LKA/LDA SYSTEM, Diagnostic DTC:C1A11, C1A14

DTC Code DTC Name
C1A11 Front Radar Sensor Incorrect Axial Gap
C1A14 Front Radar Sensor Beam Axis Not Adjusted

DESCRIPTION

The forward recognition camera uses the millimeter wave radar sensor assembly to detect obstacles in front of the vehicle.

When the vehicle is determined to be driving in a straight line or on a gradual curve based on signals from the acceleration sensor (yaw rate sensor) etc., the millimeter wave radar sensor assembly performs self diagnosis to check if the sensor beam axis has deviated from the vehicle movement direction. When the millimeter wave radar sensor assembly beam axis has deviated, the forward recognition camera detects this, and stores DTC C1A11.

After installing a new millimeter wave radar sensor assembly, if sensor beam axis adjustment is not performed, DTC C1A14 is stored.

DTC No. DTC Detection Condition Trouble Area
C1A11 2 seconds after the power switch is turned on (IG), misalignment of the millimeter wave radar sensor assembly is detected for 5 seconds or more.

  • Millimeter wave radar sensor assembly

  • Forward recognition camera

  • No. 1 millimeter wave radar sensor bracket
C1A14 2 seconds after the power switch is turned on (IG), incompletion of the millimeter wave radar sensor assembly beam axis alignment is detected for 5 seconds or more.

  • Millimeter wave radar sensor 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.

  • 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.

  • 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. Check if the stored DTCs are current DTCs Click here.

      Result
      Result Proceed to
      Current DTC C1A11 is output A
      Current DTC C1A14 is output B
      History DTC C1A11 is output C

    B

    ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

    C

    CLEAR DTC Click here

    A

  2. CHECK VEHICLE CONDITION


    1. Check the operating conditions of the vehicle.

      Tech Tips

      DTC C1A11 may be stored if the millimeter wave radar sensor assembly beam axis is temporarily misaligned due to the vehicle being overloaded.

      Result
      Result Proceed to
      Vehicle is not overloaded or being towed A
      Vehicle is overloaded or being towed B

    B

    ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

    A

  3. CHECK WHEEL ALIGNMENT


    1. Check the front and rear wheel alignment (toe).


      Tech Tips

      DTC C1A11 may be stored if the millimeter wave radar sensor assembly beam axis is misaligned due to incorrect wheel alignment (toe).

      Result
      Result Proceed to
      Front or rear wheel is misaligned (toe) A
      Front and rear wheels are not misaligned (toe) B

    B

    CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

    A

  4. ADJUST WHEEL ALIGNMENT


    1. Adjust the alignment (toe) of the wheels.



    NEXT

  5. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Perform millimeter wave radar sensor assembly adjustment Click here.


    NEXT

  6. CHECK DTC OUTPUT (LKA/LDA SYSTEM)


    1. Connect the GTS to the DLC3.

    2. Turn the power switch on (IG).

    3. Turn the GTS on.

    4. Enter the following menus: Chassis / LKA/LDA / Trouble Codes.

    5. Clear the DTCs Click here.

    6. 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.

    7. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC C1A11 is not output A
      DTC C1A11 is output B

    A

    END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY WAS DEFECTIVE)

    B

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

  7. CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Check that the bracket of the millimeter wave radar sensor assembly is not deformed Click here.

      Result
      Result Proceed to
      Bracket is not deformed A
      No. 1 millimeter wave radar sensor bracket is deformed B
      The other bracket than No. 1 millimeter wave radar sensor bracket is deformed C

    B

    REPLACE NO. 1 MILLIMETER WAVE RADAR SENSOR BRACKET Click here

    C

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

    A

  8. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Perform millimeter wave radar sensor assembly adjustment Click here.


    NEXT

  9. CHECK DTC OUTPUT (LKA/LDA SYSTEM)


    1. Connect the GTS to the DLC3.

    2. Turn the power switch on (IG).

    3. Turn the GTS on.

    4. Enter the following menus: Chassis / LKA/LDA / Trouble Codes.

    5. Clear the DTCs Click here.

    6. 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.

    7. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC C1A11 is not output A
      DTC C1A11 is output B

    A

    END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY WAS DEFECTIVE)

    B

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

  10. REPLACE NO. 1 MILLIMETER WAVE RADAR SENSOR BRACKET


    1. Replace the No. 1 millimeter wave radar sensor bracket with a new one Click here.

    2. Perform millimeter wave radar sensor assembly adjustment Click here.

    3. Clear the DTCs Click here.


    NEXT

    END (NO. 1 MILLIMETER WAVE RADAR SENSOR BRACKET WAS DEFECTIVE)

  11. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY

    Tech Tips


    • When the vehicle is overloaded or towing something, it may not be possible to perform beam axis adjustment of the millimeter wave radar sensor assembly.

    • Explain to the user that if the system is used while the vehicle is overloaded or towing something, DTCs may be output again.

    • The 2 conditions listed above do not indicate a malfunction of the millimeter wave radar sensor assembly.


    1. Return the vehicle to normal operating conditions.

    2. Perform millimeter wave radar sensor assembly adjustment Click here.

    3. Clear the DTCs Click here.


    NEXT

    END

  12. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Perform millimeter wave radar sensor assembly adjustment Click here.


    NEXT

  13. CHECK DTC OUTPUT (LKA/LDA SYSTEM)


    1. Check for 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 C1A14 is not output A
      DTC C1A14 is output B

    A

    END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY WAS DEFECTIVE)

    B

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

  14. CLEAR DTC


    1. Check for DTCs related to misalignment of millimeter wave radar sensor assembly.

      Tech Tips

      If only history DTCs are stored, they may have stored due to a temporarily condition such as overloading of the vehicle, and the system returned to normal when beam axis learning was performed.

    2. Clear the DTCs Click here.


    NEXT

    END

  15. REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Replace the millimeter wave radar sensor assembly with a new one Click here.

    2. Perform millimeter wave radar sensor assembly adjustment Click here.


    NEXT

  16. 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 C1A11 is not output A
      DTC C1A11 is output B

    A

    END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY WAS DEFECTIVE)

    B

    REPLACE FORWARD RECOGNITION CAMERA Click here

  17. REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Replace the millimeter wave radar sensor assembly with a new one Click here.

    2. Perform millimeter wave radar sensor assembly adjustment Click here.


    NEXT

  18. 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 C1A14 is not output A
      DTC C1A14 is output B

    A

    END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY WAS DEFECTIVE)

    B

    REPLACE FORWARD RECOGNITION CAMERA Click here