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LANE DEPARTURE ALERT SYSTEM(w/ Dynamic Radar Cruise Control System), Diagnostic DTC:C1AA4, C1AA5, C1AA6

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DTC Code DTC Name
C1AA4 Yaw Rate Sensor Circuit
C1AA5 Yaw Rate Sensor Power Supply Voltage Circuit
C1AA6 Yaw Rate Sensor Zero Point Malfunction
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DESCRIPTION

The skid control ECU receives vehicle stability signals from the yaw rate and acceleration sensor and sends the signals to the lane departure warning camera. If the skid control ECU detects that the yaw rate and acceleration sensor is malfunctioning, the skid control ECU sends a malfunction signal to the lane departure warning camera and the lane departure warning camera stores DTC C1AA4, C1AA5 or C1AA6.

DTC No. DTC Detection Condition Trouble Area
C1AA4 While driving with the lane departure alert system activated and the lane departure alert main switch on, a yaw rate and acceleration sensor malfunction signal sent from the skid control ECU to the lane departure warning camera is detected for 5 seconds or more.

  • Electronically controlled brake system

  • Lane departure warning camera
C1AA5 While driving with the lane departure alert system activated and the lane departure alert main switch on, a yaw rate and acceleration sensor power supply voltage malfunction signal sent from the skid control ECU to the lane departure warning camera is detected for 5 seconds or more.
C1AA6 While driving with the lane departure alert system activated and the lane departure alert main switch on, a yaw rate and acceleration sensor zero point malfunction signal sent from the skid control ECU to the lane departure warning camera is detected for 5 seconds or more.
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WIRING DIAGRAM

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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).

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PROCEDURE


  1. Click here

    CHECK FOR DTCs (ABS/VSC/TRC)


    1. Connect the GTS to the DLC3.

    2. Turn the power switch on (IG).

    3. Enter the following menus: Chassis / ABS/VSC/TRC / Trouble Codes.

    4. Check if DTCs are output.

      Result
      Result Proceed to
      Electronically controlled brake system DTCs are not output. A
      Electronically controlled brake system DTCs are output. B

    5. Turn the power switch off.


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    CLEAR DTCs


    1. Connect the GTS to the DLC3.

    2. Turn the power switch on (IG).

    3. Enter the following menus: Chassis / Lane Departure Alert / Trouble Codes.

    4. Clear DTCs.

    5. Turn the power switch off.


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    CHECK FOR DTCs (LANE DEPARTURE ALERT)


    1. Perform the following to make sure the DTC detection conditions are met.

      Tip:

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


      1. Drive the vehicle at a speed between 50 km/h (32 mph) and 220 km/h (138 mph) and operate the lane departure alert system.

    2. Connect the GTS to the DLC3.

    3. Turn the power switch on (IG).

    4. Enter the following menus: Chassis / Lane Departure Alert / Trouble Codes.

    5. Check for DTCs.

      OK
      DTC C1AA4, C1AA5 or C1AA6 is not output.

    6. Turn the power switch off.


    • OK

      USE SIMULATION METHOD TO CHECK (Click here)

    • NG

      REPLACE LANE DEPARTURE WARNING CAMERA (Click here)