DYNAMIC RADAR CRUISE CONTROL SYSTEM, Diagnostic DTC:C1A11, C1A14

DTC Code DTC Name
C1A11 Front Radar Sensor Incorrect Axial Gap
C1A14 Front Radar Sensor Beam Axis Not Adjusted

DESCRIPTION

The driving support ECU assembly uses the millimeter wave radar sensor assembly to detect objects in front of the vehicle.

When it is determined that the vehicle is being driven in a straight line or on a gradual curve based on signals from the yaw rate and acceleration sensor, the millimeter wave radar sensor assembly performs self-diagnosis to check if the sensor beam axis has deviated. When the millimeter wave radar sensor assembly beam axis is misaligned, the driving support ECU assembly stores DTC C1A11.

After installing a new millimeter wave radar sensor assembly, if sensor beam axis adjustment is not performed, DTC C1A14 is stored.

DTC No. DTC Detection Condition Trouble Area
C1A11

    w/o Full-speed range following function:

  • When the vehicle is being driven at a speed of 36 km/h (22 mph) or more and the dynamic radar cruise control system is operating, misalignment of the millimeter wave radar sensor assembly is detected for approximately 0.3 seconds or more.


    w/ Full-speed range following function:

  • When the vehicle is being driven at a speed of 5 km/h (3 mph) or more and the dynamic radar cruise control system is operating, misalignment of the millimeter wave radar sensor assembly is detected for approximately 0.3 seconds or more.

  • Millimeter wave radar sensor assembly

  • Driving support ECU assembly

  • No. 1 millimeter wave radar sensor bracket
C1A14

    w/o Full-speed range following function:

  • When the vehicle is being driven at a speed of 36 km/h (22 mph) or more and the dynamic radar cruise control system is operating, incompletion of the millimeter wave radar sensor beam axis alignment is detected for approximately 0.3 seconds or more.


    w/ Full-speed range following function:

  • When the vehicle is being driven at a speed of 5 km/h (3 mph) or more and the dynamic radar cruise control system is operating, incompletion of the millimeter wave radar sensor beam axis alignment is detected for approximately 0.3 seconds or more.

  • Millimeter wave radar sensor assembly

  • Driving support ECU assembly

CAUTION / NOTICE / HINT

Note


  • When replacing the driving support ECU assembly, make sure to replace it with a new one. If a device 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, and as a result, a DTC may be stored.

  • When the millimeter wave radar sensor assembly is replaced with a new one, adjustment of the radar sensor beam axis must be performed Click here.

  • When replacing the millimeter wave radar sensor assembly, make sure to replace it with a new one. If a device 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, and as a result, a DTC may be stored.

  • First check the CAN communication system by following How to Proceed with Troubleshooting. After checking that there are no malfunctions in the CAN communication system, proceed with troubleshooting.


PROCEDURE


  1. CHECK FOR DTCs


    1. Check if the stored DTCs are current DTCs Click here.

      Result
      Result Proceed to
      Current DTC C1A11 is output A
      Current DTC C1A14 is output B
      History DTC C1A11 is output C

    B

    ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

    C

    CLEAR DTC Click here

    A

  2. CHECK VEHICLE CONDITION


    1. Check the operating conditions of the vehicle.

      Tech Tips

      DTC C1A11 may be stored if the millimeter wave radar sensor assembly beam axis is temporarily misaligned due to the vehicle being overloaded.

      Result
      Result Proceed to
      Vehicle is not overloaded or being towed A
      Vehicle is overloaded or being towed B

    B

    ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

    A

  3. CHECK WHEEL ALIGNMENT


    1. Check the front and rear wheel alignment (toe).


      Tech Tips

      DTC C1A11 may be stored if the millimeter wave radar sensor assembly beam axis is misaligned due to incorrect wheel alignment (toe).

      Result
      Result Proceed to
      Front or rear wheel is misaligned (toe) A
      Front and rear wheels are not misaligned (toe) B

    B

    CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

    A

  4. ADJUST WHEEL ALIGNMENT


    1. Adjust the alignment (toe) of the wheels



    NEXT

  5. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Perform millimeter wave radar sensor assembly adjustment Click here.


    NEXT

  6. CHECK FOR DTCs


    1. Clear the DTCs Click here.

    2. Make sure that the DTC detection conditions are met.

      Tech Tips

      If the following procedure is not performed, the previously output DTC cannot be detected.


      1. Turn the power switch on (IG).

      2. Turn the dynamic radar cruise control system on using the cruise control main switch (ON/OFF).

      3. w/ Full-speed range following function: Drive the vehicle at 5 km/h (3 mph) or more for 0.3 seconds or more.

        w/o Full-speed range following function: Drive the vehicle at 36 km/h (22 mph) or more for 0.3 seconds or more.

    3. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC C1A11 is not output A
      DTC C1A11 is output B

    A

    END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY WAS DEFECTIVE)

    B

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

  7. CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Check that the bracket of the millimeter wave radar sensor assembly is not deformed Click here.

      Result
      Result Proceed to
      Bracket is not deformed A
      No. 1 millimeter wave radar sensor bracket is deformed B
      The other bracket than No. 1 millimeter wave radar sensor bracket is deformed C

    B

    REPLACE NO. 1 MILLIMETER WAVE RADAR SENSOR BRACKET Click here

    C

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

    A

  8. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Perform millimeter wave radar sensor assembly adjustment Click here.


    NEXT

  9. CHECK FOR DTCs


    1. Clear the DTCs Click here.

    2. Make sure that the DTC detection conditions are met.

      Tech Tips

      If the following procedure is not performed, the previously output DTC cannot be detected.


      1. Turn the power switch on (IG).

      2. Turn the dynamic radar cruise control system on using the cruise control main switch (ON/OFF).

      3. w/ Full-speed range following function: Drive the vehicle at 5 km/h (3 mph) or more for 0.3 seconds or more.

        w/o Full-speed range following function: Drive the vehicle at 36 km/h (22 mph) or more for 0.3 seconds or more.

    3. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC C1A11 is not output A
      DTC C1A11 is output B

    A

    END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY WAS DEFECTIVE)

    B

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

  10. REPLACE NO. 1 MILLIMETER WAVE RADAR SENSOR BRACKET


    1. Replace the No. 1 millimeter wave radar sensor bracket with a new one Click here.

    2. Perform millimeter wave radar sensor assembly adjustment Click here.

    3. Clear the DTCs Click here.


    NEXT

    END (NO. 1 MILLIMETER WAVE RADAR SENSOR BRACKET WAS DEFECTIVE)

  11. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY

    Tech Tips


    • When the vehicle is overloaded or towing something, it may not be possible to perform beam axis adjustment of the millimeter wave radar sensor assembly.

    • Explain to the user that if the system is used while the vehicle is overloaded or towing something, DTCs may be output again.

    • The 2 conditions listed above do not indicate a malfunction of the millimeter wave radar sensor assembly.


    1. Return the vehicle to normal operating conditions.

    2. Perform millimeter wave radar sensor assembly adjustment Click here.

    3. Clear the DTCs Click here.


    NEXT

    END

  12. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Perform millimeter wave radar sensor assembly adjustment Click here.


    NEXT

  13. CHECK FOR DTCs


    1. Check for DTCs Click here.

    2. Make sure that the DTC detection conditions are met.

      Tech Tips

      If the following procedure is not performed, the previously output DTC cannot be detected.


      1. Turn the power switch on (IG).

      2. Turn the dynamic radar cruise control system on using the cruise control main switch (ON/OFF).

      3. w/ Full-speed range following function: Drive the vehicle at 5 km/h (3 mph) or more for 0.3 seconds or more.

        w/o Full-speed range following function: Drive the vehicle at 36 km/h (22 mph) or more for 0.3 seconds or more.

    3. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC C1A14 is not output A
      DTC C1A14 is output B

    A

    END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY WAS DEFECTIVE)

    B

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

  14. CLEAR DTC


    1. Check for DTCs related to misalignment of millimeter wave radar sensor assembly.

      Tech Tips

      If only history DTCs are stored, they may have stored due to a temporarily condition such as overloading of the vehicle, and the system returned to normal when beam axis learning was performed.

    2. Clear the DTCs Click here.


    NEXT

    END

  15. REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Replace the millimeter wave radar sensor assembly with a new one Click here.

    2. Perform millimeter wave radar sensor assembly adjustment Click here.


    NEXT

  16. CHECK FOR DTCs


    1. Clear the DTCs Click here.

    2. Make sure that the DTC detection conditions are met.

      Tech Tips

      If the following procedure is not performed, the previously output DTC cannot be detected.


      1. Turn the power switch on (IG).

      2. Turn the dynamic radar cruise control system on using the cruise control main switch (ON/OFF).

      3. w/ Full-speed range following function: Drive the vehicle at 5 km/h (3 mph) or more for 0.3 seconds or more.

        w/o Full-speed range following function: Drive the vehicle at 36 km/h (22 mph) or more for 0.3 seconds or more.

    3. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC C1A11 is not output A
      DTC C1A11 is output B

    A

    END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY WAS DEFECTIVE)

    B

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

  17. REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Replace the millimeter wave radar sensor assembly with a new one Click here.

    2. Perform millimeter wave radar sensor assembly adjustment Click here.


    NEXT

  18. CHECK FOR DTCs


    1. Clear the DTCs Click here.

    2. Make sure that the DTC detection conditions are met.

      Tech Tips

      If the following procedure is not performed, the previously output DTC cannot be detected.


      1. Turn the power switch on (IG).

      2. Turn the dynamic radar cruise control system on using the cruise control main switch (ON/OFF).

      3. w/ Full-speed range following function: Drive the vehicle at 5 km/h (3 mph) or more for 0.3 seconds or more.

        w/o Full-speed range following function: Drive the vehicle at 36 km/h (22 mph) or more for 0.3 seconds or more.

    3. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC C1A14 is not output A
      DTC C1A14 is output B

    A

    END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY WAS DEFECTIVE)

    B

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here