LKA/LDA SYSTEM, Diagnostic DTC:C1A71

DTC Code DTC Name
C1A71 Power Steering Control Torque

DESCRIPTION

If the power steering ECU assembly detects an abnormality in the steering torque requested by the forward recognition camera, the power steering ECU assembly sends a malfunction signal to the forward recognition camera, and DTC C1A71 is stored.

DTC No. DTC Detection Condition Trouble Area
C1A71 2 seconds after the power switch is turned on (IG), a malfunction signal from the power steering ECU assembly is detected by the forward recognition camera for 5 seconds or more.

  • Power steering system

  • Power steering 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 (POWER STEERING SYSTEM)


    1. Check for DTCs.


      Result
      Result Proceed to
      Power steering system DTCs are not output A
      Power steering system DTCs are output (for 2AR-FSE) B
      Power steering system DTCs are output (for 2GR-FXE) C

    B

    GO TO POWER STEERING SYSTEM Click here

    C

    GO TO POWER 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 C1A71 is output A
      DTC C1A71 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.

    3. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC C1A71 is output A
      DTC C1A71 is not output B

    A

    REPLACE POWER STEERING ECU ASSEMBLY Click here

    B

    END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)