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 brake actuator assembly (skid control ECU) receives a vehicle stability signal from the airbag ECU assembly and sends the signal to the lane departure warning camera. When the brake actuator assembly (skid control ECU) or airbag ECU assembly detects a malfunction in the airbag ECU assembly, the lane departure warning camera is notified via CAN communication and a DTC is stored.

DTC No. Detection Item DTC Detection Condition Trouble Area
C1AA4 Yaw Rate Sensor Circuit

  • 2 seconds elapse after turning the engine switch on (IG).

  • The IG voltage is 10 V or higher.

  • 2 seconds elapse after the IG voltage is 10 V or higher.

  • While the lane departure alert system is operating, a malfunction signal sent from the airbag ECU assembly is continuously received for 5 seconds or more.

  • Vehicle stability control system

  • Airbag system

  • Lane departure warning camera
C1AA5 Yaw Rate Sensor Power Supply Voltage Circuit

  • 2 seconds elapse after turning the engine switch on (IG).

  • The IG voltage is 10 V or higher.

  • 2 seconds elapse after the IG voltage is 10 V or higher.

  • While the lane departure alert system is operating, a power supply voltage malfunction signal sent from the airbag ECU assembly is continuously received for 5 seconds or more.

  • Vehicle stability control system

  • Airbag system

  • Lane departure warning camera
C1AA6 Yaw Rate Sensor Zero Point Malfunction

  • 2 seconds elapse after turning the engine switch on (IG).

  • The IG voltage is 10 V or higher.

  • 2 seconds elapse after the IG voltage is 10 V or higher.

  • While the lane departure alert system is operating, the yaw rate sensor zero point calibration malfunction signal in the airbag ECU assembly is continuously received for 5 seconds or more from the brake actuator assembly (skid control ECU).

  • Vehicle stability control system

  • Airbag system

  • Lane departure warning camera

CAUTION / NOTICE / HINT

Note


  • When the lane departure warning camera is replaced with a new one or it is removed, adjustment of the lane departure warning camera axis must be performed.

    Click here

  • The lane departure alert system uses the CAN communication system. Inspect the communication function by following How to Proceed with Troubleshooting. Troubleshoot the lane departure alert system after confirming that the communication systems are functioning properly.

    for LHD: Click here

    for RHD: Click here

PROCEDURE


  1. CHECK FOR DTCs (AIRBAG 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: Body Electrical / SRS Airbag / Trouble Codes.

    5. Check for DTCs.

      Click here


      Body Electrical > SRS Airbag > Trouble Codes
      Result
      Result Proceed to
      Airbag system DTCs are not output A
      Airbag system DTCs are output B

    B

    GO TO AIRBAG SYSTEM Click here

    A

  2. CHECK FOR DTCs (VEHICLE STABILITY CONTROL 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 / ABS/VSC/TRC / Trouble Codes.

    5. Check for DTCs.

      Click here


      Chassis > ABS/VSC/TRC > Trouble Codes
      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

  3. REPLACE LANE DEPARTURE WARNING CAMERA


    1. Replace the lane departure warning camera with a new one.

      Click here

    2. Perform the lane departure warning camera adjustment.

      Click here

      Result
      Proceed to
      NEXT

    NEXT

  4. CHECK FOR DTCs


    1. Clear the DTCs.

      Click here


      Chassis > Lane Departure Alert > Clear DTCs

    2. Make sure that the DTC detection conditions are met.

      Tech Tips

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

    3. Check for DTCs.

      Click here


      Chassis > Lane Departure Alert > Trouble Codes
      Result
      Result Proceed to
      DTC C1AA4, C1AA5 and C1AA6 are not output A
      DTC C1AA4, C1AA5 or C1AA6 is output B

    A

    USE SIMULATION METHOD TO CHECK Click here

    B

    REPLACE LANE DEPARTURE WARNING CAMERA Click here