C1A25

PRE-COLLISION: PRE-COLLISION SYSTEM (w/ Driver Monitor Camera): C1A22, C1A23, C1A25: Object Recognition Camera Incorrect Axial Gap
C1A25 - Object Recognition Camera Recognizing Distance Discrepancy

DESCRIPTION

When it has been determined that the beam axis of the object recognition camera has deviated, DTC C1A22 is stored.

After installing a new object recognition camera, if camera beam axis adjustment is not performed, DTC C1A23 is stored.

When the distance from an object detected by the left and right camera greatly differs from the distance detected by the millimeter wave radar sensor assembly, DTC C1A25 is stored.





INSPECTION PROCEDURE

PROCEDURE

1. ADJUST OBJECT RECOGNITION CAMERA

(a) Adjust the object recognition camera Adjustments.

NEXT -- Continue to next step.

2. CHECK FOR DTC

(a) Clear DTCs Pre-Collision System (w/ Driver Monitor Camera).

(b) Make sure the following conditions are met:

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

* Pre-collision system:

The engine switch is on (IG) (for DTC C1A23, the vehicle needs to be driven at a speed 10 km/h (6 mph) or more).

* Radar cruise control system:

The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the distance control switch is on.

* Lane keeping assist system:

The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the lane keeping assist main switch is on.

(c) Check for DTCs.

OK:

DTCs C1A22, C1A23 and C1A25 are not output.

NG -- REPLACE OBJECT RECOGNITION CAMERA

OK -- END

3. REPLACE OBJECT RECOGNITION CAMERA

(a) Replace the object recognition camera Removal.

NEXT -- Continue to next step.

4. ADJUST OBJECT RECOGNITION CAMERA

(a) Adjust the object recognition camera Adjustments.

NEXT -- Continue to next step.

5. CHECK FOR DTC

(a) Clear DTCs Pre-Collision System (w/ Driver Monitor Camera).

(b) Make sure the following conditions are met:

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

* Pre-collision system:

The engine switch is on (IG) (for DTC C1A23, the vehicle needs to be driven at a speed 10 km/h (6 mph) or more).

* Radar cruise control system:

The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the distance control switch is on.

* Lane keeping assist system:

The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the lane keeping assist main switch is on.

(c) Check for DTCs.

OK:

DTCs C1A22, C1A23 and C1A25 are not output.

NG -- REPLACE OBJECT RECOGNITION ECU

OK -- END (OBJECT RECOGNITION CAMERA IS DEFECTIVE)

6. REPLACE OBJECT RECOGNITION ECU

(a) Replace the object recognition ECU Removal.

NEXT -- Continue to next step.

7. ADJUST OBJECT RECOGNITION CAMERA

(a) Adjust the object recognition camera Adjustments.

NEXT -- Continue to next step.

8. CHECK FOR DTC

(a) Clear DTCs Pre-Collision System (w/ Driver Monitor Camera).

(b) Make sure the following conditions are met:

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

* Pre-collision system:

The engine switch is on (IG) (for DTC C1A23, the vehicle needs to be driven at a speed 10 km/h (6 mph) or more).

* Radar cruise control system:

The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the distance control switch is on.

* Lane keeping assist system:

The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the lane keeping assist main switch is on.

(c) Check for DTCs.

OK:

DTCs C1A22, C1A23 and C1A25 are not output.

NOTICE:
When replacing the driving support ECU, always replace it with a new one and be sure to perform initialization Testing and Inspection. If an ECU which was installed to another vehicle is used, the information stored in the ECU will not match the information from the vehicle, and as a result, a DTC may be stored.

NG -- REPLACE DRIVING SUPPORT ECU Removal

OK -- END (OBJECT RECOGNITION ECU IS DEFECTIVE)