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 skid control ECU receives vehicle stability signals from the airbag ECU assembly and sends the signals to the lane departure warning camera. If the skid control ECU (brake actuator assembly) or airbag ECU assembly detects that the airbag ECU assembly is malfunctioning, the skid control ECU (brake actuator assembly) or airbag ECU assembly sends a malfunction signal to the lane departure warning camera and the lane departure warning camera stores DTC C1AA4, C1AA5 or C1AA6.

DTC No. Detection Item DTC Detection Condition Trouble Area
C1AA4 Yaw Rate Sensor Circuit While driving with the lane departure alert system activated, a airbag ECU assembly malfunction signal sent from the airbag ECU assembly to the lane departure warning camera is detected for 5 seconds or more.

  • Electronically controlled brake system

  • Lane departure warning camera

  • Airbag ECU assembly
C1AA5 Yaw Rate Sensor Power Supply Voltage Circuit While driving with the lane departure alert system activated, a airbag ECU assembly power supply voltage malfunction signal sent from the airbag ECU assembly to the lane departure warning camera is detected for 5 seconds or more.

  • Electronically controlled brake system

  • Lane departure warning camera

  • Airbag ECU assembly
C1AA6 Yaw Rate Sensor Zero Point Malfunction While driving with the lane departure alert system activated, a airbag ECU assembly zero point malfunction signal sent from the skid control ECU (brake actuator assembly) to the lane departure warning camera is detected for 5 seconds or more.

  • Electronically controlled brake system

  • Lane departure warning camera

CAUTION / NOTICE / HINT

Note


  • When the lane departure warning camera is replaced with a new one, adjustment of the lane departure warning camera beam 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 (VELECTRONICALLY CONTROLLED BRAKE SYSTEM)


    1. Connect the GTS to the DLC3.

    2. Turn the power 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


      Chassis > ABS/VSC/TRAC > Trouble Codes
      Result
      Result Proceed to
      Electronically controlled brake system DTCs are not output A
      Electronically controlled brake system DTCs are output B

    B

    GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM Click here

    A

  2. CHECK FOR DTCs (LANE DEPARTURE ALERT)


    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