LANE DEPARTURE ALERT SYSTEM, Diagnostic DTC:C1AA4,C1AA5 and C1AA6

DTC Code DTC Name
C1AA4 Yaw Rate Sensor Circuit
C1AA5 Yaw Rate Sensor Power Supply Voltage Circuit
C1AA6 Yaw Rate Sensor Zero Point Malfunction

DESCRIPTION

The yaw rate sensor is integrated with airbag sensor assembly. the brake actuator assembly (skid control ECU) sends the vehicle stability signals to the lane departure warning camera. If the brake actuator assembly (skid control ECU) detects that the yaw rate sensor is malfunctioning, the brake actuator assembly (skid control ECU) sends a malfunction signal to the lane departure warning camera via the CAN communication and the lane departure warning camera stores DTC C1AA4, C1AA5 or C1AA6.

DTC No.

Detection Item

DTC Detection Condition

Trouble Area

C1AA4

Yaw Rate Sensor Circuit

While driving with the lane departure alert system activated and the lane departure alert main switch on, a yaw rate sensor malfunction signal sent from the brake actuator assembly (skid control ECU) to the lane departure warning camera is detected for 5 seconds or more.

  • Vehicle stability control system

  • Lane departure warning camera

C1AA5

Yaw Rate Sensor Power Supply Voltage Circuit

While driving with the lane departure alert system activated and the lane departure alert main switch on, a yaw rate sensor power supply voltage malfunction signal sent from the brake actuator assembly (skid control ECU) to the lane departure warning camera is detected for 5 seconds or more.

  • Vehicle stability control system

  • Lane departure warning camera

C1AA6

Yaw Rate Sensor Zero Point Malfunction

While driving with the lane departure alert system activated and the lane departure alert main switch on, a yaw rate sensor zero point malfunction signal sent from the brake actuator assembly (skid control ECU) to the lane departure warning camera is detected for 5 seconds or more.

  • Vehicle stability control system

  • Lane departure warning camera

CAUTION / NOTICE / HINT

Note:

  • When the lane departure warning camera is replaced with a new one, adjustment of the lane departure warning camera beam axis must be performed.

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  • The lane departure alert system uses the CAN communication system. Inspect the communication function by following How to Proceed with Troubleshooting. Troubleshoot the lane departure alert system after confirming that the communication systems are functioning properly.

    Click here

PROCEDURE

  1. CHECK FOR DTC (ABS/VSC/TRC)

    1. Connect the GTS to the DLC3.

    2. Turn the ignition switch to ON.

    3. Enter the following menus: Chassis/ ABS/VSC/TRC / Trouble Codes.

    4. Check for DTCs.

      Chassis > ABS/VSC/TRC > Trouble Codes

    Result

    Proceed to

    Vehicle stability control system DTCs are not output

    Vehicle stability control system DTCs are output
    Vehicle stability control system DTCs are output

    GO TO VEHICLE STABILITY CONTROL SYSTEM

    Click here

    Vehicle stability control system DTCs are not output

  2. CLEAR DTC

    1. Connect the GTS to the DLC3.

    2. Turn the ignition switch to ON.

    3. Enter the following menus: Chassis / Lane Departure Alert / Trouble Codes / Clear DTCs.

    4. Clear the DTCs.

      Chassis > Lane Departure Alert > Clear DTCs

      Result

      Proceed to

      NEXT
    NEXT

  3. CHECK FOR DTC

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

      Tip:

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

      1. Drive the vehicle at a speed between 50 km/h (32 mph) and 220 km/h (138 mph) and operate the lane departure alert system.

    2. Connect the GTS to the DLC3.

    3. Turn the ignition switch to ON.

    4. Enter the following menus: Chassis / Lane Departure Alert / Trouble Codes.

    5. Check for DTCs.

      Chassis > Lane Departure Alert > Trouble Codes

    Result

    Proceed to

    No DTCs are output

    DTC C1AA4, C1AA5 and/or C1AA6 are output
    No DTCs are output

    USE SIMULATION METHOD TO CHECK

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    DTC C1AA4, C1AA5 and/or C1AA6 are output

    REPLACE LANE DEPARTURE WARNING CAMERA

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