LKA/LDA SYSTEM, Diagnostic DTC:U0235, U1104

DTC Code DTC Name
U0235 Lost Communication with Cruise Control Front Distance Range Sensor
U1104 Lost Communication with Driving Support ECU

DESCRIPTION

The forward recognition camera communicates with the driving support ECU assembly and millimeter wave radar sensor assembly via CAN communication. If there is a communication error with the driving support ECU assembly or millimeter wave radar sensor assembly, the forward recognition camera stores DTC U0235 or U1104.

DTC No. Detection Item DTC Detection Condition Trouble Area
U0235 Lost Communication with Cruise Control Front Distance Range Sensor 2 seconds after the power switch is turned on (IG), a communication error between the millimeter wave radar sensor assembly and the forward recognition camera is detected for approximately 5 seconds.

  • CAN communication system

  • Millimeter wave radar sensor assembly

  • Forward recognition camera
U1104 Lost Communication with Driving Support ECU 2 seconds after the power switch is turned on (IG), a communication error between the driving support ECU assembly and the forward recognition camera is detected for approximately 5 seconds.

  • CAN communication system

  • Driving support ECU assembly

  • Forward recognition camera

WIRING DIAGRAM

B004AZPE12

CAUTION / NOTICE / HINT

Note


  • Inspect the fuses for circuits related to this system before performing the following procedure.

  • When replacing the driving support ECU assembly, always replace it with a new one. If a driving support ECU assembly which was installed to another vehicle is used, the information stored in the driving support ECU assembly will not match the information from the vehicle. As a result, a DTC may be stored.

  • 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

  • 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

  • After turning the power switch off, waiting time may be required before disconnecting the cable from the negative (-) auxiliary battery terminal. Therefore, make sure to read the disconnecting the cable from the negative (-) auxiliary battery terminal notices before proceeding with work.

    Click here

PROCEDURE


  1. READ VALUE USING GTS (CAN BUS CHECK)


    1. Connect the GTS to the DLC3.

    2. Turn the power switch on (IG).

    3. Turn the GTS on.

    4. Enter the following menus: System Select / Can Bus Check.

      Click here


      CAN Bus Check
      Result
      Result Proceed to
      All of the ECUs and sensors that are currently connected to the CAN communication system are displayed A
      None of the ECUs and sensors that are currently connected to the CAN communication system are displayed, or some of them are not displayed B

    B

    GO TO CAN COMMUNICATION SYSTEM Click here

    A

  2. CHECK FOR DTCs (PRE-COLLISION SYSTEM)


    1. Check for DTCs.

      Click here


      Body Electrical > Pre-Collision 2 > Trouble Codes

      Tech Tips

      When pre-collision system DTC U1002 is output, check that the local bus is functioning normally by performing the diagnosis procedure for U1002.

      Result
      Result Proceed to
      DTC U1002 is not output A
      DTC U1002 is output B

    B

    GO TO PRE-COLLISION SYSTEM Click here

    A

  3. CHECK FOR SHORT IN CAN BUS LINE


    1. Turn the power switch off.

    2. Disconnect the cable from the negative (-) auxiliary battery terminal.

    3. B004CIDC88
      *a

      Front view of wire harness connector

      (to Forward Recognition Camera)

      Disconnect the a1 forward recognition camera connector.

    4. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      a1-6 (CANH) - a1-12 (CANL) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω

      Tech Tips

      If the result is not as specified, a malfunction in a CAN communication line is suspected.

    5. Connect the a1 forward recognition camera connector.

    6. Connect the cable from the negative (-) auxiliary battery terminal.

      Result
      Proceed to
      OK
      NG

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (CAN BUS LINE)

    OK

  4. CHECK FOR DTCs (LKA/LDA SYSTEM)


    1. Check for DTCs.

      Click here


      Chassis > LKA/LDA > Trouble Codes
      Result
      Result Proceed to
      DTC U0235 and U1104 are output A
      Only DTC U1104 is output B
      Only DTC U0235 is output C

    B

    CHECK POWER SOURCE CIRCUIT (DRIVING SUPPORT ECU ASSEMBLY) Click here

    C

    CHECK POWER SOURCE CIRCUIT (MILLIMETER WAVE RADAR SENSOR ASSEMBLY) Click here

    A

  5. CHECK POWER SOURCE CIRCUIT (DRIVING SUPPORT ECU ASSEMBLY)


    1. B004BPNC50
      *a

      Front view of wire harness connector

      (to Driving Support ECU Assembly)

      Disconnect the P62 driving support ECU assembly connector.

    2. Turn the power switch on (IG).

    3. Measure the voltage according to the value(s) in the table below.

      Standard Voltage
      Tester Connection Condition Specified Condition
      P62-7 (B) - Body ground Power switch on (IG) 11 to 14 V

    4. Turn the power switch off.

    5. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      P62-28 (GND) - Body ground Always Below 1 Ω

    6. Connect the P62 driving support ECU assembly connector.

      Result
      Proceed to
      OK
      NG

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

    OK

  6. CHECK POWER SOURCE CIRCUIT (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. B0049WQC13
      *a

      Front view of wire harness connector

      (to Millimeter Wave Radar Sensor Assembly)

      Disconnect the F1 millimeter wave radar sensor assembly connector.

    2. Turn the power switch on (IG).

    3. Measure the voltage according to the value(s) in the table below.

      Standard Voltage
      Tester Connection Condition Specified Condition
      F1-8 (IGB) - Body ground Power switch on (IG) 11 to 14 V

    4. Turn the power switch off.

    5. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      F1-1 (SGND) - Body ground Always Below 1 Ω

    6. Connect the F1 millimeter wave radar sensor assembly connector.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE FORWARD RECOGNITION CAMERA Click here

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

  7. CHECK POWER SOURCE CIRCUIT (DRIVING SUPPORT ECU ASSEMBLY)


    1. B004BPNC51
      *a

      Front view of wire harness connector

      (to Driving Support ECU Assembly)

      Disconnect the P62 driving support ECU assembly connector.

    2. Turn the power switch on (IG).

    3. Measure the voltage according to the value(s) in the table below.

      Standard Voltage
      Tester Connection Condition Specified Condition
      P62-7 (B) - Body ground Power switch on (IG) 11 to 14 V

    4. Turn the power switch off.

    5. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      P62-28 (GND) - Body ground Always Below 1 Ω

    6. Connect the P62 driving support ECU assembly connector.

      Result
      Proceed to
      OK
      NG

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

    OK

  8. REPLACE DRIVING SUPPORT ECU ASSEMBLY


    1. Replace the driving support ECU assembly.

      Click here

      Result
      Proceed to
      NEXT

    NEXT

  9. 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 U1104 is not output A
      DTC U1104 is output B

    A

    END (DRIVING SUPPORT ECU ASSEMBLY WAS DEFECTIVE)

    B

    REPLACE FORWARD RECOGNITION CAMERA Click here

  10. CHECK POWER SOURCE CIRCUIT (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. B0049WQC13
      *a

      Front view of wire harness connector

      (to Millimeter Wave Radar Sensor Assembly)

      Disconnect the F1 millimeter wave radar sensor assembly connector.

    2. Turn the power switch on (IG).

    3. Measure the voltage according to the value(s) in the table below.

      Standard Voltage
      Tester Connection Condition Specified Condition
      F1-8 (IGB) - Body ground Power switch on (IG) 11 to 14 V

    4. Turn the power switch off.

    5. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      F1-1 (SGND) - Body ground Always Below 1 Ω

    6. Connect the F1 millimeter wave radar sensor assembly connector.

      Result
      Proceed to
      OK
      NG

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

    OK

  11. REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Replace the millimeter wave radar sensor assembly.

      Click here

    2. Adjust the millimeter wave radar sensor assembly.

      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
      Result
      Result Proceed to
      DTC U1104 is not output A
      DTC U1104 is output B

    A

    END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY WAS DEFECTIVE)

    B

    REPLACE FORWARD RECOGNITION CAMERA Click here