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LANE DEPARTURE ALERT SYSTEM(w/ Steering Control), Diagnostic DTC:C1A73

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DTC Code DTC Name
C1A73 Driving Support ECU Receive Data Malfunction
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DESCRIPTION

If a communication error between the driving support ECU assembly and another ECU is detected, the driving support ECU assembly sends a communication error flag to the forward recognition camera, and DTC C1A73 is stored.

DTC No. DTC Detection Condition Trouble Area
C1A73 When the power switch is on (IG), a communication error between the driving support ECU assembly and another ECU is detected.

  • CAN communication system

  • Forward recognition camera

  • Driving support ECU assembly
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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).

  • 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.

  • 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).

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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).

      Table 1. Result
      Result Proceed to
      DTC U0125, U0126, U0129, U0235 and U0293 are not output A
      DTC U0125, U0126, U0129, U0235 or U0293 are output B

  2. 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).

      Table 2. Result
      Result Proceed to
      DTC C1A73 is output A
      DTC C1A73 is not output B

  3. Click here

    REPLACE FORWARD RECOGNITION CAMERA


    1. Replace the forward recognition camera (Click here).

    2. Adjust the forward recognition camera (Click here).


  4. 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).

      Table 3. Result
      Result Proceed to
      DTC C1A73 is output A
      DTC C1A73 is not output B

    • A

      REPLACE DRIVING SUPPORT ECU ASSEMBLY (Click here)

    • B

      END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)