LANE-KEEPING ASSIST SYSTEM, Diagnostic DTC:C1A6A

DTC Code DTC Name
C1A6A Infrared Signal Circuit

DESCRIPTION

w/ Emergency Call Switch:

If a headlight assembly illumination malfunction or automatic light sensor signal malfunction is detected, or the near infrared light signal input from the headlight assembly indicates an open circuit, a signal is sent to the driving support ECU and DTC C1A6A is output.

DTC Code DTC Detection Condition Trouble Area
C1A6A

When one of the following conditions is met while the engine switch is on (IG):


  • An automatic light control sensor signal malfunction continues for 3 seconds or more.

  • An automatic light control sensor communication stop malfunction occurs.

  • A headlight assembly combination signal malfunction continues for 10 seconds or more.

  • A light failure indicator sensor open circuit between body ground continues for 30 seconds or more.

  • The wire harness between the object recognition ECU and headlight assembly has an open or short circuit for 30 seconds or more.

  • The type of infrared ray light that is learned is incorrect.

  • Lighting system

  • CAN communication system

  • Harness or connector

  • Headlight unit

  • Object recognition ECU

  • Multiplex network front light ECU

Note

After replacing the object recognition ECU, if the headlight assembly is not connected when the engine switch is turned on (IG), the ECU records the wrong headlight type and outputs DTC C1A6A.

w/o Emergency Call Switch:

If a headlight assembly illumination malfunction or automatic light sensor signal malfunction is detected, or the near infrared ray filter position signal or low beam signal input from the headlight assembly indicates an open circuit, a signal is sent to the driving support ECU and DTC C1A6A is output.

DTC Code DTC Detection Condition Trouble Area
C1A6A

When one of the following conditions is met while the engine switch is on (IG):


  • An automatic light control sensor signal malfunction continues for 3 seconds or more.

  • An automatic light control sensor communication stop malfunction occurs.

  • A headlight assembly combination signal malfunction continues for 10 seconds or more.

  • A communication malfunction with the headlight swivel ECU assembly continues for 2.1 seconds or more.

  • An headlight swivel ECU assembly communication stop malfunction occurs.

  • There is a mismatch in the near infrared ray filter operation signal and position information for 0.5 seconds or more.

  • While the near infrared ray filter is operating, a filter misalignment occurs, and even when an operation signal is sent 4 times or more within 2.8 seconds, the malfunction condition occurs.

  • The headlight (low beam) has an open circuit for 30 seconds or more.

  • A light failure indicator sensor open circuit between body ground continues for 30 seconds or more.

  • The wire harness between the object recognition ECU and headlight assembly has an open or short circuit for 30 seconds or more.

  • The type of infrared ray light that is learned is incorrect.

  • Lighting system

  • CAN communication system

  • Harness or connector

  • Headlight shade ECU*

  • Light retractor control relay

  • Headlight unit

  • Object recognition ECU

WIRING DIAGRAM

A01GJ9OE06
A01GK13E01
A01GISFE01

INSPECTION PROCEDURE

Note

Inspect the fuses and bulbs for circuits related to this system before performing the following inspection procedure.

PROCEDURE


  1. CHECK LIGHTING SYSTEM


    1. Check if the lighting system is malfunctioning Click here.

      OK
      No malfunctions are present in the lighting system.

    NG

    GO TO LIGHTING SYSTEM Click here

    OK

  2. CHECK CAN COMMUNICATION SYSTEM


    1. Use the Techstream to check if the CAN communication system is functioning normally.


      OK
      CAN communication DTCs are not output.
      Result
      Result Proceed to
      OK A
      NG (for LHD) B
      NG (for RHD) C

    B

    GO TO CAN COMMUNICATION SYSTEM Click here

    C

    GO TO CAN COMMUNICATION SYSTEM Click here

    A

  3. CHECK VEHICLE TYPE


    1. Check vehicle type.

      Result
      Result Proceed to
      w/ Emergency Call Switch A
      w/o Emergency Call Switch B

    B

    CHECK OBJECT RECOGNITION ECU Click here

    A

  4. PERFORM ACTIVE TEST USING INTELLIGENT TESTER


    1. Select the Active Test, use the intelligent tester to generate a control command, and then check that the near infrared ray emitter operates Click here.

      Pre-Crash 2
      Tester Display Test Part Control Range Diagnostic Note
      Infrared Signal Status Near infrared ray emitter operates ON/OFF -
      OK
      A blurred light is emitted.

    NG

    CHECK HARNESS AND CONNECTOR (HEADLIGHT ASSEMBLY - MULTIPLEX NETWORK FRONT LIGHT ECU AND BODY GROUND) Click here

    OK

  5. CHECK OBJECT RECOGNITION ECU


    1. A01GJA2E24

      Using the intelligent tester, enter the following menus: Body / Lane Keep / Active Test Click here.

    2. Select "Infrared Signal Status", and perform the Active Test.

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

      Standard Voltage
      Tester Connection Condition Specified Condition
      g1-11 (IRFP) - Body ground

      • Engine switch on (IG)

      • Active Test is performed

      		 Battery voltage x 0.3 to battery voltage x 0.6 V

    NG

    CHECK HARNESS AND CONNECTOR (HEADLIGHT ASSEMBLY - BATTERY AND BODY GROUND) Click here

    OK

  6. CHECK OBJECT RECOGNITION ECU


    1. A01GJA2E26

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

      Standard Voltage
      for LH
      Tester Connection Switch Condition Specified Condition
      g1-7 (IRL) - Body ground Engine switch on (IG) 11 to 14 V
      for RH
      Tester Connection Switch Condition Specified Condition
      g1-3 (IRR) - Body ground Engine switch on (IG) 11 to 14 V

    NG

    CHECK HARNESS AND CONNECTOR (HEADLIGHT ASSEMBLY - OBJECT RECOGNITION ECU AND BATTERY) Click here

    OK

    REPLACE OBJECT RECOGNITION ECU Click here

  7. CHECK HARNESS AND CONNECTOR (HEADLIGHT ASSEMBLY - OBJECT RECOGNITION ECU AND BATTERY)


    1. A01GJGLE01

      Disconnect the B1*1 and/or B11*2 headlight connector.


      • *1: for LH

      • *2: for RH

    2. Disconnect the g1 object recognition ECU connector.

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

      Standard Voltage
      for LH
      Tester Connection Switch Condition Specified Condition
      B1-4 (SOL) - Body ground Engine switch on (IG) 11 to 14 V
      for RH
      Tester Connection Switch Condition Specified Condition
      B11-4 (SOL) - Body ground Engine switch on (IG) 11 to 14 V

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

      Standard Resistance
      for LH
      Tester Connection Condition Specified Condition
      B1-6 (IRFL) - g1-7 (IRL) Always Below 1 Ω
      B1-6 (IRFL) or g1-7 (IRL) - Body ground Always 10 kΩ or higher
      for RH
      Tester Connection Condition Specified Condition
      B11-6 (IRFR) - g1-3 (IRR) Always Below 1 Ω
      B11-6 (IRFR) or g1-3 (IRR) - Body ground Always 10 kΩ or higher
      Result
      Result Proceed to
      OK (for LH) A
      OK (for RH) B
      NG C

    B

    REPLACE HEADLIGHT UNIT RH Click here

    C

    REPAIR OR REPLACE HARNESS OR CONNECTOR

    A

    REPLACE HEADLIGHT UNIT LH Click here

  8. CHECK HARNESS AND CONNECTOR (HEADLIGHT ASSEMBLY - BATTERY AND BODY GROUND)


    1. A01GNE6E38

      Disconnect the B1*1 and/or B11*2 headlight connector.


      • *1: for LH

      • *2: for RH

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

      Standard Voltage
      for LH
      Tester Connection Switch Condition Specified Condition
      B1-15 (IGED) - Body ground Engine switch on (IG) 11 to 14 V
      for RH
      Tester Connection Switch Condition Specified Condition
      B11-15 (IGED) - Body ground Engine switch on (IG) 11 to 14 V

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR

    OK

  9. CHECK HARNESS AND CONNECTOR (HEADLIGHT ASSEMBLY - OBJECT RECOGNITION ECU)


    1. A01GJGLE02

      Disconnect the B1*1 and/or B11*2 headlight connector.


      • *1: for LH

      • *2: for RH

    2. Disconnect the g1 object recognition ECU connector.

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

      Standard Resistance
      for LH
      Tester Connection Condition Specified Condition
      B1-19 (IRL) - g1-11 (IRFP) Always Below 1 Ω
      B1-19 (IRL) or g1-11 (IRFP) - Body ground Always 10 kΩ or higher
      for RH
      Tester Connection Condition Specified Condition
      B11-19 (IRR) - g1-11 (IRFP) Always Below 1 Ω
      B11-19 (IRR) or g1-11 (IRFP) - Body ground Always 10 kΩ or higher
      Result
      Result Proceed to
      OK (for LH) A
      OK (for RH) B
      NG C

    B

    REPLACE HEADLIGHT UNIT RH Click here

    C

    REPAIR OR REPLACE HARNESS OR CONNECTOR

    A

    REPLACE HEADLIGHT UNIT LH Click here

  10. CHECK HARNESS AND CONNECTOR (HEADLIGHT ASSEMBLY - MULTIPLEX NETWORK FRONT LIGHT ECU AND BODY GROUND)


    1. A01GHNGE06

      Disconnect the B1*1 and/or B11*2 headlight connector.


      • *1: for LH

      • *2: for RH

    2. Disconnect the B14 multiplex network front light ECU connector.

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

      Standard Resistance
      for LH
      Tester Connection Condition Specified Condition
      B1-2 (HI) - B14-6 (HLHL) Always Below 1 Ω
      B1-1 (E) - Body ground Always Below 1 Ω
      B1-2 (HI) or B14-6 (HLHL) - Body ground Always 10 kΩ or higher
      for RH
      Tester Connection Condition Specified Condition
      B11-2 (HI) - B14-5 (HLHR) Always Below 1 Ω
      B11-1 (E) - Body ground Always Below 1 Ω
      B11-2 (HI) or B14-5 (HLHR) - Body ground Always 10 kΩ or higher

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR

    OK

  11. CHECK MULTIPLEX NETWORK FRONT LIGHT ECU


    1. Temporarily replace the multiplex network front light ECU with a new or normally functioning one.

    2. Enter the following menus: Body / Lane Keep / DTC Click here.

    3. Select "Clear" and clear the data.

    4. Recheck for DTC Click here.

      Result
      Result Proceed to
      DTC C1A6A is not output A
      DTC C1A6A is output (for LH) B
      DTC C1A6A is output (for RH) C

    B

    REPLACE HEADLIGHT UNIT LH Click here

    C

    REPLACE HEADLIGHT UNIT RH Click here

    A

    END (MULTIPLEX NETWORK FRONT LIGHT ECU IS DEFECTIVE)

  12. CHECK OBJECT RECOGNITION ECU


    1. A01GJA2E27

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

      Standard Voltage
      for LH
      Tester Connection Condition Specified Condition
      g1-7 (IRL) - Body ground Vehicle stopped Below 1 V
      for RH
      Tester Connection Condition Specified Condition
      g1-3 (IRR) - Body ground Vehicle stopped Below 1 V

    NG

    CHECK HARNESS AND CONNECTOR (HEADLIGHT ASSEMBLY - OBJECT RECOGNITION ECU) Click here

    OK

  13. PERFORM ACTIVE TEST USING INTELLIGENT TESTER


    1. Select the Active Test, use the intelligent tester to generate a control command, and then check that the near infrared ray emitter operates Click here.

      Pre-Crash 2
      Tester Display Test Part Control Range Diagnostic Note
      Infrared Signal Status Near infrared ray emitter operates ON/OFF -
      OK
      A blurred light is emitted.

    NG

    CHECK HARNESS AND CONNECTOR (HEADLIGHT ASSEMBLY - OBJECT RECOGNITION ECU) Click here

    OK

  14. CHECK OBJECT RECOGNITION ECU


    1. A01GJA2E24

      Using the intelligent tester, enter the following menus: Body / Lane Keep / Active Test Click here.

    2. Select "Infrared Signal Status", and perform the Active Test.

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

      Standard Voltage
      Tester Connection Condition Specified Condition
      g1-11 (IRFP) - Body ground

      • Engine switch on (IG)

      • Active Test is performed

      		 Battery voltage x 0.3 to battery voltage x 0.6 V

    NG

    CHECK HARNESS AND CONNECTOR (HEADLIGHT ASSEMBLY - BATTERY AND BODY GROUND) Click here

    OK

    REPLACE OBJECT RECOGNITION ECU Click here

  15. CHECK HARNESS AND CONNECTOR (HEADLIGHT ASSEMBLY - OBJECT RECOGNITION ECU)


    1. A01GJGLE03

      Disconnect the B1*1 and/or B11*2 headlight connector.


      • *1: for LH

      • *2: for RH

    2. Disconnect the g1 object recognition ECU connector.

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

      Standard Resistance
      for LH
      Tester Connection Condition Specified Condition
      B1-6 (IRFL) - g1-7 (IRL) Always Below 1 Ω
      B1-6 (IRFL) or g1-7 (IRL) - Body ground Always 10 kΩ or higher
      for RH
      Tester Connection Condition Specified Condition
      B11-6 (IRFR) - g1-3 (IRR) Always Below 1 Ω
      B11-6 (IRFR) or g1-3 (IRR) - Body ground Always 10 kΩ or higher

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR

    OK

  16. CHECK OBJECT RECOGNITION ECU


    1. Check the waveform of the television camera assembly using an oscilloscope.

      A01GJBCE01
      Item Item Content
      Terminal No. (Symbol) g1-9 (IRDV) - Body ground
      Tool Setting 5 V/DIV., 10 ms/DIV.
      Condition Vehicle stopped
      OK
      Waveform is as shown in the illustration.
      Result
      Result Proceed to
      OK A
      NG (for LH) B
      NG (for RH) C

    B

    REPLACE HEADLIGHT UNIT LH Click here

    C

    REPLACE HEADLIGHT UNIT RH Click here

    A

    REPLACE OBJECT RECOGNITION ECU Click here

  17. CHECK HARNESS AND CONNECTOR (HEADLIGHT ASSEMBLY - BATTERY AND BODY GROUND)


    1. A01GNE6E39

      Disconnect the B1*1 and/or B11*2 headlight connector.


      • *1: for LH

      • *2: for RH

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

      Standard Voltage
      for LH
      Tester Connection Switch Condition Specified Condition
      B1-15 (IGED) - Body ground Engine switch on (IG) 11 to 14 V
      for RH
      Tester Connection Switch Condition Specified Condition
      B11-15 (IGED) - Body ground Engine switch on (IG) 11 to 14 V

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

      Standard Resistance
      for LH
      Tester Connection Condition Specified Condition
      B1-16 (E) - Body ground Always Below 1 Ω
      for RH
      Tester Connection Condition Specified Condition
      B11-16 (E) - Body ground Always Below 1 Ω

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR

    OK

  18. CHECK HARNESS AND CONNECTOR (HEADLIGHT ASSEMBLY - OBJECT RECOGNITION ECU)


    1. A01GJGLE02

      Disconnect the B1*1 and/or B11*2 headlight connector.


      • *1: for LH

      • *2: for RH

    2. Disconnect the g1 object recognition ECU connector.

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

      Standard Resistance
      for LH
      Tester Connection Condition Specified Condition
      B1-19 (IRL) - g1-11 (IRFP) Always Below 1 Ω
      B1-19 (IRL) or g1-11 (IRFP) - Body ground Always 10 kΩ or higher
      for RH
      Tester Connection Condition Specified Condition
      B11-19 (IRR) - g1-11 (IRFP) Always Below 1 Ω
      B11-19 (IRR) or g1-11 (IRFP) - Body ground Always 10 kΩ or higher
      Result
      Result Proceed to
      OK (w/ Adaptive High Beam System) A
      OK (for LH [w/o Adaptive High Beam System]) B
      OK (for RH [w/o Adaptive High Beam System]) C
      NG D

    B

    REPLACE HEADLIGHT UNIT LH Click here

    C

    REPLACE HEADLIGHT UNIT RH Click here

    D

    REPAIR OR REPLACE HARNESS OR CONNECTOR

    A

  19. CHECK HEADLIGHT SHADE ECU


    1. Temporarily replace the headlight shade ECU with a new or normally functioning one.

    2. Enter the following menus: Body / Lane Keep / DTC Click here.

    3. Select "Clear" and clear the data.

    4. Recheck for DTC Click here.

      Result
      Result Proceed to
      DTC C1A6A is not output A
      DTC C1A6A is output (for LH) B
      DTC C1A6A is output (for RH) C

    B

    REPLACE HEADLIGHT UNIT LH Click here

    C

    REPLACE HEADLIGHT UNIT RH Click here

    A

    END (HEADLIGHT SHADE ECU IS DEFECTIVE)

  20. CHECK HARNESS AND CONNECTOR (HEADLIGHT ASSEMBLY - OBJECT RECOGNITION ECU)


    1. A01GJGLE04

      Disconnect the B1*1 and/or B11*2 headlight connector.


      • *1: for LH

      • *2: for RH

    2. Disconnect the g1 object recognition ECU connector.

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

      Standard Resistance
      for LH
      Tester Connection Condition Specified Condition
      B1-5 (IRLY) - g1-9 (IRDV) Always Below 1 Ω
      B1-5 (IRLY) or g1-9 (IRDV) - Body ground Always 10 kΩ or higher
      for RH
      Tester Connection Condition Specified Condition
      B11-5 (IRLY) - g1-9 (IRDV) Always Below 1 Ω
      B11-5 (IRLY) or g1-9 (IRDV) - Body ground Always 10 kΩ or higher

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR

    OK

  21. CHECK HARNESS AND CONNECTOR (HEADLIGHT ASSEMBLY - BATTERY AND BODY GROUND)


    1. A01GNE6E40

      Disconnect the B1*1 and/or B11*2 headlight connector.


      • *1: for LH

      • *2: for RH

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

      Standard Voltage
      for LH
      Tester Connection Switch Condition Specified Condition
      B1-4 (SOL) - Body ground Engine switch on (IG) 11 to 14 V
      for RH
      Tester Connection Switch Condition Specified Condition
      B11-4 (SOL) - Body ground Engine switch on (IG) 11 to 14 V

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

      Standard Resistance
      for LH
      Tester Connection Condition Specified Condition
      B1-11 (E) - Body ground Always Below 1 Ω
      for RH
      Tester Connection Condition Specified Condition
      B11-11 (E) - Body ground Always Below 1 Ω

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR

    OK

  22. CHECK LIGHT RETRACTOR CONTROL RELAY


    1. Temporarily replace the light retractor control relay with a new or normally functioning one.

    2. Clear the DTCs Click here.

    3. Recheck for DTC Click here.

      OK
      DTC C1A6A is not output.

    NG

    CHECK OBJECT RECOGNITION ECU Click here

    OK

    END (LIGHT RETRACTOR CONTROL RELAY IS DEFECTIVE)

  23. CHECK OBJECT RECOGNITION ECU


    1. Temporarily replace the headlight shade ECU with a new or normally functioning one.

    2. Clear the DTCs Click here.

    3. Recheck for DTC Click here.

      Result
      Result Proceed to
      DTC C1A6A is not output A
      DTC C1A6A is output (for LH) B
      DTC C1A6A is output (for RH) C

    B

    REPLACE HEADLIGHT UNIT LH Click here

    C

    REPLACE HEADLIGHT UNIT RH Click here

    A

    END (OBJECT RECOGNITION ECU IS DEFECTIVE)