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LANE CONTROL SYSTEM(for Stereo Camera Type), Diagnostic DTC:U023A87

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DTC Code DTC Name
U023A87 Lost Communication with Image Processing Module "A" Missing Message
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DESCRIPTION

The driving support ECU assembly communicates with the object recognition camera via CAN communication.

If there is a communication error with the object recognition camera, the driving support ECU assembly stores DTC U023A87.

DTC No. Detection Item DTC Detection Condition Trouble Area DTC Output from
U023A87 Lost Communication with Image Processing Module "A" Missing Message
  • Detection condition:

  • 2 seconds or more elapsed after power switch is on (IG)


  • Malfunction status:

  • A communication malfunction with the object recognition camera is detected


  • Malfunction duration:

  • 5 seconds or more

  • Local bus (Open or short)

  • Driving support ECU assembly

  • Object recognition camera

  • Driving support ECU assembly (Pre-Collision System)

  • Driving support ECU assembly (Driving Support Computer)

  • Driving support ECU assembly (Lane Control)
Table 1. *1 CAWP *2 CAWN *3 Object Recognition Camera *4 Driving Support ECU Assembly
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WIRING DIAGRAM

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CAUTION / NOTICE / HINT

Note:

  • 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 object recognition camera, always replace it with a new one. If a object recognition camera which was installed to another vehicle is used, the information stored in the object recognition camera will not match the information from the vehicle. As a result, a DTC may be stored.

  • If the object recognition camera has been replaced with a new one, be sure to perform object recognition camera adjustment.

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PROCEDURE


  1. Click here

    CHECK CAN BUS WIRE (DRIVING SUPPORT ECU ASSEMBLY MEIN WIRE)


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

    2. Disconnect the G67 driving support ECU assembly

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      G67-13 (CAWP) - G67-12 (CAWN) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω
      G67-13 (CAWP) - G20-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      G67-12 (CAWN) - G20-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      G67-13 (CAWP) - G20-16(BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      G67-12 (CAWN) - G20-16(BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      Result
      Proceed to
      OK
      NG

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    CHECK OBJECT RECOGNITION CAMERA


    1. Temporarily replace the object recognition camera with a new one.

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    2. Clear the DTCs.

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      1. Body Electrical > Driving Support Computer > Clear DTCs



      1. Body Electrical > Pre-Collision System > Clear DTCs



      1. Chassis > Lane Control > Clear DTCs


    3. Check for DTCs.

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      1. Body Electrical > Driving Support Computer > Trouble Codes



      1. Body Electrical > Pre-Collision System > Trouble Codes



      1. Chassis > Lane Control > Trouble Codes


      OK
      DTC U023A87 is not output.
      Result
      Proceed to
      OK
      NG

    • OK

      END (OBJECT RECOGNITION CAMERA IS DEFECTIVE)

    • NG

      REPLACE DRIVING SUPPORT ECU ASSEMBLYClick here

  3. Click here

    RECONNECT CONNECTOR


    1. Reconnect the G67 driving support ECU assembly

      Result
      Proceed to
      NEXT

  4. Click here

    CHECK CAN BUS WIRE (OBJECT RECOGNITION CAMERA MEIN WIRE)


    1. Disconnect the N5 object recognition camera

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      N5-8 (CA4P) - N5-9 (CA4N) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω
      N5-8 (CA4P) - G20-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      N5-9 (CA4N) - G20-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      N5-8 (CA4P) - G20-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      N5-9 (CA4N) - G20-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      Result
      Proceed to
      OK
      NG

    • OKClick here
    • NG

      REPAIR OR REPLACE CAN BUS MAIN WIRE OR CONNECTOR

  5. Click here

    CHECK OBJECT RECOGNITION CAMERA


    1. Temporarily replace the object recognition with a new one.

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    2. Clear the DTCs.

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      1. Body Electrical > Driving Support Computer > Clear DTCs



      1. Body Electrical > Pre-Collision System > Clear DTCs



      1. Chassis > Lane Control > Clear DTCs


    3. Check for DTCs.

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      1. Body Electrical > Driving Support Computer > Trouble Codes



      1. Body Electrical > Pre-Collision System > Trouble Codes



      1. Chassis > Lane Control > Trouble Codes


      OK
      DTC U023A87 is not output.
      Result
      Proceed to
      OK
      NG

    • OK

      END (OBJECT RECOGNITION CAMERA IS DEFECTIVE)

    • NG

      REPLACE DRIVING SUPPORT ECU ASSEMBLYClick here