VEHICLE STABILITY CONTROL SYSTEM, Diagnostic DTC:C1234, C1472, C1474

DTC Code DTC Name
C1234 Yaw Rate Sensor
C1472 Acceleration Sensor
C1474 Forward and Rearward G Sensor

DESCRIPTION

The skid control ECU (brake actuator assembly) receives signals from the yaw rate and acceleration sensor (yaw rate sensor) via CAN communication.

The yaw rate sensor has a built-in acceleration sensor.

Tech Tips

If there is a malfunction in the bus lines between the yaw rate and acceleration sensor (yaw rate sensor) and the CAN communication system, DTC U0123 (Lost Communication with Yaw Rate Sensor Module) is output. When U0123 is output together with C1234, C1472 and/or C1474, inspect and repair the trouble areas indicated by U0123 first.

These DTCs may be stored if one of the following occurs:


DTC No. DTC Detection Condition Trouble Area
C1234

Any of the following is detected:


  1. The yaw rate sensor offset value is estimated as less than -5.25 deg/s or more than 5.25 deg/s based on offset correction performed when the vehicle is stopped and then the vehicle starts off.

  2. The offset correction did not complete with the vehicle stopped, and the yaw rate sensor offset value is estimated as less than -15 deg/s or more than 15 deg/s based on the offset correction performed while the vehicle is being driven.

  3. The offset correction completed with the vehicle stopped and the yaw rate sensor offset value is less than -7.5 deg/s or more than 7.5 deg/s.

  4. The yaw rate sensor offset value is estimated as less than -7.5 deg/s or more than 7.5 deg/s based on the offset correction performed while the vehicle is being driven.

  5. After the VSC system has started, but before the vehicle starts off, the yaw rate sensor value is less than -30 deg/s or more than 30 deg/s for 5 seconds or more when the vehicle is stopped.

  6. After the VSC system has started, but before the vehicle starts off, the yaw rate sensor value is less than -30 deg/s or more than 30 deg/s for 0.5 seconds or more when the vehicle starts off.

  7. After the VSC system has started, but before the vehicle has started off, as the vehicle starts off, the yaw rate sensor value is less than -30 deg/s or more than 30 deg/s for 0.5 seconds or more.

  8. The yaw rate sensor value is less than -94.75 deg/s or more than 94.75 deg/s for 0.8 seconds or more.

  9. The change of the yaw rate sensor value within 0.04 seconds is abnormal.

  10. The value from the yaw rate sensor is judged as abnormal based on the skid control ECU estimation.

  • Sensor installation

  • Yaw rate sensor

  • Yaw rate sensor circuit
C1472

Any of the following is detected:


  1. With the vehicle stopped, the internal acceleration value is less than -7 m/s2or more than 7 m/s2for 0.4 seconds or more.

  2. The acceleration sensor offset value is estimated as less than -2.25 m/s2or more than 2.25 m/s2based on the offset correction performed while the vehicle is being driven.

  3. The acceleration sensor value is less than -14.6 m/s2or more than 14.6 m/s2for 0.8 seconds or more.

  • Sensor installation

  • Acceleration sensor (yaw rate sensor)

  • Acceleration sensor (yaw rate sensor) circuit
C1474

Any of the following is detected:


  1. The acceleration sensor offset value is estimated as less than -2.25 m/s2or more than 2.25 m/s2based on the offset correction performed while the vehicle is being driven.

  2. The acceleration sensor value is less than -14.6 m/s2or more than 14.6 m/s2for 3 seconds or more.

  • Sensor installation

  • Acceleration sensor (yaw rate sensor)

  • Acceleration sensor (yaw rate sensor) circuit

WIRING DIAGRAM

A004QTEE02
*a Engine Stop and Start ECU
*b Skid Control ECU (Brake Actuator Assembly)
*c Yaw Rate and Acceleration Sensor (Yaw Rate Sensor)
*d CAN Communication System

CAUTION / NOTICE / HINT

Note


  • When replacing the yaw rate and acceleration sensor (yaw rate sensor), perform acceleration sensor zero point calibration Click here.

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

Tech Tips

When U0123 and/or U0126 is output together with C1234, C1472 and/or C1474, inspect and repair the trouble areas indicated by U0123 and/or U0126 first Click here.

PROCEDURE


  1. CHECK DTC


    1. Clear the DTCs Click here.

    2. Turn the ignition switch off.

    3. Start the engine.

    4. At a speed of 30 km/h (18 mph) or more, drive the vehicle, turn the steering wheel, and decelerate (depress the brake pedal) the vehicle.

    5. Turn the ignition switch off.

    6. Turn the ignition switch to ON again and check that no CAN communication system DTCs are output Click here.

      Result
      Result Proceed to
      CAN communication system DTCs are not output. A
      CAN communication system DTCs are output. B

    B

    INSPECT CAN COMMUNICATION SYSTEM Click here

    A

  2. CHECK YAW RATE SENSOR INSTALLATION


    1. Turn the ignition switch off.

    2. Check that the yaw rate and acceleration sensor (yaw rate sensor) has been installed properly Click here.

      OK
      The yaw rate and acceleration sensor (yaw rate sensor) is tightened to the specified torque.
      The yaw rate and acceleration sensor (yaw rate sensor) is not tilted.

    NG

    INSTALL YAW RATE SENSOR CORRECTLY Click here

    OK

  3. CHECK TERMINAL VOLTAGE (IGA TERMINAL)


    1. A004RMSE02
      Text in Illustration
      *a

      Front view of wire harness connector

      (to Yaw Rate and Acceleration Sensor (Yaw Rate Sensor))

      Make sure that there is no looseness at the locking part and the connecting part of the connector.

    2. Disconnect the D69 yaw rate and acceleration sensor (yaw rate sensor) connector.

    3. Turn the ignition switch to ON.

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

      Standard Voltage
      Tester Connection Condition Specified Condition
      D69-1 (IGA) - Body ground Ignition switch ON 11 to 14 V

    NG

    INSPECT STOP AND START SYSTEM (BACKUP BOOST CONVERTER CIRCUIT) Click here

    OK

  4. CHECK HARNESS AND CONNECTOR (GNDA TERMINAL)


    1. A004TXXE02
      Text in Illustration
      *a

      Front view of wire harness connector

      (to Yaw Rate and Acceleration Sensor (Yaw Rate Sensor))

      Turn the ignition switch off.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      D69-4 (GNDA) - Body ground Always Below 1 Ω

      Tech Tips

      If troubleshooting has been carried out according to Problem Symptoms Table, refer back to the table and proceed to the next step Click here.


    OK

    REPLACE YAW RATE SENSOR Click here

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (GNDA CIRCUIT)