LKA/LDA SYSTEM, Diagnostic DTC:C1AA4, C1AA5

DTC Code DTC Name
C1AA4 Yaw Rate Sensor Circuit
C1AA5 Yaw Rate Sensor Power Supply Voltage Circuit

DESCRIPTION

The forward recognition camera receives vehicle stability signals from the acceleration sensor (yaw rate sensor). If the acceleration sensor (yaw rate sensor) detects an abnormal acceleration sensor (yaw rate sensor) signal or acceleration sensor (yaw rate sensor) power supply voltage, it informs the forward recognition camera via CAN communication, and DTC C1AA4 or C1AA5 is stored.

DTC No. DTC Detection Condition Trouble Area
C1AA4 2 seconds after the power switch is turned on (IG), a signal from the acceleration sensor (yaw rate sensor) indicating a malfunction in the yaw rate sensor is detected by the forward recognition camera for 5 seconds or more.

  • Electronically controlled brake system

  • Acceleration sensor (yaw rate sensor)

  • Forward recognition camera
C1AA5 2 seconds after the power switch is turned on (IG), a signal from the acceleration sensor (yaw rate sensor) indicating an abnormal yaw rate sensor power supply voltage signal is detected by the forward recognition camera for 5 seconds or more.

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 C1AA4 or C1AA5 is output. A
      DTC C1AA4 and C1AA5 are 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 C1AA4 or C1AA5 is output. A
      DTC C1AA4 and C1AA5 are not output. B

    A

    END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)

    B

    REPLACE ACCELERATION SENSOR [YAW RATE SENSOR] Click here