LANE DEPARTURE ALERT SYSTEM(w/ Steering Control), Diagnostic DTC:U0235

DTC Code DTC Name
U0235 Lost Communication with Cruise Control Front Distance Range Sensor

DESCRIPTION

The forward recognition camera communicates with the millimeter wave radar sensor assembly via CAN communication. If there is a communication error with the millimeter wave radar sensor assembly, the forward recognition camera stores DTC U0235.

DTC No. Detection Item DTC Detection Condition Trouble Area
U0235 Lost Communication with Cruise Control Front Distance Range Sensor After the engine switch is turned on (IG) for 3 seconds or more, when the vehicle is being driven at a speed of 5 km/h (4 mph) or more, a communication error between the millimeter wave radar sensor assembly and forward recognition camera is detected for approximately 5 seconds.

  • CAN communication system

  • Millimeter wave radar sensor assembly

  • Forward recognition camera

WIRING DIAGRAM

B00887BE01

CAUTION / NOTICE / HINT

Note


  • Inspect the fuses for circuits related to this system before performing the following inspection procedure.

  • 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

  • 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.

  • If the millimeter wave radar sensor assembly has been replaced, be sure to perform millimeter wave radar sensor assembly adjustment.

    Click here

  • 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

PROCEDURE


  1. READ VALUE USING GTS (CAN BUS CHECK)


    1. Connect the GTS to the DLC3.

    2. Turn the engine switch on (IG).

    3. Turn the GTS on.

    4. Enter the following menus: System Select / Can Bus Check.


      CAN Bus Check
      Result
      Result Proceed to
      All of the ECUs and sensors that are currently connected to the CAN communication system are displayed A
      None of the ECUs and sensors that are currently connected to the CAN communication system are displayed, or some of them are not displayed B

    B

    GO TO CAN COMMUNICATION SYSTEM Click here

    A

  2. CHECK FOR DTCs (CAN COMMUNICATION DTC OUTPUT)

    Tech Tips

    When pre-collision system DTC U1002 is output, check that the local bus is functioning normally by performing the diagnostic procedure for U1002.


    1. Check for DTCs.


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

    B

    GO TO PRE-COLLISION SYSTEM Click here

    A

  3. CHECK CAN BUS LINE


    1. Turn the engine switch off.

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

    3. B0084P6C59
      *a

      Front view of wire harness connector

      (to Forward Recognition Camera)

      Disconnect the V6 forward recognition camera connector.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      V6-6 (CANH) - V6-12 (CANL) Cable disconnected from negative (-) battery terminal 108 to 132 Ω

      Tech Tips

      If the result is not as specified, a malfunction in a CAN communication line is suspected.

    5. Connect the V6 forward recognition camera connector.

      Result
      Proceed to
      OK
      NG

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (CAN BUS LINE)

    OK

  4. CHECK POWER SOURCE CIRCUIT (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)


    1. B0085X1C27
      *a

      Front view of wire harness connector

      (to Millimeter Wave Radar Sensor Assembly)

      Disconnect the A30 millimeter wave radar sensor assembly connector.

    2. Turn the engine switch on (IG).

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

      Standard Voltage
      Tester Connection Condition Specified Condition
      A30-8 (IGB) - Body ground Engine switch on (IG) 11 to 14 V

    4. Turn the engine switch off.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      A30-1 (SGND) - Body ground Always Below 1 Ω

    6. Connect the A30 millimeter wave radar sensor assembly connector.

      Result
      Proceed to
      OK
      NG

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

    OK

  5. CHECK POWER SOURCE CIRCUIT (FORWARD RECOGNITION CAMERA)


    1. B0084P6C60
      *a

      Front view of wire harness connector

      (to Forward Recognition Camera)

      Disconnect the V6 forward recognition camera connector.

    2. Turn the engine switch on (IG).

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

      Standard Voltage
      Tester Connection Condition Specified Condition
      V6-7 (IGB) - Body ground Engine switch on (IG) 11 to 14 V

    4. Turn the engine switch off.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      V6-10 (GND) - Body ground Always Below 1 Ω

    6. Connect the V6 forward recognition camera connector.

      Result
      Proceed to
      OK
      NG

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

    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

      Result
      Proceed to
      NEXT

    NEXT

  7. CHECK FOR DTCs (LANE DEPARTURE ALERT SYSTEM)


    1. Clear the DTCs.


      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 3 seconds or more.

      2. Drive the vehicle at a speed of 5 km/h (4 mph) or more for 5 seconds or more.

    3. Check for DTCs.


      Chassis > LKA/LDA > Trouble Codes
      Result
      Result Proceed to
      DTC U0235 is not output A
      DTC U0235 is output B

    A

    END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY WAS DEFECTIVE)

    B

    REPLACE FORWARD RECOGNITION CAMERA Click here