LKA/LDA SYSTEM, Diagnostic DTC:C1A73

DTC Code DTC Name
C1A73 Driving Support ECU Receive Data Malfunction

DESCRIPTION

If a communication error between the driving support ECU assembly and another ECU is detected, DTC C1A73 is stored.

DTC No. DTC Detection Condition Trouble Area
C1A73 When the power switch is on (IG) for 2 seconds or more, a communication malfunction between the forward recognition camera and the driving support ECU assembly is detected for 5 seconds or more.

  • CAN communication system

  • Forward recognition camera

  • Driving support ECU assembly

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.

  • 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.

  • 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 (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 C1A73 is output A
      DTC C1A73 is not output B

    B

    USE SIMULATION METHOD TO CHECK Click here

    A

  2. REPLACE DRIVING SUPPORT ECU ASSEMBLY


    1. Replace the driving support ECU assembly Click here.


    NEXT

  3. 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 C1A73 is output A
      DTC C1A73 is not output B

    A

    REPLACE FORWARD RECOGNITION CAMERA Click here

    B

    END (DRIVING SUPPORT ECU ASSEMBLY WAS DEFECTIVE)