LANE DEPARTURE ALERT SYSTEM(w/ Steering Control), Diagnostic DTC:C1AA4, C1AA5

DTC Code DTC Name
C1AA4 Yaw Rate Sensor Circuit
C1AA5 Yaw Rate Sensor Power Supply Voltage Circuit

DESCRIPTION

The forward recognition camera receives vehicle stability signals from the yaw rate sensor. If the yaw rate sensor detects an abnormal yaw rate sensor signal or yaw rate sensor power supply voltage, it informs the forward recognition camera via CAN communication, and DTC C1AA4 or C1AA5 is stored.

DTC No. Detection Item DTC Detection Condition Trouble Area
C1AA4 Yaw Rate Sensor Circuit

When all of the following conditions are met:


  • 2 seconds after the engine switch is turned on (IG)

  • The vehicle speed is 1 km/h or 1 mph or more.

  • A signal from the yaw rate sensor indicating a malfunction in the yaw rate sensor is detected by the forward recognition camera for 5 seconds or more.

  • Vehicle stability control system

  • Yaw rate sensor

  • Forward recognition camera
C1AA5 Yaw Rate Sensor Power Supply Voltage Circuit

When all of the following conditions are met:


  • 2 seconds after the engine switch is turned on (IG)

  • The vehicle speed is 1 km/h or 1 mph or more.

  • A signal from the yaw rate sensor indicating an abnormal yaw rate sensor power supply voltage signal is detected by the forward recognition camera for 5 seconds or more.

  • Vehicle stability control system

  • Yaw rate sensor

  • 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 forward recognition camera adjustment.

    Click here

  • The lane departure alert system (w/ Steering Control) uses the CAN communication system. First, confirm that there are no malfunction in the CAN communication system. Refer to How to Proceed with Troubleshooting.

    Click here

PROCEDURE


  1. CHECK FOR DTCs (VEHICLE STABILITY CONTROL SYSTEM)

    Tech Tips

    Lane departure alert system (w/ Steering Control) DTC C1AA4 or C1AA5 may be stored due to a malfunction in the vehicle stability control system. Therefore it is necessary to check for and troubleshoot vehicle stability control system DTCs first.


    1. Check for DTCs.

      Click here


      Chassis > ABS/VSC/TRC > Trouble Codes
      Result
      Result Proceed to
      Vehicle stability control system DTCs are not output A
      Vehicle stability control system DTCs are output B

    B

    GO TO VEHICLE STABILITY CONTROL SYSTEM Click here

    A

  2. CHECK FOR DTCs (LANE DEPARTURE ALERT SYSTEM (w/ Steering Control))


    1. Clear the DTCs.

      Click here


      Chassis > LKA/LDA > Clear DTCs

    2. Perform the following procedure.

      Tech Tips

      If the following procedure is not performed, the previously output DTC cannot be detected.


      1. Turn the engine switch on (IG) and wait 2 seconds or more.

      2. Drive the vehicle at a speed of 1 km/h or 1 mph or more for 5 seconds or more.

    3. Check for DTCs.

      Click here


      Chassis > LKA/LDA > Trouble Codes
      Result
      Result Proceed to
      DTC C1AA4 and C1AA5 are not output A
      DTC C1AA4 or C1AA5 is output B

    A

    USE SIMULATION METHOD TO CHECK Click here

    B

  3. REPLACE FORWARD RECOGNITION CAMERA


    1. Replace the forward recognition camera.

      Click here

    2. Perform forward recognition camera adjustment.

      Click here

      Result
      Proceed to
      NEXT

    NEXT

  4. CHECK FOR DTCs (LANE DEPARTURE ALERT SYSTEM (w/ Steering Control))


    1. Clear the DTCs.

      Click here


      Chassis > LKA/LDA > Clear DTCs

    2. Perform the following procedure.

      Tech Tips

      If the following procedure is not performed, the previously output DTC cannot be detected.


      1. Turn the engine switch on (IG) and wait 2 seconds or more.

      2. Drive the vehicle at a speed of 1 km/h or 1 mph or more for 5 seconds or more.

    3. Check for DTCs.

      Click here


      Chassis > LKA/LDA > Trouble Codes
      Result
      Result Proceed to
      DTC C1AA4 and C1AA5 are not output A
      DTC C1AA4 or C1AA5 is output B

    A

    END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)

    B

    REPLACE YAW RATE SENSOR Click here