LKA/LDA SYSTEM, Diagnostic DTC:C1A11, C1A14

DTC Code DTC Name
C1A11 Front Radar Sensor Incorrect Axial Gap
C1A14 Front Radar Sensor Beam Axis Not Adjusted

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 acceleration sensor (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.
  • Millimeter wave radar sensor assembly

  • Forward recognition camera

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 beam axis alignment is detected for approximately 5 seconds.
  • Millimeter wave radar sensor 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

  • 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 LKA/LDA system uses the CAN communication system. First, confirm that there are no malfunction in the CAN communication system. Refer to How to Proceed with Troubleshooting.

    for LHD:

    Click here

    for RHD:

    Click here

PROCEDURE


  1. CHECK FOR DTCs (LKA/LDA SYSTEM)


    1. Check for DTCs.

      Click here


      Chassis > LKA/LDA > Trouble Codes
      Result
      Result Proceed to
      Current DTC C1A11 is output A
      Current DTC C1A14 is output B
      History DTC C1A11 is output C

    B
    C
    A
  2. CHECK VEHICLE CONDITION


    1. Check the operating conditions of the vehicle.

      Tech Tips

      DTC C1A11 may be stored if the millimeter wave radar sensor assembly beam axis is temporarily misaligned due to the vehicle being overloaded.

      Result
      Result Proceed to
      Vehicle is not overloaded or has been towed. A
      Vehicle is overloaded or has been towed. B

    B
    A
  3. CHECK WHEEL ALIGNMENT


    1. Check the front and rear wheel alignment (toe).

      for Front: Click here

      for Rear: Click here

      Tech Tips

      DTC C1A11 may be stored if the millimeter wave radar sensor assembly beam axis is misaligned due to incorrect wheel alignment (toe).

      Result
      Result Proceed to
      Front or rear wheel is misaligned (toe) A
      Front and rear wheels are not misaligned (toe) B

    B
    A
  4. ADJUST WHEEL ALIGNMENT


    1. Adjust the alignment (toe) of the wheels.

      for Front: Click here

      for Rear: Click here

      Result
      Proceed to
      NEXT

    NEXT
  5. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Perform millimeter wave radar sensor assembly adjustment.

      Click here

      Result
      Proceed to
      NEXT

    NEXT
  6. CHECK FOR DTCs (LKA/LDA SYSTEM)


    1. Clear the DTCs.

      Click here


      Chassis > LKA/LDA > Clear DTCs
    2. Make sure that the DTC detection conditions are met.

      Tech Tips

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

    3. Check for DTCs.

      Click here


      Chassis > LKA/LDA > Trouble Codes

      Tech Tips

      After performing the radar sensor beam axis adjustment, if the same DTC is output again after the DTC detection conditions are met, replace the forward recognition camera.

      Result
      Result Proceed to
      DTC C1A11 is not output A
      DTC C1A11 is output B

    A
    B
  7. INSPECT MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Check that the bracket of the millimeter wave radar sensor assembly is not deformed.

      Tech Tips

      When the bracket is deformed, replace the millimeter wave radar sensor assembly.

      OK
      The bracket is not deformed.
      Result
      Proceed to
      OK
      NG

    OK
    NG
  8. REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Replace the millimeter wave radar sensor assembly.

      Click here

      Result
      Proceed to
      NEXT

    NEXT
  9. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Return the vehicle to normal operating conditions.

    2. Perform millimeter wave radar sensor assembly adjustment.

      Click here

      Result
      Proceed to
      NEXT

    NEXT
  10. CHECK FOR DTCs (LKA/LDA SYSTEM)


    1. Clear the DTCs.

      Click here


      Chassis > LKA/LDA > Clear DTCs
    2. Make sure that the DTC detection conditions are met.

      Tech Tips

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

    3. Check for DTCs.

      Click here


      Chassis > LKA/LDA > Trouble Codes
      Result
      Result Proceed to
      DTC C1A11 is not output A
      DTC C1A11 is output B

    A
    B
  11. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Perform millimeter wave radar sensor assembly adjustment.

      Click here

      Result
      Proceed to
      NEXT

    NEXT
  12. CHECK FOR DTCs (LKA/LDA SYSTEM)


    1. Clear the DTCs.

      Click here


      Chassis > LKA/LDA > Clear DTCs
    2. Make sure that the DTC detection conditions are met.

      Tech Tips

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

    3. Check for DTCs.

      Click here


      Chassis > LKA/LDA > Trouble Codes

      Tech Tips

      After performing the radar sensor beam axis adjustment, if the same DTC is output again after the DTC detection conditions are met, replace the forward recognition camera.

      Result
      Result Proceed to
      DTC C1A14 is not output A
      DTC C1A14 is output B

    A
    B
  13. CLEAR DTC (LKA/LDA SYSTEM)


    1. Check for DTCs related to misalignment of millimeter wave radar sensor assembly.

      Tech Tips

      If only history DTCs are stored, they may have stored due to a temporarily condition such as overloading of the vehicle, and the system returned to normal when beam axis learning was performed.

    2. Clear the DTCs.

      Click here


      Chassis > LKA/LDA > Clear DTCs
      Result
      Proceed to
      NEXT

    NEXT