PRE-CRASH SAFETY SYSTEM, Diagnostic DTC:U1002

DTC Code DTC Name
U1002 Lost Communication with Gateway Module

DESCRIPTION

This DTC is stored when the driving support ECU assembly cannot receive signals from the forward recognition camera or millimeter wave radar sensor assembly.

DTC No. Detection Item DTC Detection Condition Trouble Area
U1002 Lost Communication with Gateway Module

After the power switch is turned on, communication between the driving support ECU and any of the following components is abnormal for 2 seconds or more


  • Forward recognition camera

  • Millimeter wave radar sensor assembly

  • CAN bus main line, CAN bus branch line or connector

  • Forward recognition camera

  • Millimeter wave radar sensor assembly

  • Driving support ECU assembly

  • No. 4 CAN junction connector

WIRING DIAGRAM

B004QFXE09
*a Millimeter Wave Radar Sensor Assembly
*b Driving Support ECU Assembly
*c Forward Recognition Camera
*d No. 4 CAN Junction Connector

CAUTION / NOTICE / HINT

Note


  • Before measuring the resistance of the CAN bus, turn the power switch off and leave the vehicle for 1 minute or more without operating the key or any switches, or opening or closing the doors. After that, disconnect the cable from the negative (-) auxiliary battery terminal and leave the vehicle for 1 minute or more before measuring the resistance.

  • After turning the power switch off, waiting time may be required before disconnecting the cable from the negative (-) auxiliary battery terminal. Therefore, make sure to read the disconnecting the cable from the negative (-) auxiliary battery terminal notices before proceeding with work.

    Click here

  • 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

  • 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

Tech Tips


  • Operating the power switch, any other switches or a door triggers related ECU and sensor communication on the CAN. This communication will cause the resistance value to change.

  • Even after DTCs are cleared, if a DTC is stored again after driving the vehicle for a while, the malfunction may be occurring due to vibration of the vehicle. In such a case, wiggling the ECUs or wire harness while performing the inspection below may help determine the cause of the malfunction.

PROCEDURE


  1. CHECK CAN BUS LINE (MALFUNCTION CONFIRMATION)

    B004PV2C16
    *a

    Component with harness connected

    (Driving Support ECU Assembly)

    1. Turn the power switch off.

    2. Disconnect the cable from the negative (-) auxiliary battery terminal.

    3. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition Result
      F40-8 (CA1P) - F40-9 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal 54 to 69 Ω

      Below 54 Ω:

      Short circuit between bus lines

      70 Ω or more:

      Open circuit in a main bus line or driving support ECU assembly branch line
      F40-8 (CA1P) - F40-28 (GND) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher

      Below 200 Ω:

      CANH ground short
      F40-9 (CA1N) - F40-28 (GND) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher

      Below 200 Ω:

      CANH ground short
      F40-8 (CA1P) - F40-7 (B) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher

      Below 6 kΩ:

      CANH +B short
      F40-9 (CA1N) - F40-7 (B) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher

      Below 6 kΩ:

      CANH +B short
      Result
      Result Proceed to
      OK A
      NG (Open circuit in main line or Driving support ECU assembly branch line) B
      NG (Short circuit between main lines) C
      NG (Short to +B or ground) D

    B

    CHECK FOR OPEN IN CAN BUS BRANCH LINES (DRIVING SUPPORT ECU ASSEMBLY) Click here

    C

    CHECK FOR SHORT BETWEEN CAN BUS LINES (FORWARD RECOGNITION CAMERA) Click here

    D

    CHECK FOR SHORT IN CAN BUS LINE (FORWARD RECOGNITION CAMERA) Click here

    A

  2. CLEAR DTC


    1. Clear the DTCs.


      Body Electrical > Pre-Crash 2 > Clear DTCs
      Result
      Proceed to
      NEXT

    NEXT

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


    1. 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 2 seconds or more.

    2. Check for DTCs.


      Body Electrical > Pre-Crash 2 > Trouble Codes
      Result
      Result Proceed to
      U1002 is not output A
      U1002 is output B

    A

    USE SIMULATION METHOD TO CHECK Click here

    B

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

  4. CHECK FOR OPEN IN CAN BUS BRANCH LINES (DRIVING SUPPORT ECU ASSEMBLY)


    1. Disconnect the F40 driving support ECU assembly connector.

    2. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      F40-8 (CA1P) - F40-9 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω

      Tech Tips

      If the resistance is between 108 and 132 Ω, there may be an open in a CAN bus main line. If the value is 132 Ω or more, there may be an open in a CAN bus branch line between the No. 4 CAN junction connector and the driving support ECU or a connector may be disconnected.

    3. Connect the F40 driving support ECU assembly connector.

      Result
      Proceed to
      OK
      NG

    NG

    CHECK FOR OPEN IN CAN BUS BRANCH LINES (DRIVING SUPPORT ECU ASSEMBLY) Click here

    OK

  5. CHECK FOR OPEN IN CAN BUS MAIN LINES (NO. 4 CAN JUNCTION CONNECTOR)


    1. Disconnect the F72 No. 4 CAN junction connector.

    2. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition Connected to
      F72-11 (CANH) - F72-22 (CANL) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω Forward Recognition Camera
      F72-9 (CA1P) - F72-20 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω Millimeter Wave Radar Sensor Assembly

    3. Connect the F72 No. 4 CAN junction connector.

      Result
      Result Proceed to
      OK A
      NG (Forward Recognition Camera Main Line) B
      NG (Millimeter Wave Radar Sensor Assembly Main Line) C

    A

    REPLACE NO. 4 CAN JUNCTION CONNECTOR

    C

    CHECK FOR OPEN IN CAN BUS MAIN LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY) Click here

    B

  6. CHECK FOR OPEN IN CAN BUS MAIN LINES (FORWARD RECOGNITION CAMERA)


    1. Disconnect the O7 forward recognition camera connector.

    2. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      O7-6 (CANH) - O7-12 (CANL) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω

    3. Connect the O7 forward recognition camera connector.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE FORWARD RECOGNITION CAMERA Click here

    NG

    REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 4 CAN JUNCTION CONNECTOR - FORWARD RECOGNITION CAMERA)

  7. CHECK FOR OPEN IN CAN BUS MAIN LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. Disconnect the A2 millimeter wave radar sensor assembly connector.

    2. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      A2-5 (CA1P) - A2-6 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω

    3. Connect the A2 millimeter wave radar sensor assembly connector.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

    NG

    REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 4 CAN JUNCTION CONNECTOR - MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

  8. CHECK FOR OPEN IN CAN BUS BRANCH LINES (DRIVING SUPPORT ECU ASSEMBLY)


    1. Disconnect the F40 driving support ECU assembly connector.

    2. Disconnect the F72 No. 4 CAN junction connector.

    3. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      F72-10 (CA1P) - F40-8 (CA1P) Cable disconnected from negative (-) auxiliary battery terminal Below 1 Ω
      F72-21 (CA1N) - F40-9 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal Below 1 Ω

    4. Connect the F72 No. 4 CAN junction connector.

    5. Connect the F40 driving support ECU assembly connector.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE NO. 4 CAN JUNCTION CONNECTOR

    NG

    REPAIR OR REPLACE CAN BUS BRANCH WIRE (NO. 4 CAN JUNCTION CONNECTOR - DRIVING SUPPORT ECU ASSEMBLY)

  9. CHECK FOR SHORT BETWEEN CAN BUS LINES (FORWARD RECOGNITION CAMERA)


    1. Disconnect the O7 forward recognition camera connector.

    2. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      O7-6 (CANH) - O7-12 (CANL) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω

    3. Connect the O7 forward recognition camera connector.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE FORWARD RECOGNITION CAMERA Click here

    NG

  10. CHECK FOR SHORT BETWEEN CAN BUS LINES (NO. 4 CAN JUNCTION CONNECTOR)


    1. Disconnect the F72 No. 4 CAN junction connector.

    2. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition Connected to
      F72-11 (CANH) - F72-22 (CANL) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω Forward Recognition Camera
      F72-9 (CA1P) - F72-20 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω Millimeter Wave Radar Sensor Assembly
      F72-10 (CA1P) - F72-21 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher Driving Support ECU Assembly

    3. Connect the F72 No. 4 CAN junction connector.

      Result
      Result Proceed to
      OK A
      NG (Forward Recognition Camera Main Line) B
      NG (Millimeter Wave Radar Sensor Assembly Main Line) C
      NG (Driving Support ECU Assembly Branch Line) D

    A

    REPLACE NO. 4 CAN JUNCTION CONNECTOR

    B

    REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 4 CAN JUNCTION CONNECTOR - FORWARD RECOGNITION CAMERA)

    D

    CHECK FOR SHORT BETWEEN CAN BUS LINES (DRIVING SUPPORT ECU ASSEMBLY) Click here

    C

  11. CHECK FOR SHORT BETWEEN CAN BUS LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. Disconnect the A2 millimeter wave radar sensor assembly connector.

    2. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      A2-5 (CA1P) - A2-6 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω

    3. Connect the A2 millimeter wave radar sensor assembly connector.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

    NG

    REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 4 CAN JUNCTION CONNECTOR - MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

  12. CHECK FOR SHORT BETWEEN CAN BUS LINES (DRIVING SUPPORT ECU ASSEMBLY)


    1. Disconnect the F40 driving support ECU assembly connector.

    2. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      F40-8 (CA1P) - F40-9 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal 54 to 69 Ω

    3. Connect the F40 driving support ECU assembly connector.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

    NG

    REPAIR OR REPLACE CAN BUS BRANCH LINE OR CONNECTOR (NO. 4 CAN JUNCTION CONNECTOR - DRIVING SUPPORT ECU ASSEMBLY)

  13. CHECK FOR SHORT IN CAN BUS LINE (FORWARD RECOGNITION CAMERA)


    1. Disconnect the O7 forward recognition camera connector.

    2. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      O7-6 (CANH) - F29-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      O7-12 (CANL) - F29-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      O7-6 (CANH) - F29-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      O7-12 (CANL) - F29-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher

    3. Connect the O7 forward recognition camera connector.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE FORWARD RECOGNITION CAMERA Click here

    NG

  14. CHECK FOR SHORT IN CAN BUS LINE (NO. 4 CAN JUNCTION CONNECTOR)


    1. Disconnect the F72 No. 4 CAN junction connector.

    2. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition Connected to
      F72-11 (CANH) - F29-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher Forward Recognition Camera
      F72-22 (CANL) - F29-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher Forward Recognition Camera
      F72-11 (CANH) - F29-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher Forward Recognition Camera
      F72-22 (CANL) - F29-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher Forward Recognition Camera
      F72-9 (CA1P) - F29-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher Millimeter Wave Radar Sensor Assembly
      F72-20 (CA1N) - F29-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher Millimeter Wave Radar Sensor Assembly
      F72-9 (CA1P) - F29-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher Millimeter Wave Radar Sensor Assembly
      F72-20 (CA1N) - F29-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher Millimeter Wave Radar Sensor Assembly
      F72-10 (CA1P) - F29-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher Driving Support ECU Assembly
      F72-21 (CA1N) - F29-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher Driving Support ECU Assembly
      F72-10 (CA1P) - F29-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher Driving Support ECU Assembly
      F72-21 (CA1N) - F29-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher Driving Support ECU Assembly

    3. Connect the F72 No. 4 CAN junction connector.

      Result
      Result Proceed to
      OK A
      NG (Forward Recognition Camera Main Line) B
      NG (Millimeter Wave Radar Sensor Assembly Main Line) C
      NG (Driving Support ECU Assembly Branch Line) D

    A

    REPLACE NO. 4 CAN JUNCTION CONNECTOR

    B

    REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 4 CAN JUNCTION CONNECTOR - FORWARD RECOGNITION CAMERA)

    D

    CHECK FOR SHORT IN CAN BUS LINE (DRIVING SUPPORT ECU ASSEMBLY) Click here

    C

  15. CHECK FOR SHORT IN CAN BUS LINE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. Disconnect the A2 millimeter wave radar sensor assembly connector.

    2. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      A2-5 (CA1P) - F29-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      A2-6 (CA1N) - F29-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      A2-5 (CA1P) - F29-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      A2-6 (CA1N) - F29-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher

    3. Connect the A2 millimeter wave radar sensor assembly connector.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here

    NG

    REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 4 CAN JUNCTION CONNECTOR - MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

  16. CHECK FOR SHORT IN CAN BUS LINE (DRIVING SUPPORT ECU ASSEMBLY)


    1. Disconnect the F40 driving support ECU assembly connector.

    2. Measure the resistance according to the value(s) in the table below.

      Standard Resistance
      Tester Connection Condition Specified Condition
      F40-8 (CA1P) - F29-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      F40-9 (CA1N) - F29-4 (CG) Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
      F40-8 (CA1P) - F29-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
      F40-9 (CA1N) - F29-16 (BAT) Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher

    3. Connect the F40 driving support ECU assembly connector.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

    NG

    REPAIR OR REPLACE CAN BUS BRANCH LINE OR CONNECTOR (NO. 4 CAN JUNCTION CONNECTOR - DRIVING SUPPORT ECU ASSEMBLY)