LANE-KEEPING ASSIST SYSTEM, Diagnostic DTC:C1A6A

DTC Code DTC Name
C1A6A Infrared Signal Circuit

DESCRIPTION



WIRING DIAGRAM

A001EV5E06
A001F1IE01
A001DQWE01

CAUTION / NOTICE / HINT

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
    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
    C
    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
    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
    OK
  5. CHECK OBJECT RECOGNITION ECU


    1. A001A54E01
      *1 Component with harness connected: (Object Recognition ECU)
      *2 IRFP

      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
    OK
  6. CHECK OBJECT RECOGNITION ECU


    1. A001DPUE01

      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

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


    1. A001DSEE01

      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

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


    1. A0019WWE01

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


    1. A001BRBE01

      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

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


    1. A001AVAE01

      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
    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

    A
    B
    C
  12. CHECK OBJECT RECOGNITION ECU


    1. A001B72E01

      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
    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
    OK
  14. CHECK OBJECT RECOGNITION ECU


    1. A001A54E01
      *1 Component with harness connected: (Object Recognition ECU)
      *2 IRFP

      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

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


    1. A00196QE01

      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
    OK
  16. CHECK OBJECT RECOGNITION ECU


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

      A001FYWE01
      *1 Component with harness connected: (Object Recognition ECU)
      *2 When near-infrared ray filter is operating:
      *3 When near-infrared ray filter being held in position:
      *4 IRDV
      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

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


    1. A0019E9E01

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


    1. A001BRBE01

      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
    C
    D
    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

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


    1. A001B6ME01

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


    1. A0019DIE01

      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
    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.

    OK
    NG
  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

    A
    B
    C