PRE-COLLISION SYSTEM, Diagnostic DTC:U1002

DTC Code DTC Name
U1002 Lost Communication with Gateway Module

DESCRIPTION

This DTC is stored when the driving support ECU assembly cannot receive signals from the forward recognition camera or millimeter wave radar sensor assembly.

DTC No. Detection Item DTC Detection Condition Trouble Area
U1002 Lost Communication with Gateway Module

After the engine switch is turned on, communication between the driving support ECU and any of the following components is abnormal for 2 seconds or more.


  • Forward recognition camera

  • Millimeter wave radar sensor assembly

  • CAN bus main line, CAN bus branch line or connector

  • Forward recognition camera

  • Millimeter wave radar sensor assembly

  • Driving support ECU assembly

  • No. 6 CAN Junction Connector

WIRING DIAGRAM

B006DRLE02

CAUTION / NOTICE / HINT

Note


  • Before measuring the resistance of the CAN bus, turn the engine switch off and leave the vehicle for 1 minute or more without operating the key or any switches, or opening or closing the doors. After that, disconnect the cable from the negative (-) battery terminal and leave the vehicle for 1 minute or more before measuring the resistance.

  • After turning the engine switch off, waiting time may be required before disconnecting the cable from the negative (-) battery terminal. Therefore, make sure to read the disconnecting the cable from the negative (-) battery terminal notices before proceeding with work.

    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.

  • When replacing the millimeter wave radar sensor assembly, always replace it with a new one. If a millimeter wave radar sensor assembly which was installed to another vehicle is used, the information stored in the millimeter wave radar sensor assembly will not match the information from the vehicle. As a result, a DTC may be stored.

  • When the millimeter wave radar sensor assembly is replaced with a new one, adjustment of the radar sensor beam axis must be performed.

    Click here

  • 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 Learning.

    Click here

  • If the headlight ECU sub-assembly LH has been replaced, it is necessary to synchronize the vehicle information and initialize the headlight ECU sub-assembly LH.

    Click here

Tech Tips


  • Operating the engine switch, any other switches or a door triggers related ECU and sensor communication on the CAN. This communication will cause the resistance value to change.

  • Even after DTCs are cleared, if a DTC is stored again after driving the vehicle for a while, the malfunction may be occurring due to vibration of the vehicle. In such a case, wiggling the ECUs or wire harness while performing the inspection below may help determine the cause of the malfunction.

PROCEDURE


  1. CHECK FOR DTCs (FRONT CAMERA SYSTEM)


    1. Check for DTCs.

      Click here


      Chassis > Front Recognition Camera > Trouble Codes
      Result
      Result Proceed to
      DTC U1104 is output A
      DTC U1104 is not output B

    B

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

    A

  2. CHECK CAN BUS LINE (MALFUNCTION CONFIRMATION)


    1. Turn the engine switch off.

    2. Disconnect the cable from the negative (-) battery terminal.

    3. B0069LNC46
      *a

      Component with harness connected

      (Driving Support ECU Assembly)

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

      Standard Resistance
      Tester Connection Condition Specified Condition Result
      G68-8 (CA1P) - G68-9 (CA1N) Cable disconnected from negative (-) battery terminal 54 to 69 Ω

      Below 54 Ω:

      Short circuit between bus lines

      70 Ω or more:

      Open circuit in a main bus line or driving support ECU assembly branch line
      G68-8 (CA1P) - G68-28 (GND) Cable disconnected from negative (-) battery terminal 200 Ω or higher

      Below 200 Ω:

      CANH ground short
      G68-9 (CA1N) - G68-28 (GND) Cable disconnected from negative (-) battery terminal 200 Ω or higher

      Below 200 Ω:

      CANH ground short
      G68-8 (CA1P) - G68-7 (B) Cable disconnected from negative (-) battery terminal 6 kΩ or higher

      Below 6 kΩ:

      CANH +B short
      G68-9 (CA1N) - G68-7 (B) Cable disconnected from negative (-) battery terminal 6 kΩ or higher

      Below 6 kΩ:

      CANH +B short

    4. Connect the cable to the negative (-) battery terminal.

      Result
      Result Proceed to
      OK A
      NG (Open circuit in main line or Driving support ECU assembly branch line) B
      NG (Short circuit between main lines) C
      NG (Short to +B or ground) D

    B

    CHECK FOR OPEN IN CAN BUS BRANCH LINES (DRIVING SUPPORT ECU ASSEMBLY) Click here

    C

    CHECK FOR SHORT BETWEEN CAN BUS LINES (FORWARD RECOGNITION CAMERA) Click here

    D

    CHECK FOR SHORT IN CAN BUS LINE (FORWARD RECOGNITION CAMERA) Click here

    A

  3. CHECK FOR DTCs (PRE-COLLISION SYSTEM)


    1. Clear the DTCs.

      Click here


      Body Electrical > Pre-Collision 2 > Clear DTCs

    2. Make sure that the DTC detection conditions are met.

      Tech Tips

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

    3. Check for DTCs.

      Click here


      Body Electrical > Pre-Collision 2 > Trouble Codes
      Result
      Result Proceed to
      DTC U1002 is not output A
      DTC U1002 is output B

    A

    USE SIMULATION METHOD TO CHECK Click here

    B

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

  4. CHECK FOR OPEN IN CAN BUS BRANCH LINES (DRIVING SUPPORT ECU ASSEMBLY)


    1. Disconnect the cable from the negative (-) battery terminal.

    2. Disconnect the G68 driving support ECU assembly connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      G68-8 (CA1P) - G68-9 (CA1N) Cable disconnected from negative (-) battery terminal 54 to 69 Ω

    4. Connect the G68 driving support ECU assembly connector.

    5. Connect the cable to the negative (-) battery terminal.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

    NG

  5. CHECK FOR OPEN IN CAN BUS MAIN LINES


    1. Disconnect the cable from the negative (-) battery terminal.

    2. Disconnect the G128 No. 6 CAN junction connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition Connected to
      G128-9 (CANH) - G128-3 (CANL) Cable disconnected from negative (-) battery terminal 108 to 132 Ω Forward Recognition Camera
      G128-7 (CA1P) - G128-1 (CA1N) Cable disconnected from negative (-) battery terminal 108 to 132 Ω Millimeter Wave Radar Sensor Assembly

    4. Connect the G128 No. 6 CAN junction connector.

    5. Connect the cable to the negative (-) battery terminal.

      Result
      Result Proceed to
      OK A
      NG (Forward Recognition Camera Main Line) B
      NG (Millimeter Wave Radar Sensor Assembly Main Line) C

    B

    CHECK FOR OPEN IN CAN BUS MAIN LINES (FORWARD RECOGNITION CAMERA) Click here

    C

    CHECK FOR OPEN IN CAN BUS MAIN LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY) Click here

    A

  6. CHECK FOR OPEN IN CAN BUS BRANCH LINES (DRIVING SUPPORT ECU ASSEMBLY)


    1. Disconnect the cable from the negative (-) battery terminal.

    2. Disconnect the G68 driving support ECU assembly connector.

    3. Disconnect the G128 No. 6 CAN junction connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      G128-10 (CA1P) - G68-8 (CA1P) Cable disconnected from negative (-) battery terminal Below 1 Ω
      G128-4 (CA1N) - G68-9 (CA1N) Cable disconnected from negative (-) battery terminal Below 1 Ω

    5. Connect the G128 No. 6 CAN junction connector.

    6. Connect the G68 driving support ECU assembly connector.

    7. Connect the cable to the negative (-) battery terminal.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE NO. 6 CAN JUNCTION CONNECTOR

    NG

    REPAIR OR REPLACE CAN BUS BRANCH WIRE

  7. CHECK FOR OPEN IN CAN BUS MAIN LINES (FORWARD RECOGNITION CAMERA)


    1. Disconnect the cable from the negative (-) battery terminal.

    2. Disconnect the N5 forward recognition camera connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      N5-6 (CANH) - N5-12 (CANL) Cable disconnected from negative (-) battery terminal 108 to 132 Ω

    4. Connect the N5 forward recognition camera connector.

    5. Connect the cable to the negative (-) battery terminal.

      Result
      Proceed to
      OK
      NG

    NG

    REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR

    OK

  8. REPLACE FORWARD RECOGNITION CAMERA


    1. Replace the forward recognition camera.

      Click here

    2. Perform Forward Recognition Camera Learning.

      Click here

      Result
      Proceed to
      NEXT

    NEXT

    END

  9. CHECK FOR OPEN IN CAN BUS MAIN LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. Disconnect the cable from the negative (-) battery terminal.

    2. Disconnect the C6 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
      C6-5 (CA1P) - C6-6 (CA1N) Cable disconnected from negative (-) battery terminal 108 to 132 Ω

    4. Connect the C6 millimeter wave radar sensor assembly connector.

    5. Connect the cable to the negative (-) battery terminal.

      Result
      Proceed to
      OK
      NG

    NG

    REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR

    OK

  10. REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Replace the millimeter wave radar sensor assembly.

      Click here

    2. Perform millimeter wave radar sensor assembly adjustment.

      Click here

      Result
      Proceed to
      NEXT

    NEXT

    END

  11. CHECK FOR SHORT BETWEEN CAN BUS LINES (FORWARD RECOGNITION CAMERA)


    1. Disconnect the cable from the negative (-) battery terminal.

    2. Disconnect the N5 forward recognition camera connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      N5-6 (CANH) - N5-12 (CANL) Cable disconnected from negative (-) battery terminal 108 to 132 Ω

    4. Connect the N5 forward recognition camera connector.

    5. Connect the cable to the negative (-) battery terminal.

      Result
      Proceed to
      OK
      NG

    NG

    CHECK FOR SHORT BETWEEN CAN BUS LINES (NO. 6 CAN JUNCTION CONNECTOR) Click here

    OK

  12. REPLACE FORWARD RECOGNITION CAMERA


    1. Replace the forward recognition camera.

      Click here

    2. Perform Forward Recognition Camera Learning.

      Click here

      Result
      Proceed to
      NEXT

    NEXT

    END

  13. CHECK FOR SHORT BETWEEN CAN BUS LINES (NO. 6 CAN JUNCTION CONNECTOR)


    1. Disconnect the cable from the negative (-) battery terminal.

    2. Disconnect the G128 No. 6 CAN junction connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition Connected to
      G128-9 (CANH) - G128-3 (CANL) Cable disconnected from negative (-) battery terminal 108 to 132 Ω Forward Recognition Camera
      G128-7 (CA1P) - G128-1 (CA1N) Cable disconnected from negative (-) battery terminal 108 to 132 Ω Millimeter Wave Radar Sensor Assembly
      G128-10 (CA1P) - G128-4 (CA1N) Cable disconnected from negative (-) battery terminal 200 Ω or higher Driving Support ECU Assembly
      G128-2 (LCL) - G128-8 (LCH) Cable disconnected from negative (-) battery terminal 200 Ω or higher Headlight ECU Sub-assembly LH*
      *: w/ Adaptive High Beam System

    4. Connect the G128 No. 6 CAN junction connector.

    5. Connect the cable to the negative (-) battery terminal.

      Result
      Result Proceed to
      OK A
      NG (Forward Recognition Camera Main Line) B
      NG (Millimeter Wave Radar Sensor Assembly Main Line) C
      NG (Driving Support ECU Assembly Branch Line) D
      NG (Headlight ECU Sub-assembly LH Branch Line) E

    A

    REPLACE NO. 6 CAN JUNCTION CONNECTOR

    B

    REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR

    D

    CHECK FOR SHORT BETWEEN CAN BUS LINES (DRIVING SUPPORT ECU ASSEMBLY) Click here

    E

    CHECK FOR SHORT BETWEEN CAN BUS LINES (HEADLIGHT ECU SUB-ASSEMBLY LH) Click here

    C

  14. CHECK FOR SHORT BETWEEN CAN BUS LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. Disconnect the cable from the negative (-) battery terminal.

    2. Disconnect the C6 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
      C6-5 (CA1P) - C6-6 (CA1N) Cable disconnected from negative (-) battery terminal 108 to 132 Ω

    4. Connect the C6 millimeter wave radar sensor assembly connector.

    5. Connect the cable to the negative (-) battery terminal.

      Result
      Proceed to
      OK
      NG

    NG

    REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR

    OK

  15. REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Replace the millimeter wave radar sensor assembly.

      Click here

    2. Perform millimeter wave radar sensor assembly adjustment.

      Click here

      Result
      Proceed to
      NEXT

    NEXT

    END

  16. CHECK FOR SHORT BETWEEN CAN BUS LINES (DRIVING SUPPORT ECU ASSEMBLY)


    1. Disconnect the cable from the negative (-) battery terminal.

    2. Disconnect the G68 driving support ECU assembly connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      G68-8 (CA1P) - G68-9 (CA1N) Cable disconnected from negative (-) battery terminal 54 to 69 Ω

    4. Connect the G68 driving support ECU assembly connector.

    5. Connect the cable to the negative (-) battery terminal.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

    NG

    REPAIR OR REPLACE CAN BUS BRANCH LINE OR CONNECTOR

  17. CHECK FOR SHORT BETWEEN CAN BUS LINES (HEADLIGHT ECU SUB-ASSEMBLY LH)


    1. Disconnect the cable from the negative (-) battery terminal.

    2. Disconnect the A31 headlight ECU sub-assembly LH connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      A31-22 (LCH) - A31-21 (LCL) Cable disconnected from negative (-) battery terminal 54 to 69 Ω

    4. Connect the A31 headlight ECU sub-assembly LH connector.

    5. Connect the cable to the negative (-) battery terminal.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE HEADLIGHT ECU SUB-ASSEMBLY LH Click here

    NG

    REPAIR OR REPLACE CAN BUS BRANCH LINE OR CONNECTOR

  18. CHECK FOR SHORT IN CAN BUS LINE (FORWARD RECOGNITION CAMERA)


    1. Disconnect the cable from the negative (-) battery terminal.

    2. Disconnect the N5 forward recognition camera connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      N5-6 (CANH) - Body ground Cable disconnected from negative (-) battery terminal 200 Ω or higher
      N5-12 (CANL) - Body ground Cable disconnected from negative (-) battery terminal 200 Ω or higher
      N5-6 (CANH) - +B Cable disconnected from negative (-) battery terminal 6 kΩ or higher
      N5-12 (CANL) - +B Cable disconnected from negative (-) battery terminal 6 kΩ or higher

    4. Connect the N5 forward recognition camera connector.

    5. Connect the cable to the negative (-) battery terminal.

      Result
      Proceed to
      OK
      NG

    NG

    CHECK FOR SHORT IN CAN BUS LINE (NO. 6 CAN JUNCTION CONNECTOR) Click here

    OK

  19. REPLACE FORWARD RECOGNITION CAMERA


    1. Replace the forward recognition camera.

      Click here

    2. Perform Forward Recognition Camera Learning.

      Click here

      Result
      Proceed to
      NEXT

    NEXT

    END

  20. CHECK FOR SHORT IN CAN BUS LINE (NO. 6 CAN JUNCTION CONNECTOR)


    1. Disconnect the cable from the negative (-) battery terminal.

    2. Disconnect the G128 No. 6 CAN junction connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition Connected to
      G128-9 (CANH) - Body ground Cable disconnected from negative (-) battery terminal 200 Ω or higher Forward Recognition Camera
      G128-3 (CANL) - Body ground
      G128-9 (CANH) - +B 6 kΩ or higher
      G128-3 (CANL) - +B
      G128-7 (CA1P) - Body ground Cable disconnected from negative (-) battery terminal 200 Ω or higher Millimeter Wave Radar Sensor Assembly
      G128-1 (CA1N) - Body ground
      G128-7 (CA1P) - +B 6 kΩ or higher
      G128-1 (CA1N) - +B
      G128-10 (CA1P) - Body ground Cable disconnected from negative (-) battery terminal 200 Ω or higher Driving Support ECU Assembly
      G128-4 (CA1N) - Body ground
      G128-10 (CA1P) - +B 6 kΩ or higher
      G128-4 (CA1N) - +B
      G128-2 (LCL) - Body ground Cable disconnected from negative (-) battery terminal 200 Ω or higher Headlight ECU Sub-assembly LH*
      G128-8 (LCH) - Body ground
      G128-2 (LCL) - +B 6 kΩ or higher
      G128-8 (LCH) - +B
      *: w/ Adaptive High Beam System

    4. Connect the G128 No. 6 CAN junction connector.

    5. Connect the cable to the negative (-) battery terminal.

      Result
      Result Proceed to
      OK A
      NG (Forward Recognition Camera Main Line) B
      NG (Millimeter Wave Radar Sensor Assembly Main Line) C
      NG (Driving Support ECU Assembly Branch Line) D
      NG (Headlight ECU Sub-assembly LH Branch Line) E

    A

    REPLACE NO. 6 CAN JUNCTION CONNECTOR

    B

    REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR

    D

    CHECK FOR SHORT IN CAN BUS LINE (DRIVING SUPPORT ECU ASSEMBLY) Click here

    E

    CHECK FOR SHORT IN CAN BUS LINE (HEADLIGHT ECU SUB-ASSEMBLY LH) Click here

    C

  21. CHECK FOR SHORT IN CAN BUS LINE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. Disconnect the cable from the negative (-) battery terminal.

    2. Disconnect the C6 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
      C6-5 (CA1P) - Body ground Cable disconnected from negative (-) battery terminal 200 Ω or higher
      C6-6 (CA1N) - Body ground Cable disconnected from negative (-) battery terminal 200 Ω or higher
      C6-5 (CA1P) - +B Cable disconnected from negative (-) battery terminal 6 kΩ or higher
      C6-6 (CA1N) - +B Cable disconnected from negative (-) battery terminal 6 kΩ or higher

    4. Connect the C6 millimeter wave radar sensor assembly connector.

    5. Connect the cable to the negative (-) battery terminal.

      Result
      Proceed to
      OK
      NG

    NG

    REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR

    OK

  22. REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY


    1. Replace the millimeter wave radar sensor assembly.

      Click here

    2. Perform millimeter wave radar sensor assembly adjustment.

      Click here

      Result
      Proceed to
      NEXT

    NEXT

    END

  23. CHECK FOR SHORT IN CAN BUS LINE (DRIVING SUPPORT ECU ASSEMBLY)


    1. Disconnect the cable from the negative (-) battery terminal.

    2. Disconnect the G68 driving support ECU assembly connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      G68-8 (CA1P) - Body ground Cable disconnected from negative (-) battery terminal 200 Ω or higher
      G68-9 (CA1N) - Body ground Cable disconnected from negative (-) battery terminal 200 Ω or higher
      G68-8 (CA1P) - +B Cable disconnected from negative (-) battery terminal 6 kΩ or higher
      G68-9 (CA1N) - +B Cable disconnected from negative (-) battery terminal 6 kΩ or higher

    4. Connect the G68 driving support ECU assembly connector.

    5. Connect the cable to the negative (-) battery terminal.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE DRIVING SUPPORT ECU ASSEMBLY Click here

    NG

    REPAIR OR REPLACE CAN BUS BRANCH LINE OR CONNECTOR

  24. CHECK FOR SHORT IN CAN BUS LINE (HEADLIGHT ECU SUB-ASSEMBLY LH)


    1. Disconnect the cable from the negative (-) battery terminal.

    2. Disconnect the A31 headlight ECU sub-assembly LH connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      A31-21 (LCL) - Body ground Cable disconnected from negative (-) battery terminal 200 Ω or higher
      A31-22 (LCH) - Body ground Cable disconnected from negative (-) battery terminal 200 Ω or higher
      A31-21 (LCL) - +B Cable disconnected from negative (-) battery terminal 6 kΩ or higher
      A31-22 (LCH) - +B Cable disconnected from negative (-) battery terminal 6 kΩ or higher

    4. Connect the A31 headlight ECU sub-assembly LH connector.

    5. Connect the cable to the negative (-) battery terminal.

      Result
      Proceed to
      OK
      NG

    OK

    REPLACE HEADLIGHT ECU SUB-ASSEMBLY LH Click here

    NG

    REPAIR OR REPLACE CAN BUS BRANCH LINE OR CONNECTOR