PRE-COLLISION SYSTEM, Diagnostic DTC:C1AA8, C1AA9

DTC Code	DTC Name
C1AA8	Front Camera Module Incorrect Axial Gap
C1AA9	Front Camera Module Beam Axis Not Adjusted

DESCRIPTION

If it is determined that the optical axis of the pre-collision city sensor has deviated, DTC C1AA8 is output. DTC C1AA9 is output when the system determines that pre-collision city sensor optical axis learning has not been performed or has not been completed normally after a new pre-collision city sensor is installed.

DTC No.	DTC Detection Condition	Trouble Area
C1AA8	The beam axis of the monocular camera sensor or any of the laser sensors built into the pre-collision city sensor has deviated.	Pre-collision city sensor Windshield glass Wheel alignment
C1AA9	All of the following conditions are met: The battery voltage is 9 V or more. The vehicle is being driven at 10 km/h (7 mph) or more. Camera beam axis learning not been completed.	Pre-collision city sensor optical axis learning has not been performed or has not been completed normally. Pre-collision city sensor

CAUTION / NOTICE / HINT

Note

When replacing the pre-collision city sensor, replace it with a new one and be sure to initialize the settings. If a pre-collision city sensor which was installed to another vehicle is used, the information stored in the pre-collision city sensor will not match the information from the vehicle and, as a result, a DTC may be stored.
If the pre-collision city sensor has been replaced, or the windshield glass has been replaced or removed/installed, be sure to perform Pre-collision City Sensor Learning Click here.
When replacing the windshield glass of a vehicle equipped with a pre-collision city sensor, make sure to use a Toyota genuine part. If a non-Toyota genuine part is used, the pre-collision city sensor may not be able to be installed due to a missing bracket or the pre-collision system may not operate properly due to a difference in the transmissivity or black ceramic border.
Pre-collision city sensor optical axis may deviate if the vehicle is driven on a banked road, such as a racetrack. This deviation can be corrected by driving the vehicle on a normal road for a while.
Pre-collision city sensor optical axis may deviate when the vehicle is overloaded or the wheel alignment (toe-in) is incorrect. The pre-collision city sensor optical axis can be corrected by decreasing the load on the vehicle or adjusting the toe-in.

PROCEDURE

CHECK FOR DTCS

Connect the GTS to the DLC3.
Turn the ignition switch to ON.
Turn the GTS on.
Enter the following menus: Chassis / PCS/LDA/RSA/LVN / Trouble Codes.

Check for DTCs Click here.

Result
Result	Proceed to
Current DTC C1AA8 or History DTC C1AA8 is output	A
DTC C1AA9 is output	B

PERFORM PRE-COLLISION SENSOR LEARNING Click here

CHECK VEHICLE OPERATING CONDITION

Check the operating conditions of the vehicle.

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

PERFORM PRE-COLLISION CITY SENSOR LEARNING Click here

CHECK WHEEL ALIGNMENT

Check the front and rear wheel alignment (toe).

for front wheel alignment: Click here
for rear wheel alignment: Click here

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

CHECK PRE-COLLISION CITY SENSOR INSTALLATION Click here

ADJUST WHEEL ALIGNMENT
1. Adjust the alignment (toe) of the wheels.
  - for front wheel alignment: Click here
  - for rear wheel alignment: Click here
NEXT
PERFORM PRE-COLLISION CITY SENSOR LEARNING
1. Perform Pre-collision City Sensor Learning Click here.
NEXT

CHECK FOR DTCS

Connect the GTS to the DLC3.
Turn the ignition switch to ON.
Turn the GTS on.
Enter the following menus: Chassis / PCS/LDA/RSA/LVN / Trouble Codes.
Clear the DTCs Click here.
Make sure that the DTC detection conditions are met.

Tech Tips

If the detection conditions are not met, the system cannot detect the malfunction.

Check for DTCs Click here.

Result
Result	Proceed to
DTC C1AA8 is not output	A
DTC C1AA8 is output	B

END

REPLACE PRE-COLLISION CITY SENSOR Click here

CHECK PRE-COLLISION CITY SENSOR INSTALLATION
1. Check the installation condition of the pre-collision city sensor Click here.
  
  Tech Tips
  
  If there is a malfunction with the installation condition of the pre-collision city sensor, replace the windshield glass Click here.
  
  OK
  
  No deformation or deviation in pre-collision city sensor installation bracket
OK
PERFORM PRE-COLLISION CITY SENSOR LEARNING Click here

NG
REPLACE WINDSHIELD GLASS
1. Replace the windshield glass Click here.
NEXT
PERFORM PRE-COLLISION CITY SENSOR LEARNING Click here
PERFORM PRE-COLLISION CITY SENSOR LEARNING
1. Return the vehicle to normal operating conditions.
2. Perform Pre-collision City Sensor Learning Click here.
NEXT

OK
No deformation or deviation in pre-collision city sensor installation bracket

CHECK FOR DTCS

Connect the GTS to the DLC3.
Turn the ignition switch to ON.
Turn the GTS on.
Enter the following menus: Chassis / PCS/LDA/RSA/LVN / Trouble Codes.
Clear the DTCs Click here.
Make sure that the DTC detection conditions are met.

Tech Tips

If the detection conditions are not met, the system cannot detect the malfunction.

Check for DTCs Click here.

Result
Result	Proceed to
DTC C1AA8 is not output	A
DTC C1AA8 is output	B

END

CHECK WHEEL ALIGNMENT Click here

PERFORM PRE-COLLISION SENSOR LEARNING
1. Perform Pre-collision City Sensor Learning Click here.
NEXT

CHECK FOR DTCS

Connect the GTS to the DLC3.
Turn the ignition switch to ON.
Turn the GTS on.
Enter the following menus: Chassis / PCS/LDA/RSA/LVN / Trouble Codes.
Clear the DTCs Click here.
Make sure that the DTC detection conditions are met.

Tech Tips

If the detection conditions are not met, the system cannot detect the malfunction.

Check for DTCs Click here.

Result
Result	Proceed to
DTC C1AA9 is not output	A
DTC C1AA9 is output	B

END

REPLACE PRE-COLLISION CITY SENSOR Click here