PRE-CRASH SAFETY 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 driving support ECU assembly uses the millimeter wave radar sensor assembly to detect obstacles in front of the vehicle.

Based on signals from the millimeter wave radar sensor assembly, the driving support ECU assembly sends pre-crash safety system control operation signals.

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

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

DTC Code DTC Detection Condition Trouble Area
C1A11 When the power switch is on (IG), misalignment of the millimeter wave radar sensor assembly is detected for approximately 0.2 seconds.

  • Millimeter wave radar sensor assembly

  • Driving support ECU assembly
C1A14 When the vehicle is being driven at a speed of 10 km/h (7 mph) or more, incompletion of the millimeter wave radar sensor beam axis alignment is detected for approximately 0.2 seconds.

  • Millimeter wave radar sensor assembly

  • Driving support ECU assembly

CAUTION / NOTICE / HINT

Note


  • 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.

  • When replacing the millimeter wave radar sensor assembly, always replace it with a new one. If a millimeter wave radar sensor assembly which was installed to another vehicle is used, the information stored in the millimeter wave radar sensor assembly will not match the information from the vehicle. As a result, a DTC may be stored.

  • 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.

  • The pre-crash safety system uses the CAN communication system. First, confirm that there are no malfunction in the CAN communication system. Refer to How to Proceed with Troubleshooting.


PROCEDURE


  1. CHECK FOR DTCs (PRE-CRASH SAFETY SYSTEM)


    1. Check if the stored DTCs are current DTCs.

    2. Check for 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 (PRE-CRASH SAFETY SYSTEM) 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 has been towed. A
      Vehicle is overloaded or has been 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

    INSPECT 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 FOR DTCs (PRE-CRASH SAFETY SYSTEM)

    Tech Tips

    After performing the radar sensor beam axis adjustment, if the same DTC is output again after the DTC detection conditions are met, replace the driving support ECU assembly.


    1. Clear the DTCs Click here.

    2. Perform the following procedure.

      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 0.2 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

    B

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

  7. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY


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


    NEXT

  8. CHECK FOR DTCs (PRE-CRASH SAFETY SYSTEM)

    Tech Tips

    After performing the radar sensor beam axis adjustment, if the same DTC is output again after the DTC detection conditions are met, replace the driving support ECU assembly.


    1. Clear the DTCs Click here.

    2. Perform the following procedure.

      Tech Tips

      If the following procedure is not performed, the previously output DTC cannot be detected.


      1. Drive the vehicle at a speed of 10 km/h (7 mph) or more for 0.2 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 (SENSOR BEAM AXIS ADJUSTMENT WAS NOT COMPLETED)

    B

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

  9. CLEAR DTC (PRE-CRASH SAFETY SYSTEM)


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

      Tech Tips

      If only history DTCs are stored, they may have been 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

  10. 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.


    NEXT

  11. CHECK FOR DTCs (PRE-CRASH SAFETY SYSTEM)


    1. Clear the DTCs Click here.

    2. Perform the following procedure.

      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 0.2 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 MISALIGNED DUE TO THE VEHICLE BEING OVERLOADED OR TOWED)

    B

  12. 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

    INSPECT MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

    A

  13. ADJUST WHEEL ALIGNMENT


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



    NEXT

  14. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY


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


    NEXT

  15. CHECK FOR DTCs (PRE-CRASH SAFETY SYSTEM)


    1. Clear the DTCs Click here.

    2. Perform the following procedure.

      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 0.2 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

    B

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

  16. INSPECT MILLIMETER WAVE RADAR SENSOR ASSEMBLY


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

      Tech Tips

      When the bracket is deformed, replace the millimeter wave radar sensor assembly.


    NG

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

    OK

  17. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY


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


    NEXT

  18. CHECK FOR DTCs (PRE-CRASH SAFETY SYSTEM)

    Tech Tips

    After performing the radar sensor beam axis adjustment, if the same DTC is output again after the DTC detection conditions are met, replace the driving support ECU assembly.


    1. Clear the DTCs Click here.

    2. Perform the following procedure.

      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 0.2 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

    B

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

  19. REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Replace the millimeter wave radar sensor assembly Click here.


    NEXT

  20. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY


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


    NEXT

  21. CHECK FOR DTCs (PRE-CRASH SAFETY SYSTEM)

    Tech Tips

    After performing the radar sensor beam axis adjustment, if the same DTC is output again after the DTC detection conditions are met, replace the driving support ECU assembly.


    1. Clear the DTCs Click here.

    2. Perform the following procedure.

      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 0.2 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 DRIVING SUPPORT ECU ASSEMBLY Click here