LANE DEPARTURE ALERT SYSTEM(w/ Steering Control), Diagnostic DTC:C1AA6

DTC Code DTC Name
C1AA6 Yaw Rate Sensor Zero Point Malfunction

DESCRIPTION

The brake booster with master cylinder assembly (skid control ECU) receives vehicle stability signals from the airbag sensor assembly (yaw rate sensor). If the brake booster with master cylinder assembly (skid control ECU) detects a yaw rate sensor zero point malfunction signal, it informs the forward recognition camera via CAN communication, and DTC C1AA6 is stored.

DTC No. DTC Detection Condition Trouble Area
C1AA6 While driving with the lane departure alert system activated and the lane departure alert main switch on, a yaw rate sensor zero point malfunction signal sent from the brake booster with master cylinder assembly (skid control ECU) to the forward recognition camera is detected for 5 seconds or more.

  • Electronically controlled brake system

  • Brake booster with master cylinder assembly (skid control ECU)

  • Forward recognition camera

CAUTION / NOTICE / HINT

Note


  • 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 Recognition Camera/Target Position Memory and Recognition Camera Axis Adjust Click here.

  • First check the CAN communication system by following How to Proceed with Troubleshooting. After checking that there are no malfunctions in the CAN communication system, proceed with troubleshooting Click here.

PROCEDURE


  1. CHECK DTC OUTPUT (ELECTRONICALLY 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/TRC / Trouble Codes.

    5. Check for DTCs Click here.

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

    6. Turn the power switch off.


    B

    GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM Click here

    A

  2. CHECK DTC OUTPUT (LANE DEPARTURE ALERT 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 / LKA/LDA / Trouble Codes.

    5. Clear the DTCs Click here.

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

      Tech Tips

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

    7. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC C1AA6 is output. A
      DTC C1AA6 is not output. B

    8. Turn the power switch off.


    B

    USE SIMULATION METHOD TO CHECK Click here

    A

  3. REPLACE FORWARD RECOGNITION CAMERA


    1. Replace the forward recognition camera Click here.

    2. Adjust the forward recognition camera Click here.


    NEXT

  4. CHECK DTC OUTPUT (LANE DEPARTURE ALERT 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 / LKA/LDA / Trouble Codes.

    5. Clear the DTCs Click here.

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

      Tech Tips

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

    7. Check for DTCs Click here.

      Result
      Result Proceed to
      DTC C1AA6 is not output A
      DTC C1AA6 is output (for LHD) B
      DTC C1AA6 is output (for RHD) C

    8. Turn the power switch off.


    A

    END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)

    B

    REPLACE BRAKE BOOSTER WITH MASTER CYLINDER ASSEMBLY (SKID CONTROL ECU) Click here

    C

    REPLACE BRAKE BOOSTER WITH MASTER CYLINDER ASSEMBLY (SKID CONTROL ECU) Click here