LANE DEPARTURE ALERT SYSTEM, Diagnostic DTC:C1AA4, C1AA5, C1AA6

DTC Code DTC Name
C1AA4 Yaw Rate Sensor Circuit
C1AA5 Yaw Rate Sensor Power Supply Voltage Circuit
C1AA6 Yaw Rate Sensor Zero Point Malfunction

DESCRIPTION

The forward recognition camera receives vehicle stability signals from the yaw rate sensor assembly. If the yaw rate sensor assembly detects an abnormal yaw rate sensor signal or yaw rate sensor assembly power supply voltage, it informs the forward recognition camera via CAN communication, and DTC C1AA4 or C1AA5 is stored.

The skid control ECU (master cylinder solenoid) receives vehicle stability signals from the yaw rate sensor. If the skid control ECU (master cylinder solenoid) detects a yaw rate sensor zero point malfunction signal, it informs the forward recognition camera via CAN communication, and DTC C1AA6 is stored.

DTC No. DTC Detection Condition Trouble Area
C1AA4 While the vehicle is being driven at 5 km/h (3 mph) or more, a signal from the yaw rate sensor indicating a malfunction in the yaw rate sensor (airbag sensor assembly) is detected by the forward recognition camera for 5 seconds or more.

  • Vehicle stability control system

  • Yaw rate and acceleration sensor (Airbag sensor assembly)

  • Forward recognition camera
C1AA5 While the vehicle is being driven at 5 km/h (3 mph) or more, a signal from the yaw rate sensor indicating an abnormal yaw rate sensor (airbag sensor assembly) power supply voltage signal is detected by the forward recognition camera for 5 seconds or more.
C1AA6 While the vehicle is being driven at 5 km/h (3 mph) or more, a signal from the skid control ECU (master cylinder solenoid) indicating a malfunction in the yaw rate sensor zero point is detected by the forward recognition camera for 5 seconds or more.

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 Click here.

PROCEDURE


  1. CHECK DTC OUTPUT (VEHICLE STABILITY CONTROL SYSTEM)

    Tech Tips

    If the yaw rate and acceleration sensor (airbag sensor assembly) is malfunctioning, DTCs for the vehicle stability control system will be stored. Troubleshoot the vehicle stability control system first.


    1. Connect the GTS to the DLC3.

    2. Turn the engine switch on (IG).

    3. Turn the GTS on.

    4. Enter the following menus: Chassis / ABS/VSC/TRAC / Trouble Codes.

    5. Check for DTCs Click here.

      Result
      Result Proceed to
      Vehicle stability control system DTCs are not output. A
      Vehicle stability control system DTCs are output. B

    B

    GO TO VEHICLE STABILITY CONTROL SYSTEM Click here

    A

  2. CHECK DTC OUTPUT (LANE DEPARTURE ALERT SYSTEM)


    1. Connect the GTS to the DLC3.

    2. Turn the engine 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 engine switch on (IG) and wait 7 seconds or more.

      2. Drive the vehicle at a speed of 5 km/h (3 mph) or more.

    7. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC C1AA4, C1AA5 or C1AA6 is output. A
      DTC C1AA4, C1AA5 and C1AA6 are 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 (LANE DEPARTURE ALERT SYSTEM)


    1. Connect the GTS to the DLC3.

    2. Turn the engine 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 engine switch on (IG) and wait 7 seconds or more.

      2. Drive the vehicle at a speed of 5 km/h (3 mph) or more.

    7. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC C1AA4, C1AA5 and C1AA6 are not output. A
      DTC C1AA4, C1AA5 or C1AA6 is output. B

    A

    END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)

    B

    REPLACE YAW RATE AND ACCELERATION SENSOR (AIRBAG SENSOR ASSEMBLY) Click here