PRE-CRASH SAFETY SYSTEM, Diagnostic DTC:C1A22, C1A23

DTC Code DTC Name
C1A22 Object Recognition Camera Incorrect Axial Gap
C1A23 Object Recognition Camera Initialization Incomplete

DESCRIPTION

When it has been determined that the beam axis of the lane recognition camera sensor assembly has deviated, DTC C1A22 is stored.

After installing a new lane recognition camera sensor assembly, if camera beam axis adjustment is not performed, DTC C1A23 is stored.

When the distance from an object detected by the left and right camera greatly differs from the distance detected by the millimeter wave radar sensor assembly, DTC C1A25 is stored.

DTC Code DTC Detection Condition Trouble Area
C1A22

  • Pre-crash safety system:


    • The engine switch is on (IG).


  • Radar cruise control system:


    • The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the ACC main switch is on.


  • Lane keeping assist system:


    • The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the lane keeping assist main switch is on.


  • When the conditions above are met, a misalignment of the lane recognition camera sensor assembly is detected for 2 seconds or more.

  • Lane recognition camera sensor assembly

  • Driving support ECU
C1A23

  • Pre-crash safety system:


    • The vehicle is being driven at a speed of approximately 10 km/h (6 mph) or more.


  • Radar cruise control system:


    • The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the ACC main switch is on.


  • Lane keeping assist system:


    • The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the lane keeping assist main switch is on.


  • When the conditions above are met, the state in which the lane recognition camera sensor assembly adjustment has not been performed continues for 2 seconds or more.

  • Lane recognition camera sensor assembly

  • Driving support ECU

INSPECTION PROCEDURE

PROCEDURE


  1. ADJUST LANE RECOGNITION CAMERA SENSOR ASSEMBLY


    1. Adjust the lane recognition camera sensor assembly Click here.


    NEXT

  2. CHECK FOR DTC (PRE-CRASH SAFETY SYSTEM)


    1. Clear DTCs Click here.

    2. Make sure the following conditions are met:

      Tech Tips

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


      • Pre-crash safety system:

        The engine switch is on (IG) (for DTC C1A23, the vehicle needs to be driven at a speed 10 km/h [6 mph] or more).

      • Radar cruise control system:

        The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the distance control switch is on.

      • Lane keeping assist system:

        The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the lane keeping assist main switch is on.

    3. Check for DTCs.

      OK
      DTCs C1A22 and C1A23 are not output.

    NG

    REPLACE LANE RECOGNITION CAMERA SENSOR ASSEMBLY Click here

    OK

    END

  3. REPLACE LANE RECOGNITION CAMERA SENSOR ASSEMBLY


    1. Replace the lane recognition camera sensor assembly with a new one Click here.


    NEXT

  4. ADJUST LANE RECOGNITION CAMERA SENSOR ASSEMBLY


    1. Adjust the lane recognition camera sensor assembly Click here.


    NEXT

  5. CHECK FOR DTC (PRE-CRASH SAFETY SYSTEM)


    1. Clear the DTCs Click here.

    2. Make sure the following conditions are met:

      Tech Tips

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


      • Pre-crash safety system:

        The engine switch is on (IG) (for DTC C1A23, the vehicle needs to be driven at a speed 10 km/h (6 mph) or more).

      • Radar cruise control system:

        The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the distance control switch is on.

      • Lane keeping assist system:

        The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the lane keeping assist main switch is on.

    3. Check for DTCs.

      OK
      DTCs C1A22 and C1A23 are not output.

      Note

      When replacing the driving support ECU, always replace it with a new one and be sure to perform initialization Click here. If an ECU which was installed to another vehicle is used, the information stored in the ECU will not match the information from the vehicle, and as a result, a DTC may be stored.


    NG

    REPLACE DRIVING SUPPORT ECU Click here

    OK

    END (LANE RECOGNITION CAMERA SENSOR ASSEMBLY WAS DEFECTIVE)