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LANE DEPARTURE ALERT SYSTEM(w/ Steering Control), Diagnostic DTC:U0235, U1104

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DTC Code DTC Name
U0235 Lost Communication with Cruise Control Front Distance Range Sensor
U1104 Lost Communication with Driving Support ECU
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DESCRIPTION

The forward recognition camera communicates with the driving support ECU assembly and millimeter wave radar sensor assembly via CAN communication. If there is a communication error with the driving support ECU assembly or millimeter wave radar sensor assembly, the forward recognition camera stores DTC U0235 or U1104.

DTC No. Detection Item DTC Detection Condition Trouble Area
U0235 Lost Communication with Cruise Control Front Distance Range Sensor 2 seconds after the engine switch is turned on (IG), a communication error between the millimeter wave radar sensor assembly and the forward recognition camera is detected for approximately 5 seconds.

  • CAN communication system

  • Millimeter wave radar sensor assembly

  • Forward recognition camera
U1104 Lost Communication with Driving Support ECU 2 seconds after the engine switch is turned on (IG), a communication error between the driving support ECU assembly and the forward recognition camera is detected for approximately 5 seconds.

  • CAN communication system

  • Driving support ECU assembly

  • Forward recognition camera
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WIRING DIAGRAM

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CAUTION / NOTICE / HINT

Note:

  • Inspect the fuses for circuits related to this system before performing the following procedure.

  • 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.

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  • 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 adjustment.

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

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PROCEDURE


  1. Click here

    READ VALUE USING GTS (CAN BUS CHECK)


    1. Connect the GTS to the DLC3.

    2. Turn the engine switch on (IG).

    3. Turn the GTS on.

    4. Enter the following menus: System Select / Can Bus Check.

      Click here


      1. CAN Bus Check

      Result
      Result Proceed to
      All of the ECUs and sensors that are currently connected to the CAN communication system are displayed A
      None of the ECUs and sensors that are currently connected to the CAN communication system are displayed, or some of them are not displayed B

  2. Click here

    CHECK FOR DTCs (CAN COMMUNICATION DTC OUTPUT)

    Tip:

    When pre-collision system DTC U1002 is output, check that the local bus is functioning normally by performing the diagnostic procedure for U1002.


    1. Check for DTCs.

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      1. Body Electrical > Pre-Collision 2 > Trouble Codes


      Result
      Result Proceed to
      DTC U1002 is not output A
      DTC U1002 is output B

  3. Click here

    CHECK CAN BUS LINE


    1. Turn the engine switch off.

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

    3. B006661C05
      *a

      Front view of wire harness connector

      (to Forward Recognition Camera)

      Disconnect the W18 forward recognition camera connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      W18-6 (CANH) - W18-12 (CANL) Cable disconnected from negative (-) battery terminal 108 to 132 Ω
      Tip:

      If the result is not as specified, a malfunction in a CAN communication line is suspected.

    5. Connect the W18 forward recognition camera connector.

      Result
      Proceed to
      OK
      NG

    • OKClick here
    • NG

      REPAIR OR REPLACE HARNESS OR CONNECTOR (CAN BUS LINE)

  4. Click here

    CHECK FOR DTCs (LANE DEPARTURE ALERT SYSTEM (w/ Steering Control))


    1. Check for DTCs.

      Click here


      1. Chassis > LKA/LDA > Trouble Codes


      Result
      Result Proceed to
      DTC U0235 and U1104 are output A
      Only DTC U1104 is output B
      Only DTC U0235 is output C

  5. Click here

    CHECK POWER SOURCE CIRCUIT (DRIVING SUPPORT ECU ASSEMBLY)


    1. B006825C06
      *a

      Front view of wire harness connector

      (to Driving Support ECU Assembly)

      Disconnect the Q2 driving support ECU assembly connector.

    2. Turn the engine switch on (IG).

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

      Standard Voltage
      Tester Connection Condition Specified Condition
      Q2-7 (B) - Body ground Engine switch on (IG) 11 to 14 V

    4. Turn the engine switch off.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      Q2-28 (GND) - Body ground Always Below 1 Ω

    6. Connect the Q2 driving support ECU assembly connector.

      Result
      Proceed to
      OK
      NG

    • OKClick here
    • NG

      REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

  6. Click here

    CHECK POWER SOURCE CIRCUIT (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. B006759C03
      *a

      Front view of wire harness connector

      (to Millimeter Wave Radar Sensor Assembly)

      Disconnect the B9 millimeter wave radar sensor assembly connector.

    2. Turn the engine switch on (IG).

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

      Standard Voltage
      Tester Connection Condition Specified Condition
      B9-8 (IGB) - Body ground Engine switch on (IG) 11 to 14 V

    4. Turn the engine switch off.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      B9-1 (SGND) - Body ground Always Below 1 Ω

    6. Connect the B9 millimeter wave radar sensor assembly connector.

      Result
      Proceed to
      OK
      NG

    • OK

      REPLACE FORWARD RECOGNITION CAMERAClick here

    • NG

      REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

  7. Click here

    CHECK POWER SOURCE CIRCUIT (DRIVING SUPPORT ECU ASSEMBLY)


    1. B006825C06
      *a

      Front view of wire harness connector

      (to Driving Support ECU Assembly)

      Disconnect the Q2 driving support ECU assembly connector.

    2. Turn the engine switch on (IG).

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

      Standard Voltage
      Tester Connection Condition Specified Condition
      Q2-7 (B) - Body ground Engine switch on (IG) 11 to 14 V

    4. Turn the engine switch off.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      Q2-28 (GND) - Body ground Always Below 1 Ω

    6. Connect the Q2 driving support ECU assembly connector.

      Result
      Proceed to
      OK
      NG

    • OKClick here
    • NG

      REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

  8. Click here

    REPLACE DRIVING SUPPORT ECU ASSEMBLY


    1. Replace the driving support ECU assembly.

      Click here

      Result
      Proceed to
      NEXT

  9. Click here

    CHECK FOR DTCs (LANE DEPARTURE ALERT SYSTEM (w/ Steering Control))


    1. Clear the DTCs.

      Click here


      1. Chassis > LKA/LDA > Clear DTCs


    2. Perform the following procedure.

      Tip:

      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.

    3. Check for DTCs.

      Click here


      1. Chassis > LKA/LDA > Trouble Codes


      Result
      Result Proceed to
      DTC U1104 is not output A
      DTC U1104 is output B

    • A

      END (DRIVING SUPPORT ECU ASSEMBLY WAS DEFECTIVE)

    • B

      REPLACE FORWARD RECOGNITION CAMERAClick here

  10. Click here

    CHECK POWER SOURCE CIRCUIT (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. B006759C03
      *a

      Front view of wire harness connector

      (to Millimeter Wave Radar Sensor Assembly)

      Disconnect the B9 millimeter wave radar sensor assembly connector.

    2. Turn the engine switch on (IG).

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

      Standard Voltage
      Tester Connection Condition Specified Condition
      B9-8 (IGB) - Body ground Engine switch on (IG) 11 to 14 V

    4. Turn the engine switch off.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      B9-1 (SGND) - Body ground Always Below 1 Ω

    6. Connect the B9 millimeter wave radar sensor assembly connector.

      Result
      Proceed to
      OK
      NG

    • OKClick here
    • NG

      REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

  11. Click here

    REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Replace the millimeter wave radar sensor assembly.

      Click here

    2. Adjust the millimeter wave radar sensor assembly.

      Click here

      Result
      Proceed to
      NEXT

  12. Click here

    CHECK FOR DTCs (LANE DEPARTURE ALERT SYSTEM (w/ Steering Control))


    1. Clear the DTCs.

      Click here


      1. Chassis > LKA/LDA > Clear DTCs


    2. Perform the following procedure.

      Tip:

      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.

    3. Check for DTCs.

      Click here


      1. Chassis > LKA/LDA > Trouble Codes


      Result
      Result Proceed to
      DTC U0235 is not output A
      DTC U0235 is output B

    • A

      END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY WAS DEFECTIVE)

    • B

      REPLACE FORWARD RECOGNITION CAMERAClick here