Parking Assist Bus

CAN COMMUNICATION: CAN COMMUNICATION SYSTEM: U1002: Lost Communication with Gateway Module (Parking Assist Bus)
U1002 - Lost Communication with Gateway Module (Parking Assist Bus)

DESCRIPTION

If 2 or more DTCs are output during the DTC check, one side of the CAN branch wire may be open (one side of the CANH [branch wire]/CANL [branch wire] of the ECU and/or sensor is open).

* For vehicles with dynamic radar cruise control system, pre-collision system or lane keeping assist system.

* *1: w/ Pre-collision System

* *2: w/ Lane Keeping Assist System

WIRING DIAGRAM

INSPECTION PROCEDURE

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

HINT
Operating the engine switch, any switches or any doors triggers related ECU and sensor communication with the CAN, which causes resistance variation.

PROCEDURE

1. DISCONNECT CABLE FROM NEGATIVE BATTERY TERMINAL

(a) Disconnect the cable from the negative (-) battery terminal before measuring the resistances of the main wire and the branch wire.

CAUTION:
Wait at least 90 seconds after disconnecting the cable from the negative (-) battery terminal to disable the SRS system.

NOTICE:
* w/ Navigation System (for HDD):
After the engine switch is turned off, the display and navigation module display (HDD navigation system) records various types of memory and settings. As a result, after turning the engine switch off, be sure to wait for the time specified in the following table before disconnecting the cable from the negative (-) battery terminal.

Waiting Time before Disconnecting Cable from Negative (-) Battery Terminal:

* When disconnecting the cable, some systems need to be initialized after the cable is reconnected Repair Instruction - Initialization.

NEXT -- Continue to next step.

2. CHECK CAN BUS WIRE (MAIN WIRE FOR DISCONNECTION, BUS LINE FOR SHORT CIRCUIT)

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

Standard resistance:

Result

B -- CHECK FOR SHORT IN CAN BUS WIRES (CAN JUNCTION CONNECTOR SIDE)

C -- CHECK HARNESS AND CONNECTOR (DRIVING SUPPORT ECU - BATTERY AND GROUND)
A -- Continue to next step.

3. CHECK FOR OPEN IN CAN BUS MAIN WIRE (CAN JUNCTION CONNECTOR - FRONT MILLIMETER WAVE RADAR SENSOR)

(a) Disconnect the R46 CAN junction connector connector.

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

Standard resistance:

NG -- CONNECT CONNECTOR

OK -- REPLACE CAN JUNCTION CONNECTOR

4. CONNECT CONNECTOR

(a) Reconnect the R46 CAN junction connector connector.

NEXT -- Continue to next step.

5. CHECK FOR OPEN IN CAN BUS MAIN WIRE (NO. 13 JUNCTION CONNECTOR - CAN JUNCTION CONNECTOR)

(a) Disconnect the L96 No. 13 junction connector connector.

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

Standard resistance:

NG -- REPAIR OR REPLACE CAN MAIN WIRE OR CONNECTOR (NO. 13 JUNCTION CONNECTOR - CAN JUNCTION CONNECTOR)
OK -- Continue to next step.

6. CHECK FOR OPEN IN CAN BUS WIRE (NO. 13 JUNCTION CONNECTOR - FRONT MILLIMETER WAVE RADAR SENSOR)

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

Standard resistance:

NG -- CONNECT CONNECTOR

OK -- REPLACE NO. 13 JUNCTION CONNECTOR

7. CONNECT CONNECTOR

(a) Reconnect the L96 No. 13 junction connector connector.

NEXT -- Continue to next step.

8. CHECK FOR FOR OPEN IN CAN BUS WIRE (FRONT MILLIMETER WAVE RADAR SENSOR - NO. 13 JUNCTION CONNECTOR)

(a) Disconnect the B9 front millimeter wave radar sensor connector.

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

Standard resistance:

NG -- REPAIR OR REPLACE CAN MAIN WIRE OR CONNECTOR (FRONT MILLIMETER WAVE RADAR SENSOR - NO. 13 JUNCTION CONNECTOR)

OK -- REPLACE FRONT MILLIMETER WAVE RADAR SENSOR ASSEMBLY Removal

9. CHECK FOR SHORT IN CAN BUS WIRES (CAN JUNCTION CONNECTOR SIDE)

(a) Disconnect the R46 CAN junction connector connector.

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

Standard resistance:

NG -- CONNECT CONNECTOR
OK -- Continue to next step.

10. CHECK FOR SHORT IN CAN BUS WIRES (CAN JUNCTION CONNECTOR - OBJECT RECOGNITION ECU)

NOTICE:
For vehicles without lane keeping assist system, replace the CAN junction connector.

(a) Disconnect the R71 CAN junction connector connector.

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

Standard resistance:

NG -- CONNECT CONNECTOR

OK -- REPLACE CAN JUNCTION CONNECTOR

11. CONNECT CONNECTOR

(a) Reconnect the R46 and R71 CAN junction connector connectors.

NEXT -- Continue to next step.

12. CHECK FOR SHORT IN CAN BUS WIRES (OBJECT RECOGNITION ECU)

(a) Disconnect the g1 object recognition ECU connector.

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

Standard resistance:

NG -- REPAIR OR REPLACE CAN BUS BRANCH WIRE OR CONNECTOR (CAN JUNCTION CONNECTOR - OBJECT RECOGNITION ECU)

OK -- REPLACE OBJECT RECOGNITION ECU Removal

13. CONNECT CONNECTOR

(a) Reconnect the R46 CAN junction connector connector.

NEXT -- Continue to next step.

14. CHECK FOR SHORT IN CAN BUS WIRES (NO. 13 JUNCTION CONNECTOR - CAN JUNCTION CONNECTOR)

(a) Disconnect the L96 No. 13 junction connector connector.

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

Standard resistance:

NG -- REPAIR OR REPLACE CAN BUS MAIN WIRE OR CONNECTOR (NO. 13 JUNCTION CONNECTOR - CAN JUNCTION CONNECTOR)
OK -- Continue to next step.

15. CHECK FOR SHORT IN CAN BUS WIRES (NO. 13 JUNCTION CONNECTOR - DRIVING SUPPORT ECU)

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

Standard resistance:

NG -- CONNECT CONNECTOR
OK -- Continue to next step.

16. CHECK FOR SHORT IN CAN BUS WIRES (NO. 13 JUNCTION CONNECTOR - DRIVER MONITOR ECU)

NOTICE:
For vehicles without pre-collision system, go to "CHECK FOR SHORT IN CAN BUS WIRES (NO. 13 JUNCTION CONNECTOR - FRONT MILLIMETER WAVE RADAR SENSOR)".

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

Standard resistance:

NG -- CONNECT CONNECTOR
OK -- Continue to next step.

17. CHECK FOR SHORT IN CAN BUS WIRES (NO. 13 JUNCTION CONNECTOR - FRONT MILLIMETER WAVE RADAR SENSOR)

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

Standard resistance:

NG -- CONNECT CONNECTOR

OK -- REPLACE NO. 13 JUNCTION CONNECTOR

18. CONNECT CONNECTOR

(a) Reconnect the L96 No. 13 junction connector connector.

NEXT -- Continue to next step.

19. CHECK FOR SHORT IN CAN BUS WIRES (DRIVING SUPPORT ECU)

(a) Disconnect the A33 driving support ECU connector.

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

Standard resistance:

NG -- REPAIR OR REPLACE CAN BUS BRANCH WIRE OR CONNECTOR (NO. 13 JUNCTION CONNECTOR - DRIVING SUPPORT ECU)

OK -- REPLACE DRIVING SUPPORT ECU ASSEMBLY Removal

20. CONNECT CONNECTOR

(a) Reconnect the L96 No. 13 junction connector connector.

NEXT -- Continue to next step.

21. CHECK FOR SHORT IN CAN BUS WIRES (DRIVER MONITOR ECU)

(a) Disconnect the L18 driver monitor ECU connector.

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

Standard resistance:

NG -- REPAIR OR REPLACE CAN BUS BRANCH WIRE OR CONNECTOR (NO. 13 JUNCTION CONNECTOR - DRIVER MONITOR ECU)

OK -- REPLACE DRIVER MONITOR ECU Removal

22. CONNECT CONNECTOR

(a) Reconnect the L96 No. 13 junction connector connector.

NEXT -- Continue to next step.

23. CHECK FOR SHORT IN CAN BUS WIRES (FRONT MILLIMETER WAVE RADAR SENSOR)

(a) Disconnect the B9 front millimeter wave radar sensor connector.

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

Standard resistance:

NG -- REPAIR OR REPLACE CAN BUS MAIN WIRE OR CONNECTOR (NO. 13 JUNCTION CONNECTOR - FRONT MILLIMETER WAVE RADAR SENSOR)

OK -- REPLACE FRONT MILLIMETER WAVE RADAR SENSOR ASSEMBLY Removal

24. CHECK HARNESS AND CONNECTOR (DRIVING SUPPORT ECU - BATTERY AND GROUND)

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

NOTICE:
When disconnecting the cable, some systems need to be initialized after the cable is reconnected Repair Instruction - Initialization.

(b) Disconnect the A33 driving support ECU connector.

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

Standard voltage:

NG -- REPAIR OR REPLACE HARNESS OR CONNECTOR

OK -- REPLACE DRIVING SUPPORT ECU ASSEMBLY Removal