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PRE-COLLISION SYSTEM(for Stereo Camera Type), Diagnostic DTC:U023587

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DTC Code DTC Name
U023587 Lost Communication with Cruise Control Front Distance Range Sensor Missing Message
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DESCRIPTION

The driving support ECU assembly communicates with the blind spot monitor sensor LH and front side radar sensor LH via CAN communication. If there is a communication error with the millimeter wave radar sensor assembly, the driving support ECU assembly stores DTC U023587.

If there is a communication error with the blind spot monitor sensor LH, the driving support ECU assembly stores DTC U023287.

If there is a communication error with the front side radar sensor LH, the driving support ECU assembly stores DTC U123687.

DTC No. Detection Item DTC Detection Condition Trouble Area DTC Output from
U023587 Lost Communication with Cruise Control Front Distance Range Sensor Missing Message
  • Detection condition:

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


  • Malfunction status:

  • A communication malfunction with the millimeter wave radar sensor assembly is detected


  • Malfunction duration:

  • 5 seconds or more

  • Local bus (Open or short)

  • Headlight ECU sub-assembly LH

  • Driving support ECU assembly

  • Object recognition camera

  • Millimeter wave radar sensor assembly

  • Driving support ECU assembly (Pre-collision system)

  • Driving support ECU assembly (Driving support computer)
Pattern

DTC output part name

(Display on GTS)

 Suspected Area (Malfunction Status)

Driving Support ECU Assembly

(Driving Support Computer)

Millimeter Wave Radar Sensor Assembly

(Front Radar Sensor)

Object Recognition Camera

(Front Recognition Camera)

Object Recognition Camera

(Front Recognition Camera(Front Light Control))
U023587 U010487 U110487 U023587
Pattern 1 ○ ○ ○ ○ Local bus (Open or short)
Headlight ECU sub-assembly LH (Internal malfunction)
Driving support ECU assembly (Internal malfunction)
Object recognition camera (Internal malfunction)
Millimeter wave radar sensor assembly (Internal malfunction)
Pattern 2 ○ ○ ○ - Driving support ECU assembly (Internal malfunction)
Driving support ECU assembly (Local bus open)
Pattern 3 ○ ○ - ○ Millimeter wave radar sensor assembly (Internal malfunction)
Pattern 4 ○ - - ○ Millimeter wave radar sensor assembly (Internal malfunction)
Pattern 5 ○ - - - Driving support ECU assembly (Internal malfunction)
○: DTC is output. -: DTC is not output
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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 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.

  • If the millimeter wave radar sensor assembly has been replaced with a new one, adjustment of the radar sensor beam axis must be performed.

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  • 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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  • If the headlight ECU sub-assembly LH has been replaced, it is necessary to synchronize the vehicle information and initialize the headlight ECU sub-assembly LH.

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PROCEDURE


  1. Click here

    CHECK FOR DTC


    1. Check for DTCs.

      Click here


      1. Body Electrical > Driving Support Computer > Trouble Codes



      1. Body Electrical > Front Radar Sensor > Trouble Codes



      1. Chassis > Front Recognition Camera > Trouble Codes



      1. Body Electrical > Front Recognition Camera (Front Lighting Control) > Trouble Codes


      Pattern Display on GTS / Ouput DTC
      Driving Support ECU Assembly Front Radar Sensor Front Recognition Camera Front Recognition Camera (Front Light Control)
      Pattern 1 U023587 U010487 U110487 U023587
      Pattern 2 U023587 U010487 U110487 -
      Pattern 3 U023587 U010487 - U023587
      Pattern 4 U023587 - - U023587
      Pattern 5 U023587 - - -
      Result
      Result Proceed to
      Pattern 1 A
      Pattern 2 B
      Pattern 3 C
      Pattern 4 D
      Pattern 5 E

  2. Click here

    CHECK HEADLIGHT ECU SUB-ASSEMBLY LH


    1. Disconnect the A31 headlight ECU sub-assembly LH connector.

    2. Clear the DTCs.

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      1. Body Electrical > Driving Support Computer > Clear DTCs


    3. Check for DTCs.

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      1. Body Electrical > Driving Support Computer > Trouble Codes


      OK
      DTC U023587 is not output.
      Result
      Proceed to
      OK
      NG

  3. Click here

    CHECK DRIVING SUPPORT ECU ASSEMBLY


    1. Disconnect the G67 driving support ECU assembly connector.

    2. Clear the DTCs.

      Click here


      1. Body Electrical > Front Recognition Camera (Front Lighting Control) > Clear DTCs


    3. Check for DTCs.

      Click here


      1. Body Electrical > Front Recognition Camera (Front Lighting Control) > Trouble Codes


      OK
      DTC U023587 is not output.
      Result
      Proceed to
      OK
      NG

  4. Click here

    CHECK CAN BUS WIRE (NO. 6 CAN JUNCTION CONNECTOR)


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

    2. Disconnect the L128 No. 6 CAN junction connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition Connected to
      G128-7 - G128-1 Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω Millimeter wave radar sensor assembly
      G128-7 - G20-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      G128-1 - G20-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      G128-7 - G20-16(BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      G128-1 - G20-16(BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      G128-8 - G128-2 Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher Headlight ECU sub-assembly LH
      G128-8 - G20-4(CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      G128-2 - G20-4(CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      G128-8 - G20-16(BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      G128-2 - G20-16(BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      G128-9 - G128-3 Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω Object recognition camera
      G128-9 - G20-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      G128-3 - G20-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      G128-9 - G20-16(BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      G128-3 - G20-16(BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      G128-10 - G128-4 Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher Driving support ECU assembly
      G128-10 - G20-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      G128-4 - G20-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      G128-10 - G20-16(BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      G128-4 - G20-16(BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      Result
      Result Proceed to
      OK A
      NG (Connected to millimeter wave radar sensor assembly) B
      NG (Connected to headlight ECU sub-assembly LH) C
      NG (Connected to object recognition camera) D
      NG (Connected to driving support ECU assembly) E

  5. Click here

    RECONNECT CONNECTOR


    1. Reconnect the L128 CAN No. 6 junction connector.

      Result
      Proceed to
      NEXT

  6. Click here

    CHECK CAN BUS WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY MEIN WIRE)


    1. Disconnect the C6 Millimeter wave radar sensor assembly

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      C6-5 (CA1P) - C6-6 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132Ω
      C6-5 (CA1P) - G20-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      C6-6 (CA1N) - G20-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      C6-5 (CA1P) - G20-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6k Ω or higher
      C6-6 (CA1N) - G20-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6k Ω or higher
      Result
      Proceed to
      OK
      NG

    • OK

      REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLYClick here

    • NG

      REPLACE CAN BUS MAIN WIRE OR CONNECTOR

  7. Click here

    RECONNECT CONNECTOR


    1. Reconnect the L128 CAN No. 6 junction connector.

      Result
      Proceed to
      NEXT

  8. Click here

    CHECK CAN BUS WIRE (HEADLIGHT ECU SUB-ASSEMBLY LH BRANCH WIRE)


    1. Disconnect the A31 headlight ECU sub-assembly

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      A31-22(LCH) - A31-21(LCL) Cable disconnected from negative (-) auxiliary battery terminal 54 to 69Ω
      A31-22(LCH) - G20-4(CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      A31-21(LCL) - G20-4(CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      A31-22(LCH) - G20-16(BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      A31-21(LCL) - G20-16(BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      Result
      Proceed to
      OK
      NG

    • OK

      REPLACE HEADLAMP ECU SUB-ASSEMBLY LHClick here

    • NG

      REPLACE CAN BUS BRANCH WIRE OR CONNECTOR

  9. Click here

    RECONNECT CONNECTOR


    1. Reconnect the L128 CAN No. 6 junction connector.

      Result
      Proceed to
      NEXT

  10. 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
      N5-6 (CANH) - N5-12 (CANL) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω
      N5-6 (CANH) - G20-4(CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      N5-12 (CANL) - G20-4(CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      N5-6 (CANH) - G20-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      N5-12 (CANL) - G20-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      Result
      Proceed to
      OK
      NG

    • OK

      REPLACE OBJECT RECOGNITION CAMERAClick here

    • NG

      REPLACE CAN BUS MAIN WIRE OR CONNECTOR

  11. Click here

    RECONNECT CONNECTOR


    1. Reconnect the L128 CAN No. 6 junction connector.

      Result
      Proceed to
      NEXT

  12. Click here

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


    1. Disconnect the G67 driving support ECU assembly

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      G67-17 (CA1P) - G67-16 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal 54 to 69 Ω
      G67-17 (CA1P) - G20-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      G67-16 (CA1N) - G20-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      G67-17 (CA1P) - G20-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      G67-16 (CA1N) - G20-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      Result
      Proceed to
      OK
      NG

    • OK

      REPLACE DRIVING SUPPORT ECU ASSEMBLYClick here

    • NG

      REPLACE CAN BUS BRANCH WIRE OR CONNECTOR

  13. Click here

    CHECK CAN BUS WIRE (DRIVING SUPPORT ECU ASSEMBLY BRANCH 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
      G67-17 (CA1P) - G67-16 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal 54 to 69 Ω
      Result
      Proceed to
      OK
      NG

    • OK

      REPLACE DRIVING SUPPORT ECU ASSEMBLYClick here

    • NG

      REPLACE CAN BUS BRANCH WIRE OR CONNECTOR