PRE-CRASH SAFETY SYSTEM, Diagnostic DTC:C1A22, C1A23, C1A25

DTC Code DTC Name
C1A22 Object Recognition Camera Incorrect Axial Gap
C1A23 Object Recognition Camera Initialization Incomplete
C1A25 Object Recognition Camera Recognizing Distance Discrepancy

DESCRIPTION

When it has been determined that the beam axis of the object recognition camera has deviated, DTC C1A22 is stored.

After installing a new object recognition camera, if camera beam axis adjustment is not performed, DTC C1A23 is stored.

When the distance from an object detected by the left and right camera greatly differs from the distance detected by the millimeter wave radar sensor assembly, DTC C1A25 is stored.

DTC Code DTC Detection Condition Trouble Area
C1A22

  1. Vehicle 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

  2. Deviation in beam axis of object recognition camera detected

  3. 1 second

  • Object recognition camera

  • Object recognition ECU

  • Driving support ECU
C1A23

  1. Vehicle condition for each system:


    • Pre-crash system:


      • Vehicle is being driven at speed of approximately 10 km/h (6 mph)


    • 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

  2. Object recognition camera has not been adjusted

  3. 5 seconds

  • Object recognition camera

  • Object recognition ECU

  • Driving support ECU
C1A25

  1. Vehicle 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

  2. Distance from object detected by object recognition camera greatly differs from distance detected by front millimeter wave radar sensor assembly

  3. 1 second

  • Object recognition camera

  • Object recognition ECU

  • Driving support ECU

INSPECTION PROCEDURE

PROCEDURE


  1. ADJUST OBJECT RECOGNITION CAMERA


    1. Adjust the object recognition camera Click here.


    NEXT

  2. CHECK FOR DTC


    1. Clear DTCs Click here.

    2. Make sure the following conditions are met:

      Tech Tips

      If the detection conditions are not met, the system cannot detect malfunctions.


      • Pre-crash system:

        The power switch ON (IG) (for DTC C1A23, the vehicle needs to be driven at a speed 10 km/h (6 mph) or more).

      • 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
      DTCs C1A22, C1A23 and C1A25 are not output.

    NG

    REPLACE OBJECT RECOGNITION CAMERA Click here

    OK

    END

  3. REPLACE OBJECT RECOGNITION CAMERA


    1. Replace the object recognition camera Click here.


    NEXT

  4. ADJUST OBJECT RECOGNITION CAMERA


    1. Adjust the object recognition camera Click here.


    NEXT

  5. CHECK FOR DTC


    1. Clear DTCs Click here.

    2. Make sure the following conditions are met:

      Tech Tips

      If the detection conditions are not met, the system cannot detect malfunctions.


      • Pre-crash system:

        The power switch ON (IG) (for DTC C1A23, the vehicle needs to be driven at a speed 10 km/h (6 mph) or more).

      • 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
      DTCs C1A22, C1A23 and C1A25 are not output.

    NG

    REPLACE OBJECT RECOGNITION ECU Click here

    OK

    END (OBJECT RECOGNITION CAMERA IS DEFECTIVE)

  6. REPLACE OBJECT RECOGNITION ECU


    1. Replace the object recognition ECU Click here.


    NEXT

  7. ADJUST OBJECT RECOGNITION CAMERA


    1. Adjust the object recognition camera Click here.


    NEXT

  8. CHECK FOR DTC


    1. Clear DTCs Click here.

    2. Make sure the following conditions are met:

      Tech Tips

      If the detection conditions are not met, the system cannot detect malfunctions.


      • Pre-crash system:

        The power switch ON (IG) (for DTC C1A23, the vehicle needs to be driven at a speed 10 km/h (6 mph) or more).

      • 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
      DTCs C1A22, C1A23 and C1A25 are 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 (OBJECT RECOGNITION ECU IS DEFECTIVE)