LKA/LDA SYSTEM, Diagnostic DTC:C1A76

DTC Code DTC Name
C1A76 VGRS System Malfunction

DESCRIPTION

The forward recognition camera receives variable gear ratio steering system control signals from the VGRS ECU (front steering control ECU). If the forward recognition camera receives a malfunction signal from the variable gear ratio steering system, DTC C1A76 is stored.

DTC No. DTC Detection Condition Trouble Area
C1A76 2 seconds after the engine switch is turned on (IG), a malfunction signal from the VGRS ECU (front steering control ECU) is detected by the forward recognition camera for 5 seconds or more.

  • Variable gear ratio steering system

  • VGRS ECU (front steering control ECU)

  • 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 (VARIABLE GEAR RATIO STEERING SYSTEM)

    Tech Tips

    If DTC C1A76 is stored, the variable gear ratio steering system may be malfunctioning. Check for DTCs related to the variable gear ratio steering system first.


    1. Check for DTCs Click here.

      Result
      Result Proceed to
      Variable gear ratio steering system DTCs are not output A
      Variable gear ratio steering system DTCs are output B

    B

    GO TO VARIABLE GEAR RATIO STEERING 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 C1A76 is output A
      DTC C1A76 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 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 C1A76 is output A
      DTC C1A76 is not output B

    A

    REPLACE FRONT STEERING CONTROL ECU Click here

    B

    END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)