LKA/LDA SYSTEM, Diagnostic DTC:C1AA6

DTC Code DTC Name
C1AA6 Yaw Rate Sensor Zero Point Malfunction

DESCRIPTION

The skid control ECU assembly receives vehicle stability signals from the acceleration sensor (yaw rate sensor). If the skid control ECU assembly detects a yaw rate sensor zero point malfunction signal, it informs the forward recognition camera via CAN communication, and DTC C1AA6 is stored.

DTC No. DTC Detection Condition Trouble Area
C1AA6 2 seconds after the power switch is turned on (IG), a signal from the skid control ECU assembly indicating a malfunction in the yaw rate sensor zero point is detected by the forward recognition camera for 5 seconds or more.

  • Electronically controlled brake system

  • Skid control ECU assembly

  • Forward recognition camera

CAUTION / NOTICE / HINT

Note


  • When replacing the forward recognition camera, always replace it with a new one. If a forward recognition camera which was installed to another vehicle is used, the information stored in the forward recognition camera will not match the information from the vehicle. As a result, a DTC may be stored.

  • If the forward recognition camera has been replaced with a new one, be sure to perform forward recognition camera learning Click here.

  • 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 DTC OUTPUT (ELECTRONICALLY CONTROLLED BRAKE SYSTEM)

    Tech Tips

    If the acceleration sensor (yaw rate sensor) is malfunctioning, DTCs for the electronically controlled brake system will be stored. Troubleshoot the electronically controlled brake system first.


    1. Check for DTCs Click here.

      Result
      Result Proceed to
      Electronically controlled brake system DTCs are not output. A
      Electronically controlled brake system DTCs are output. B

    B

    GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM Click here

    A

  2. CHECK DTC OUTPUT (LKA/LDA SYSTEM)


    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) and wait 7 seconds or more.

    3. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC C1AA6 is output A
      DTC C1AA6 is not output B

    B

    USE SIMULATION METHOD TO CHECK Click here

    A

  3. REPLACE FORWARD RECOGNITION CAMERA


    1. Replace the forward recognition camera Click here.

    2. Adjust the forward recognition camera Click here.


    NEXT

  4. CHECK DTC OUTPUT (LKA/LDA SYSTEM)


    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) and wait 7 seconds or more.

    3. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC C1AA6 is not output A
      DTC C1AA6 is output B

    A

    END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)

    B

    REPLACE SKID CONTROL ECU ASSEMBLY Click here