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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. DTC Detection Condition Trouble Area
U0235 When the power switch is on (IG), a communication error between the millimeter wave radar sensor assembly and the forward recognition camera is detected for approximately 1 second.

  • CAN communication system

  • Millimeter wave radar sensor assembly

  • Forward recognition camera
U1104 When the power switch is on (IG), a communication error between the driving support ECU assembly and the forward recognition camera is detected for approximately 1 second.

  • 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 the forward recognition camera is replaced with a new one, adjustment of the Recognition Camera/Target Position Memory and Recognition Camera Axis Adjust must be performed (Click here).

  • When the millimeter wave radar sensor assembly is replaced with a new one, adjustment of the radar sensor beam axis must be performed (Click here).

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PROCEDURE


  1. Click here

    CHECK DTC OUTPUT (PRE-CRASH SAFETY 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: Body Electrical / Pre-Crash 2 / Trouble Codes.

    5. Check for DTCs (Click here).

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

    6. Turn the power switch off.


  2. Click here

    CHECK FOR SHORT IN SUB BUS LINE


    1. A0008V9E05

      Disconnect the T12 forward recognition camera connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      T12-6 (CANH) - T12-12 (CANL) Cable disconnected from negative (-) auxiliary battery terminal 54 to 69 Ω
      Table 1. Text in Illustration
      *a

      Front view of wire harness connector

      (to Forward Recognition Camera)

    • OKClick here
    • NG

      REPAIR OR REPLACE HARNESS OR CONNECTOR (CAN BUS LINE)

  3. Click here

    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. Check for DTCs (Click here).

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

  4. Click here

    CHECK POWER SOURCE CIRCUIT (DRIVING SUPPORT ECU ASSEMBLY)


    1. A00076EE02

      Disconnect the H196 driving support ECU assembly connector.

    2. Turn the power switch on (IG).

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

      Standard Voltage
      Tester Connection Condition Specified Condition
      H196-7 (B) - Body ground Power switch on (IG) 11 to 14 V
      Table 2. Text in Illustration
      *a

      Front view of wire harness connector

      (to Driving Support ECU Assembly)

    4. Turn the power switch off.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      H196-28 (GND) - Body ground Always Below 1 Ω

    6. Reconnect the H196 driving support ECU assembly connector.


    • OKClick here
    • NG

      REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

  5. Click here

    CHECK POWER SOURCE CIRCUIT (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. A0007FOE02

      Disconnect the A77 millimeter wave radar sensor assembly connector.

      Table 3. Text in Illustration
      *a

      Front view of wire harness connector

      (to Millimeter Wave Radar Sensor Assembly)

    2. Turn the power switch on (IG).

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

      Standard Voltage
      Tester Connection Condition Specified Condition
      A77-8 (IGB) - Body ground Power switch on (IG) 11 to 14 V

    4. Turn the power switch off.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      A77-1 (SGND) - Body ground Always Below 1 Ω

    • OK

      REPLACE FORWARD RECOGNITION CAMERA

    • NG

      REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

  6. Click here

    CHECK POWER SOURCE CIRCUIT (DRIVING SUPPORT ECU ASSEMBLY)


    1. A00076EE02

      Disconnect the H196 driving support ECU assembly connector.

    2. Turn the power switch on (IG).

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

      Standard Voltage
      Tester Connection Condition Specified Condition
      H196-7 (B) - Body ground Power switch on (IG) 11 to 14 V
      Table 4. Text in Illustration
      *a

      Front view of wire harness connector

      (to Driving Support ECU Assembly)

    4. Turn the power switch off.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      H196-28 (GND) - Body ground Always Below 1 Ω

    6. Reconnect the H196 driving support ECU assembly connector.


    • OKClick here
    • NG

      REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

  7. Click here

    REPLACE DRIVING SUPPORT ECU ASSEMBLY


    1. Replace the driving support ECU assembly (Click here).


  8. Click here

    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.

      Tip:

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

    7. Check for DTCs (Click here).

      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 CAMERA (Click here)

  9. Click here

    CHECK POWER SOURCE CIRCUIT (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. A0007FOE02

      Disconnect the A77 millimeter wave radar sensor assembly connector.

      Table 5. Text in Illustration
      *a

      Front view of wire harness connector

      (to Millimeter Wave Radar Sensor Assembly)

    2. Turn the power switch on (IG).

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

      Standard Voltage
      Tester Connection Condition Specified Condition
      A77-8 (IGB) - Body ground Power switch on (IG) 11 to 14 V

    4. Turn the power switch off.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      A77-1 (SGND) - Body ground Always Below 1 Ω

    • OKClick here
    • NG

      REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

  10. 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).


  11. Click here

    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.

      Tip:

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

    7. Check for DTCs (Click here).

      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 CAMERA (Click here)