ROAD SIGN ASSIST SYSTEM, Diagnostic DTC:C1AA6

DTC Code DTC Name
C1AA6 Yaw Rate Sensor Zero Point Malfunction

DESCRIPTION

The skid control ECU (brake booster with master cylinder assembly) receives vehicle stability signals from the yaw rate sensor (airbag ECU assembly). If the skid control ECU (brake booster with master cylinder assembly) detects a yaw rate sensor zero point malfunction signal, it informs the forward recognition camera via CAN communication, and DTC C1AA6 is stored.

DTC No. Detection Item DTC Detection Condition Trouble Area
C1AA6 Yaw Rate Sensor Zero Point Malfunction 2 seconds after the power switch is turned on (IG), a signal from the skid control ECU (brake booster with master cylinder assembly) indicating a malfunction in the yaw rate sensor zero point is detected by the forward recognition camera for 5 seconds or more.

  • Electronically controlled brake system

  • Skid control ECU (Brake booster with master cylinder assembly)

  • 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 road sign assist system 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 (ELECTRONICALLY CONTROLLED BRAKE SYSTEM)

    Tech Tips

    If DTC C1AA6 is stored, the electronically controlled brake system may be malfunctioning. Check for DTCs related to the electronically controlled brake system first.


    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 / ABS/VSC/TRC / Trouble Codes.

    5. Check for DTCs.

      Click here

      Result
      Result Proceed to
      Electronically controlled brake system DTCs are not output A
      Electronically controlled brake system DTCs are output B

    B

    GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM Click here

    A

  2. CHECK FOR DTCs (ROAD SIGN ASSIST 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 / Road Sign Assist / Trouble Codes.

    5. Clear the DTCs.

      Click here

    6. Perform the following procedure.

      Tech Tips

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


      1. Turn the power switch on (IG) and wait 7 seconds or more.

    7. Check for DTCs.

      Click here

      Result
      Result Proceed to
      DTC C1AA6 is not output A
      DTC C1AA6 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 (ROAD SIGN ASSIST 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 / Road Sign Assist / Trouble Codes.

    5. Clear the DTCs.

      Click here

    6. Perform the following procedure.

      Tech Tips

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


      1. Turn the power switch on (IG) and wait 7 seconds or more.

    7. Check for DTCs.

      Click here

      Result
      Result Proceed to
      DTC C1AA6 is not output A
      DTC C1AA6 is output B

    A

    END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)

    B

    REPLACE SKID CONTROL ECU (BRAKE BOOSTER WITH MASTER CYLINDER ASSEMBLY) for LHD: Click here for RHD: Click here