PRE-CRASH SAFETY SYSTEM, Diagnostic DTC:U0235, U1002, U1104

DTC Code DTC Name
U0235 Lost Communication with Cruise Control Front Distance Range Sensor
U1002 Lost Communication with Gateway Module
U1104 Lost Communication with Driving Support ECU

DESCRIPTION

The driving support ECU sends information on the steering angle and steering direction to the millimeter wave radar sensor assembly. The millimeter wave radar sensor assembly then sends information on the presence, distance, and relative speed of objects ahead to the driving support ECU. The driving support ECU sends this information to the ECM and performs cruise control.

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 driving support ECU is detected for approximately 1 second.

  • Millimeter wave radar sensor assembly

  • Driving support ECU

  • CAN communication system
U1002 When the power switch is on (IG), a communication error between the millimeter wave radar sensor assembly and the driving support ECU is detected for approximately 1 second.

  • Millimeter wave radar sensor assembly

  • Driving support ECU

  • CAN communication system
U1104 When the power switch is on (IG), a communication error between the driving support ECU and the millimeter wave radar sensor assembly is detected for approximately 1 second.

  • Millimeter wave radar sensor assembly

  • Driving support ECU

  • CAN communication system

WIRING DIAGRAM

A01NND8E02

INSPECTION PROCEDURE

Note

When replacing the millimeter wave radar sensor assembly with a new one, make sure to perform Adjust Millimeter Wave Radar Sensor Assembly Click here.

PROCEDURE


  1. CHECK HARNESS AND CONNECTOR (DRIVING SUPPORT ECU - MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. Disconnect the driving support ECU connector.

    2. Disconnect the millimeter wave radar sensor assembly connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      C1-40 (CA1P) - B1-4 (CA1P) Always Below 1 Ω
      C1-18 (CA1N) - B1-3 (CA1N) Always Below 1 Ω
      C1-40 (CA1P) or B1-4 (CA1P) - Body ground Always 10 kΩ or higher
      C1-18 (CA1N) or B1-3 (CA1N) - Body ground Always 10 kΩ or higher

    4. Reconnect the millimeter wave radar sensor assembly connector.

    5. Reconnect the driving support ECU connector.


    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR

    OK

  2. CHECK TERMINAL VOLTAGE (POWER SOURCE OF DRIVING SUPPORT ECU)


    1. Disconnect the driving support ECU connector.

    2. A01NMEDE03
      Text in Illustration
      *1

      Front view of wire harness connector

      (to Driving Support ECU)

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

      Standard Voltage
      Tester Connection Switch Condition Specified Condition
      C1-30 (B) - Body ground Power switch on (IG) 11 to 14 V
      C1-30 (B) - Body ground Power switch off Below 1 V

    3. Reconnect the driving support ECU connector.


    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (DRIVING SUPPORT ECU - BODY GROUND)

    OK

  3. CHECK HARNESS AND CONNECTOR (DRIVING SUPPORT ECU - BODY GROUND)


    1. Disconnect the driving support ECU connector.

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

      Standard Resistance
      Tester Connection Switch Condition Specified Condition
      C1-25 (GND) - Body ground Always Below 1 Ω

    3. Reconnect the driving support ECU connector.


    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (DRIVING SUPPORT ECU - BODY GROUND)

    OK

  4. CHECK TERMINAL VOLTAGE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. Disconnect the millimeter wave radar sensor assembly connector.

    2. A01NKCNE59
      Text in Illustration
      *1

      Front view of wire harness connector

      (to Millimeter Wave Radar Sensor Assembly)

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

      Standard Voltage
      Tester Connection Switch Condition Specified Condition
      B1-5 (IGB) - Body ground Power switch on (IG) 11 to 14 V
      B1-5 (IGB) - Body ground Power switch off Below 1 V

    3. Reconnect the millimeter wave radar sensor assembly connector.


    NG

    REPLACE HARNESS OR CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY - BODY GROUND)

    OK

  5. CHECK HARNESS AND CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY - BODY GROUND)


    1. Disconnect the millimeter wave radar sensor assembly connector.

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

      Standard Resistance
      Tester Connection Switch Condition Specified Condition
      B1-2 (SGND) - Body ground Always Below 1 Ω

    3. Reconnect the millimeter wave radar sensor assembly connector.


    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY - BODY GROUND)

    OK

  6. 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.


    NEXT

  7. CHECK FOR DTC


    1. Connect the intelligent tester to the DLC3.

    2. Turn the power switch on (IG).

    3. Clear the DTCs Click here.

    4. Perform the following to make sure that the DTC detection conditions are met.

      Tech Tips

      If the detection conditions are not met, the malfunction cannot be detected.


      1. Drive the vehicle at a speed of 40 km/h (25 mph) or more.

      2. Turn the cruise control main switch on.

      3. Operate the -SET switch to activate the cruise control.

    5. Enter the following menus: Powertrain / Radar Cruise / Trouble Codes.

    6. Read the DTCs.

      Result
      Result Proceed to
      DTCs U0235, U1002 and U1104 are not output A
      DTC U0235, U1002 or U1104 is output B

    B

    REPLACE DRIVING SUPPORT ECU Click here

    A

    END