LKA/LDA SYSTEM, Diagnostic DTC:U0235, U1104

DTC Code DTC Name
U0235 Lost Communication with Cruise Control Front Distance Range Sensor
U1104 Lost Communication with Driving Support ECU

DESCRIPTION

The forward recognition camera communicates with the driving support ECU assembly and millimeter wave radar sensor assembly via CAN communication. If there is a communication error with the driving support ECU assembly or millimeter wave radar sensor assembly, the forward recognition camera stores DTC U0235 or U1104.

DTC No. DTC Detection Condition Trouble Area
U0235 2 seconds after the power switch is turned on (IG), a communication error between the millimeter wave radar sensor assembly and the forward recognition camera is detected for approximately 5 seconds

  • CAN communication system

  • Millimeter wave radar sensor assembly

  • Forward recognition camera
U1104 2 seconds after the power switch is turned on (IG), a communication error between the driving support ECU assembly and the forward recognition camera is detected for approximately 5 seconds

  • CAN communication system

  • Driving support ECU assembly

  • Forward recognition camera

WIRING DIAGRAM

B002BQIE07

CAUTION / NOTICE / HINT

Note


  • Inspect the fuses for circuits related to this system before performing the following procedure.

  • When disconnecting the cable from the negative (-) auxiliary battery terminal, some systems need to be initialized after the cable is reconnected Click here.

  • When replacing the driving support ECU assembly, always replace it with a new one. If a driving support ECU assembly 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. 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.

  • 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.

PROCEDURE


  1. READ VALUE USING GTS (CAN BUS CHECK)


    1. Connect the GTS to the DLC3.

    2. Turn the power switch on (IG).

    3. Turn the GTS on.

    4. Enter the following menus: System Select / Can Bus Check.


      Result
      Result Proceed to
      All of the ECUs and sensors that are currently connected to the CAN communication system are displayed A
      None of the ECUs and sensors that are currently connected to the CAN communication system are displayed, or some of them are not displayed (for LHD) B
      None of the ECUs and sensors that are currently connected to the CAN communication system are displayed, or some of them are not displayed (for RHD) C

    B

    GO TO CAN COMMUNICATION SYSTEM Click here

    C

    GO TO CAN COMMUNICATION SYSTEM Click here

    A

  2. CHECK DTC OUTPUT (PRE-CRASH SAFETY SYSTEM)

    Tech Tips

    When pre-crash safety system DTC U1002 is output, check that the local bus is functioning normally by performing the diagnosis procedure for U1002.


    1. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC U1002 is not output A
      DTC U1002 is output B

    B

    GO TO PRE-CRASH SAFETY SYSTEM Click here

    A

  3. CHECK FOR SHORT IN SUB BUS LINE


    1. B002BKVE02
      Text in Illustration
      *a

      Front view of wire harness connector

      (to Forward Recognition Camera)

      Disconnect the forward recognition camera connector.

    2. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      Y17-6 (CANH) - Y17-12 (CANL) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (CAN BUS LINE)

    OK

  4. CHECK DTC OUTPUT (LKA/LDA SYSTEM)


    1. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC U0235 and U1104 are output A
      Only DTC U1104 is output B
      Only DTC U0235 is output C

    B

    CHECK POWER SOURCE CIRCUIT (DRIVING SUPPORT ECU ASSEMBLY) Click here

    C

    CHECK POWER SOURCE CIRCUIT (MILLIMETER WAVE RADAR SENSOR ASSEMBLY) Click here

    A

  5. CHECK POWER SOURCE CIRCUIT (DRIVING SUPPORT ECU ASSEMBLY)


    1. B002BMOE02
      Text in Illustration
      *a

      Front view of wire harness connector

      (to Driving Support ECU Assembly)

      Disconnect the driving support ECU assembly connector.

    2. Measure the voltage according to the value(s) in the table below.

      Standard Voltage
      Tester Connection Condition Specified Condition
      N173-7 (B) - Body ground Power switch on (IG) 11 to 14 V

    3. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      N173-28 (GND) - Body ground Always Below 1 Ω

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

    OK

  6. CHECK POWER SOURCE CIRCUIT (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. B002C0KE02
      Text in Illustration
      *a

      Front view of wire harness connector

      (to Millimeter Wave Radar Sensor Assembly)

      Disconnect the millimeter wave radar sensor assembly connector.

    2. Measure the voltage according to the value(s) in the table below.

      Standard Voltage
      Tester Connection Condition Specified Condition
      B17-8 (IGB) - Body ground Power switch on (IG) 11 to 14 V

    3. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      B17-1 (SGND) - Body ground Always Below 1 Ω

    OK

    REPLACE FORWARD RECOGNITION CAMERA Click here

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

  7. CHECK POWER SOURCE CIRCUIT (DRIVING SUPPORT ECU ASSEMBLY)


    1. B002BMOE02
      Text in Illustration
      *a

      Front view of wire harness connector

      (to Driving Support ECU Assembly)

      Disconnect the driving support ECU assembly connector.

    2. Measure the voltage according to the value(s) in the table below.

      Standard Voltage
      Tester Connection Condition Specified Condition
      N173-7 (B) - Body ground Power switch on (IG) 11 to 14 V

    3. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      N173-28 (GND) - Body ground Always Below 1 Ω

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

    OK

  8. REPLACE DRIVING SUPPORT ECU ASSEMBLY


    1. Replace the driving support ECU assembly Click here.


    NEXT

  9. 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 detection conditions are not met, the system cannot detect the malfunction.


      1. Turn the power switch on (IG) and wait 7 seconds or more.

    3. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC U1104 is not output A
      DTC U1104 is output B

    A

    END (DRIVING SUPPORT ECU ASSEMBLY WAS DEFECTIVE)

    B

    REPLACE FORWARD RECOGNITION CAMERA Click here

  10. CHECK POWER SOURCE CIRCUIT (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. B002C0KE02
      Text in Illustration
      *a

      Front view of wire harness connector

      (to Millimeter Wave Radar Sensor Assembly)

      Disconnect the millimeter wave radar sensor assembly connector.

    2. Measure the voltage according to the value(s) in the table below.

      Standard Voltage
      Tester Connection Condition Specified Condition
      B17-8 (IGB) - Body ground Power switch on (IG) 11 to 14 V

    3. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      B17-1 (SGND) - Body ground Always Below 1 Ω

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

    OK

  11. REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Replace the millimeter wave radar sensor assembly Click here.

    2. Adjust the millimeter wave radar sensor assembly Click here.


    NEXT

  12. 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 detection conditions are not met, the system cannot detect the malfunction.


      1. Turn the power switch on (IG) and wait 7 seconds or more.

    3. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC U0235 is not output A
      DTC U0235 is output B

    A

    END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY WAS DEFECTIVE)

    B

    REPLACE FORWARD RECOGNITION CAMERA Click here