LKA/LDA SYSTEM TERMINALS OF ECU

CHECK FORWARD RECOGNITION CAMERA

1. Disconnect the a1 forward recognition camera connector.

   Note

   
   

   • DTCs may be output when connectors are disconnected during inspection. Therefore, be sure to clear the DTCs using the GTS once the inspection has been completed.

   • Do not apply excessive force to the a1 forward recognition camera connector.

2. Measure the voltage and resistance according to the value(s) in the table below.

   Tech Tips

   If the result is not as specified, there may be a malfunction on the wire harness side.

   Terminal No. (Symbol)	Wiring Color	Terminal Description	Condition	Specified Condition
   a1-7 (IGB) - Body ground	LA-B - Body ground	Power source	Power switch on (IG)	11 to 14 V
   			Power switch off	Below 1 V
   a1-10 (GND) - Body ground	W-B - Body ground	Ground	Always	Below 1 Ω

3. Reconnect the a1 forward recognition camera connector.

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

   Terminal No. (Symbol)	Wiring Color	Terminal Description	Condition	Specified Condition
   a1-5 (CA1P) - a1-10 (GND)	R - W-B	CAN communication signal	Power switch on (IG)	Pulse generation (See waveform 1)
   a1-11 (CA1N) - a1-10 (GND)	P - W-B	CAN communication signal	Power switch on (IG)	Pulse generation (See waveform 2)
   a1-6 (CANH) - a1-10 (GND)	W - W-B	CAN communication signal	Power switch on (IG)	Pulse generation (See waveform 1)
   a1-12 (CANL) - a1-10 (GND)	R - W-B	CAN communication signal	Power switch on (IG)	Pulse generation (See waveform 2)

5. WAVEFORM 1

   
   
   1. 

      *a	1 V/DIV.
      *b	10 μsec./DIV.

      CAN communication signal

      Item	Content
      Terminal Name	Between a1-5 (CA1P) and a1-10 (GND) Between a1-6 (CANH) and a1-10 (GND)
      Tester Range	1 V/DIV., 10 μsec./DIV.
      Condition	Power switch on (IG)

      Tech Tips

      The waveform varies depending on the CAN communication signal.

6. WAVEFORM 2

   
   
   1. 

      *a	1 V/DIV.
      *b	10 μsec./DIV.

      CAN communication signal

      Item	Content
      Terminal Name	Between a1-11 (CA1N) and a1-10 (GND) Between a1-12 (CANL) and a1-10 (GND)
      Tester Range	1 V/DIV., 10 μsec./DIV.
      Condition	Power switch on (IG)

      Tech Tips

      The waveform varies depending on the CAN communication signal.

CHECK DRIVING SUPPORT ECU ASSEMBLY

1. Measure the voltage and resistance according to the value(s) in the table below.

   Tech Tips

   If the result is not as specified, there may be a malfunction on the wire harness side.

   Terminal No. (Symbol)	Wiring Color	Terminal Description	Condition	Specified Condition
   P62-7 (B) - P62-28 (GND)	LA-V - W-B	Power source	Power switch on (IG)	11 to 14 V
   			Power switch off	Below 1 V
   P62-23 (SPSW) - P62-28 (GND)	Y - W-B	Steering pad switch signal (LKA/LDA main switch signal)	Power switch off LKA/LDA main switch (steering pad switch assembly) off	1 MΩ or higher
   			Power switch off LKA/LDA main switch (steering pad switch assembly) on	228 to 252 Ω
   P62-28 (GND) - Body ground	W-B - Body ground	Ground	Always	Below 1 Ω

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

   Terminal No. (Symbol)	Wiring Color	Terminal Description	Condition	Specified Condition
   P62-8 (CA1P) - P62-28 (GND)	L - W-B	CAN communication signal	Power switch on (IG)	Pulse generation (See waveform 1)
   P62-9 (CA1N) - P62-28 (GND)	W - W-B	CAN communication signal	Power switch on (IG)	Pulse generation (See waveform 2)
   P62-10 (CA2H) - P62-28 (GND)	R - W-B	CAN communication signal	Power switch on (IG)	Pulse generation (See waveform 1)
   P62-11 (CA2L) - P62-28 (GND)	W - W-B	CAN communication signal	Power switch on (IG)	Pulse generation (See waveform 2)

3. WAVEFORM 1

   
   
   1. 

      *a	1 V/DIV.
      *b	10 μsec./DIV.

      CAN communication signal

      Item	Content
      Terminal Name	Between P62-8 (CA1P) - P62-28 (GND) Between P62-10 (CA2H) - P62-28 (GND)
      Tester Range	1 V/DIV., 10 μsec./DIV.
      Condition	Power switch on (IG)

      Tech Tips

      The waveform varies depending on the CAN communication signal.

4. WAVEFORM 2

   
   
   1. 

      *a	1 V/DIV.
      *b	10 μsec./DIV.

      CAN communication signal

      Item	Content
      Terminal Name	Between P62-9 (CA1N) - P62-28 (GND) Between P62-11 (CA2L) - P62-28 (GND)
      Tester Range	1 V/DIV., 10 μsec./DIV.
      Condition	Power switch on (IG)

      Tech Tips

      The waveform varies depending on the CAN communication signal.