 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 C1AA4 or C1AA5 is output A
      DTC C1AA4 and C1AA5 are 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 C1AA4 or C1AA5 is output A
      DTC C1AA4 and C1AA5 are not output B

    A

    REPLACE YAW RATE AND ACCELERATION SENSOR (YAW RATE SENSOR) Click here

    B

    END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)