C1A20

DTC Code	DTC Name
C1A20	Object Recognition ECU

DESCRIPTION

This DTC is stored when the driving support ECU receives information that the object recognition ECU has an internal malfunction.

DTC Code	DTC Detection Condition	Trouble Area
C1A20	Diagnosis condition for each system: Pre-crash system: Power switch ON (IG) Radar cruise control system: Vehicle is being driven at speed of approximately 50 km/h (31 mph) or more and distance control switch is on Lane keeping assist system: Vehicle is being driven at speed of approximately 50 km/h (31 mph) or more and lane keeping assist main switch is on Driving support ECU detects problem with object recognition ECU transmission signal	Object recognition ECU Driving support ECU

INSPECTION PROCEDURE

PROCEDURE

REPLACE OBJECT RECOGNITION ECU
1. Replace the object recognition ECU Click here.
NEXT
ADJUST OBJECT RECOGNITION CAMERA
1. Adjust the object recognition camera Click here.
NEXT
CHECK FOR DTC
1. Clear DTCs Click here.
2. Make sure the following conditions are met:
  - Pre-crash system:
    
    The power switch ON (IG).
  - Radar cruise control system:
    
    The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the distance control switch is on.
  - Lane keeping assist system:
    
    The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the lane keeping assist main switch is on.
3. Check for DTCs.
  
  OK
  
  DTC C1A20 is not output.
  
  Note
  
  When replacing the driving support ECU, always replace it with a new one and be sure to perform initialization Click here. If an ECU which was installed to another vehicle is used, the information stored in the ECU will not match the information from the vehicle, and as a result, a DTC may be stored.
NG
REPLACE DRIVING SUPPORT ECU Click here

OK

END

PRE-CRASH SAFETY SYSTEM, Diagnostic DTC:C1A20