Toyota Avalon (XX50): Dynamic Radar Cruise Control System(for Gasoline Model)

Front Radar Sensor Country Code Mismatch (C1A0A)

DESCRIPTION

The driving support ECU assembly uses the millimeter wave radar sensor assembly to detect objects in front of the vehicle.

When the destination information in the millimeter wave radar sensor assembly and driving support ECU assembly do not match, DTC C1A0A is stored.

CAUTION / NOTICE / HINT

NOTICE:

• Check that the millimeter wave radar sensor assembly has not been replaced with one from another vehicle.
• When replacing the driving support ECU assembly, always replace it with a new one. If a driving support ECU assembly which was installed to another vehicle is used, the information stored in the driving support ECU assembly will not match the information from the vehicle. As a result, a DTC may be stored.
• 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.
• When the millimeter wave radar sensor assembly is replaced with a new one, adjustment of the radar sensor beam axis must be performed.

  Click here

• First check the CAN communication system by following How to Proceed with Troubleshooting. After checking that there are no malfunctions in the CAN communication system, proceed with troubleshooting.

  Click here

PROCEDURE

(a) Clear the DTCs.

(b) Make sure that the DTC detection conditions are met.

HINT:

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

(c) Check for DTCs.

A

USE SIMULATION METHOD TO CHECK

B

(a) Replace the driving support ECU assembly.

Click here

NEXT

(a) Clear the DTCs.

(b) Make sure that the DTC detection conditions are met.

HINT:

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

(c) Check for DTCs.

A

END (DRIVING SUPPORT ECU ASSEMBLY WAS DEFECTIVE)

B

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

Driving Support ECU (C1A01)

DESCRIPTION

This DTC indicates an internal malfunction of the driving support ECU assembly.

CAUTION / NOTICE / HINT

NOTICE:

When replacing the driving support ECU assembly, always replace it with a new one. If a driving support ECU assembly which was installed to another vehicle is used, the information stored in the driving support ECU assembly will not match the information from the vehicle. As a result, a DTC may be stored.

PROCEDURE

(a) Replace the driving support ECU assembly.

Click here

NEXT

END

Vehicle Information Not Obtained (C1A02)

DESCRIPTION

When a new driving support ECU assembly is installed, it receives vehicle specification information (destination, steering wheel position, 2WD or AWD, etc.) from the main body ECU (multiplex network body ECU) and stores the information.

DTC C1A02 is stored when the driving support ECU assembly cannot store the vehicle specification information from the main body ECU (multiplex network body ECU).

CAUTION / NOTICE / HINT

NOTICE:

When replacing the driving support ECU assembly, always replace it with a new one. If a driving support ECU assembly which was installed to another vehicle is used, the information stored in the driving support ECU assembly will not match the information from the vehicle. As a result, a DTC may be stored.

PROCEDURE

(a) Replace the driving support ECU assembly.

Click here

NEXT

END

Front Radar Sensor (C1A10)

DESCRIPTION

The driving support ECU assembly uses the millimeter wave radar sensor assembly to detect obstacles in front of the vehicle.

When the driving support ECU assembly receives information that there is a malfunction in the millimeter wave radar sensor assembly, DTC C1A10 is stored.

CAUTION / NOTICE / HINT

NOTICE:

• When replacing the millimeter wave radar sensor assembly, make sure to replace it with a new one. If a device 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, and as a result, a DTC may be stored.
• When the millimeter wave radar sensor assembly is replaced with a new one, adjustment of the radar sensor beam axis must be performed.

  Click here

PROCEDURE

(a) Replace the millimeter wave radar sensor assembly with a new one.

Click here

(b) Perform millimeter wave radar sensor assembly adjustment.

Click here

NEXT

END

Front Radar Sensor Incorrect Axial Gap (C1A11,C1A14)

DESCRIPTION

The driving support ECU assembly uses the millimeter wave radar sensor assembly to detect objects in front of the vehicle.

When it is determined that the vehicle is being driven in a straight line or on a gradual curve based on signals from the yaw rate sensor, the millimeter wave radar sensor assembly performs self-diagnosis to check if the sensor beam axis has deviated. When the millimeter wave radar sensor assembly beam axis is misaligned, the driving support ECU assembly stores DTC C1A11.

After installing a new millimeter wave radar sensor assembly, if sensor beam axis adjustment is not performed, DTC C1A14 is stored.

PROCEDURE

HINT:

If DTC C1A11 or C1A14 is output by the dynamic radar cruise control system, perform troubleshooting for the pre-collision system.

Click here

NEXT

END

Driving Support ECU Communication Abnormal (C1A52)

DESCRIPTION

The DTC C1A52 is stored when the ECM cannot recognize the driving support ECU assembly.

CAUTION / NOTICE / HINT

NOTICE:

Before replacing the ECM, refer to Registration.

Click here

PROCEDURE

(a) Clear the DTCs.

(b) Make sure that the DTC detection conditions are met.

HINT:

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

(c) Check for DTCs.

A

USE SIMULATION METHOD TO CHECK

B

REPLACE ECM

Cruise Main Indicator Light Circuit

DESCRIPTION

When the dynamic radar cruise control system is turned on using the cruise control main switch, the cruise control indicator (vehicle-to-vehicle distance control mode) illuminates. The ECM uses this and other indicators to indicate the control condition (presence or absence of a preceding vehicle, vehicle-to-vehicle distance, and set vehicle speed) and fail-safe state via CAN communication.

CAUTION / NOTICE / HINT

NOTICE:

• Before replacing the ECM, refer to Registration.

  Click here

• When replacing the combination meter assembly, always replace it with a new one. If a combination meter assembly which was installed to another vehicle is used, the information stored in it will not match the information from the vehicle and a DTC may be stored.

PROCEDURE

(a) Connect the Techstream to the DLC3.

(b) Turn the engine switch on (IG).

(c) Turn the Techstream on.

(d) Enter the following menus: Body Electrical / Combination Meter / Active Test.

(e) Perform the Active Test according to the display on the Techstream.

B

GO TO METER / GAUGE SYSTEM

A

(a) Enter the following menus: Powertrain / Radar Cruise 1 / Data List.

(b) Read the Data List according to the display on the Techstream.

A

PROCEED TO NEXT SUSPECTED AREA SHOWN IN PROBLEM SYMPTOMS TABLE

B

REPLACE COMBINATION METER ASSEMBLY

C

REPLACE ECM

Cruise SET Indicator Light Circuit

DESCRIPTION

The ECM illuminates the cruise SET indicator by sending indicator output demand signals to the combination meter assembly via CAN communication. The cruise SET indicator illuminates when the dynamic radar cruise control system is controlling vehicle speed. The cruise SET indicator light circuit uses CAN communication. If the cruise SET indicator is not functioning correctly, check for CAN communication DTCs before troubleshooting this circuit.

CAUTION / NOTICE / HINT

CAUTION:

Observe the following items for safety reasons when using the Techstream:

• Before using the Techstream, read the instruction manual.
• Prevent the Techstream cable from being caught on the pedals, shift lever or steering wheel when driving with the Techstream connected to the vehicle.
• When driving the vehicle for testing purposes, 2 people are required. One person should operate the Techstream while the other drives the vehicle.

NOTICE:

• Before replacing the ECM, refer to Registration.

  Click here

• When replacing the combination meter assembly, always replace it with a new one. If a combination meter assembly which was installed to another vehicle is used, the information stored in it will not match the information from the vehicle and a DTC may be stored.

PROCEDURE

(a) Connect the Techstream to the DLC3.

(b) Turn the engine switch on (IG).

(c) Turn the Techstream on.

(d) Enter the following menus: Body Electrical / Combination Meter / Active Test.

(e) Perform "Active Test" according to the display on the Techstream.

B

GO TO METER / GAUGE SYSTEM

A

(a) Turn the dynamic radar cruise control system on using the cruise control main switch.

(b) Drive at a speed between approximately 50 km/h (31 mph) and 180 km/h (112 mph).

(c) Enter the following menus: Powertrain / Radar Cruise 1 / Data List.

(d) Read the Data List according to the display on the Techstream.

A

PROCEED TO NEXT SUSPECTED AREA SHOWN IN PROBLEM SYMPTOMS TABLE

B

REPLACE COMBINATION METER ASSEMBLY

C

REPLACE ECM

Data List / Active Test

DATA LIST / ACTIVE TEST

DATA LIST

NOTICE:

In the table below, the values listed under "Normal Condition" are reference values. Do not depend solely on these reference values when deciding whether a part is faulty or not.

HINT:

Using the Techstream to read the Data List allows the values or states of switches, sensors, actuators and other items to be read without removing any parts. This non-intrusive inspection can be very useful because intermittent conditions or signals may be discovered before parts or wiring is disturbed. Reading the Data List information early in troubleshooting is one way to save diagnostic time.

(a) Connect the Techstream to the DLC3.

(b) Turn the engine switch on (IG).

(c) Turn the Techstream on.

(d) Enter the following menus: Powertrain / Radar Cruise 1*1 or Radar Cruise 2*2 / Data List.

• *1: Output from the ECM
• *2: Output from the driving support ECU assembly

(e) Radar Cruise 1:

Read the Data List according to the display on the Techstream.

HINT:

• If any DTCs are output, the value for a measurement item may be incorrect.
• If any DTCs are output, perform troubleshooting accordingly. After repair, confirm relevant values using the Data List.

(f) Radar Cruise 2:

Read the Data List according to the display on the Techstream.

HINT:

• If any DTCs are output, the value for a measurement item may be incorrect.
• If any DTCs are output, perform troubleshooting accordingly. After repair, confirm relevant values using the Data List.

(g) Enter the following menus: Chassis / ABS/VSC/TRAC/EPB / Data List.

(h) Read the Data List according to the display on the Techstream.

ACTIVE TEST

HINT:

Using the Techstream to perform Active Tests allows relays, VSVs, actuators and other items to be operated without removing any parts. This non-intrusive functional inspection can be very useful because intermittent operation may be discovered before parts or wiring is disturbed. Performing Active Tests early in troubleshooting is one way to save diagnostic time. Data List information can be displayed while performing Active Tests.

Perform Active Test according to the display on the Techstream.

(a) Connect the Techstream to the DLC3.

(b) Turn the engine switch on (IG).

(c) Turn the Techstream on.

(d) Enter the following menus: Powertrain / Radar Cruise 2 / Active Test.

(e) Perform Active Test according to the display on the Techstream.

HINT:

The engine switch must be turned on (IG) to proceed with the Active Test using the Techstream.

(f) Enter the following menus: Body Electrical / Combination Meter / Active Test.

(g) Perform Active Test according to the display on the Techstream.

HINT:

The engine switch must be turned on (IG) to proceed with the Active Test using the Techstream.

(h) Enter the following menus: Chassis / ABS/VSC/TRAC/EPB / Active Test.

(i) Perform Active Test according to the display on the Techstream.

HINT:

The engine switch must be turned on (IG) to proceed with the Active Test using the Techstream.

Definition Of Terms

DEFINITION OF TERMS

Diagnosis System

DIAGNOSIS SYSTEM

DIAGNOSIS FUNCTION

(a) The diagnosis function turns off the cruise control indicator, illuminates the master warning light and displays a warning message when a malfunction is detected. When a malfunction is detected in the dynamic radar cruise control system, DTCs are stored in the ECM or driving support ECU assembly.

NOTICE:

• If DTCs related to the communication system are stored, "Cruise Control Malfunction Visit Your Dealer", which is displayed in the combination meter assembly, disappears when the system returns to normal.
• If DTCs not related to the communication system are stored, "Cruise Control Malfunction Visit Your Dealer", which is displayed in the combination meter assembly, disappears when the engine switch is turned off then back to on (IG) after the system returns to normal.

DESCRIPTION

(a) The ECM and driving support ECU assembly control the dynamic radar cruise control system of the vehicle. The data and DTCs relating to the dynamic radar cruise control system can be read from the DLC3 of the vehicle. Use the Techstream to check and solve the problem.

CHECK DLC3

(a) Check the DLC3.

Click here

CHECK INDICATOR

(a) Turn the engine switch on (IG).

(b) Check that the cruise control indicator illuminates when the dynamic radar cruise control system is turned on using the cruise control main switch, and that the indicator turns off when the dynamic radar cruise control system is turned off using the cruise control main switch.

Diagnostic Trouble Code Chart

DIAGNOSTIC TROUBLE CODE CHART

Distance Control Switch Circuit

DESCRIPTION

The vehicle-to-vehicle distance control switch is used to set the distance for vehicle-to-vehicle distance control mode. The vehicle-to-vehicle distance control switch is installed in the steering pad switch assembly. The vehicle-to-vehicle distance set value can be changed by operating the vehicle-to-vehicle distance control switch while the dynamic radar cruise control system is controlling vehicle speed in vehicle-to-vehicle distance control mode.

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

• The vehicle is equipped with a Supplemental Restraint System (SRS) which includes components such as airbags. Before servicing (including removal or installation of parts), be sure to read the precaution for Supplemental Restraint System.

  Click here

• When replacing the driving support ECU assembly, always replace it with a new one. If a driving support ECU assembly which was installed to another vehicle is used, the information stored in the driving support ECU assembly will not match the information from the vehicle. As a result, a DTC may be stored.

PROCEDURE

(a) Connect the Techstream to the DLC3.

(b) Turn the engine switch on (IG).

(c) Turn the Techstream on.

(d) Enter the following menus: Powertrain / Radar Cruise 2 / Data List.

(e) Read the Data List according to the display on the Techstream.

OK:

When the vehicle-to-vehicle distance control switch is operated, the display changes as shown above.

OK

PROCEED TO NEXT SUSPECTED AREA SHOWN IN PROBLEM SYMPTOMS TABLE

NG

(a) Remove the steering pad switch assembly.

Click here

(b) Inspect the steering pad switch assembly.

Click here

NG

REPLACE STEERING PAD SWITCH ASSEMBLY

OK

(a) Remove the spiral cable sub-assembly.

Click here

(b) Inspect the spiral cable sub-assembly.

Click here

NG

REPLACE SPIRAL CABLE SUB-ASSEMBLY

OK

(a) Disconnect the G17 spiral cable sub-assembly connector.

(b) Disconnect the G39 driving support ECU assembly connector.

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

Standard Resistance:

(d) Connect the G39 driving support ECU assembly connector.

(e) Connect the G17 spiral cable sub-assembly connector.

OK

REPLACE DRIVING SUPPORT ECU ASSEMBLY

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

Dtc Check / Clear

DTC CHECK / CLEAR

NOTICE:

When the diagnosis system is changed from normal mode to check mode or vice versa, all DTCs and freeze frame data recorded in normal mode are cleared. Before changing modes, always check and make a note of DTCs and freeze frame data.

HINT:

• DTCs which are stored in the ECM can be displayed on the Techstream. The Techstream can display the confirmed, pending and permanent DTCs.
• If a malfunction is detected during the current driving cycle, confirmed and permanent DTCs are stored.
• Some DTCs are not stored if the ECM does not detect the same malfunction again during a second consecutive driving cycle. However, such malfunctions, detected on only one occasion, are stored as pending DTCs.
• Confirmed and pending DTCs can be cleared by using the Techstream or by disconnecting the cable from the negative (-) battery terminal. However, permanent DTCs cannot be cleared using either of these two methods.
• After clearing current DTCs using the Techstream (or by disconnecting the cable from the negative (-) battery terminal), permanent DTCs can be cleared when the universal trip is performed and then the system is determined to be normal for the relevant DTCs. The driving pattern to obtain a normal judgment is described under the "Confirmation Driving Pattern" for the respective DTC.

  To clear permanent DTCs, all of the following conditions must be met:

  • There is a history that universal trip driving was performed.
  • The vehicle has been judged as normal for 2 trips. (Normal judgment does not have to be performed in 2 consecutive trips, but normal judgment should have occurred in the latest trip.) (not for misfire and fuel system DTCs)
  • No malfunctions are detected.

HINT:

• Obtaining a normal judgment and performing a universal trip driving pattern can be done in the same driving cycle or in different driving cycles.
• It is unnecessary to obtain a normal judgment if the output DTCs are misfire or fuel system DTCs.

CHECK DTC

(a) Connect the Techstream to the DLC3.

(b) Turn the engine switch on (IG).

(c) Turn the Techstream on.

(d) Enter the following menus: Powertrain / Radar Cruise 1*1 or Radar Cruise 2*2 / Trouble Codes.

(e) Check for DTCs.

• *1: Stored in the ECM
• *2: Stored in the driving support ECU assembly

CLEAR DTC (Pending and Confirmed DTC)

(a) Connect the Techstream to the DLC3.

(b) Turn the engine switch on (IG).

(c) Turn the Techstream on.

(d) Enter the following menus: Powertrain / Radar Cruise 1*1 or Radar Cruise 2*2 / Clear DTCs.

(e) Clear the DTCs.

• *1: Stored in the ECM
• *2: Stored in the driving support ECU assembly

CLEAR PERMANENT DTC

• After clearing current DTCs using the Techstream (or by disconnecting the cable from the negative (-) battery terminal), permanent DTCs can be cleared when the universal trip is performed and then the system is determined to be normal for the relevant DTCs. The driving pattern to obtain a normal judgment is described under the "Confirmation Driving Pattern" for the respective DTC.
• To clear permanent DTCs, all of the following conditions must be met:
  • There is a history that universal trip driving was performed.
  • The vehicle has been judged as normal for 2 trips. (Normal judgment does not have to be performed in 2 consecutive trips, but normal judgment should have occurred in the latest trip.)
  • No malfunctions are detected.

(a) Connect the Techstream to the DLC3.

(b) Turn the engine switch on (IG).

(c) Turn the Techstream on.

(d) Enter the following menus: Powertrain / Radar Cruise 1 / Trouble Codes.

HINT:

If "YES" is displayed for the value of "PERMANENT" at the top right of the Techstream screen, permanent DTCs are stored.

(e) Select the "Generic" tab.

(f) Check if permanent DTCs are stored.

HINT:

If permanent DTCs are not output, it is not necessary to continue this procedure.

(g) Clear the DTCs (even if no DTCs are stored, perform the clear DTC procedure).

NOTICE:

Do not clear the DTCs or disconnect the cable from the battery terminal after performing this step.

(h) Perform the universal trip.

CAUTION:

When performing the driving pattern, obey all speed limits and traffic laws.

HINT:

The universal trip driving pattern and normal judgment procedure can be performed consecutively in the same driving cycle.

1. Start the engine and wait for 30 seconds or more.
2. Drive the vehicle at 40 km/h (25 mph) or more for a total of 5 minutes or more.

   HINT:

   It is possible to complete the drive pattern even if the vehicle decelerates to less than 40 km/h (25 mph) during the driving cycle provided that the vehicle is driven at 40 km/h (25 mph) or more for a total of 5 minutes.

3. Allow 10 minutes or more to elapse from the time the engine started.

(i) Turn the engine switch off and wait for 2 minutes or more.

(j) Perform the normal judgment procedure in the respective confirmation driving pattern of each output DTC.

HINT:

Do not turn the engine switch off by mistake during this step.

(k) Start the engine and wait for 5 seconds or more.

(l) Turn the engine switch off and wait for 2 minutes or more.

(m) Turn the engine switch on (IG).

(n) Enter the following menus: Powertrain / Radar Cruise 1 / Trouble Codes.

(o) Check that the permanent DTCs have been cleared.

HINT:

If permanent DTCs are not output, it is not necessary to continue this procedure.

(p) Perform the normal judgment procedure in the respective confirmation driving pattern of each output DTC.

HINT:

Do not turn the engine switch off by mistake during this step.

(q) Start the engine and wait for 5 seconds or more.

(r) Turn the engine switch off and wait for 2 minutes or more.

(s) Turn the engine switch on (IG).

(t) Enter the following menus: Powertrain / Radar Cruise 1 / Trouble Codes.

(u) Check that the permanent DTCs have been cleared.

HINT:

Permanent DTCs will be cleared if a normal judgment is obtained during 3 consecutive driving cycles with the MIL illuminated.

Fail-safe Chart

FAIL-SAFE CHART

HINT:

If any of the following auto cancel conditions are detected while the dynamic radar cruise control system is controlling vehicle speed, the system clears the stored vehicle speed and cancels control of vehicle speed by the dynamic radar cruise control system.

Automatic Cancel Control

Freeze Frame Data

FREEZE FRAME DATA

CHECK FREEZE FRAME DATA

HINT:

The ECU records vehicle and driving condition information as freeze frame data the moment a DTC is stored.

(a) Connect the Techstream to the DLC3.

(b) Turn the engine switch on (IG).

(c) Turn the Techstream on.

(d) Enter the following menus: Powertrain / Radar Cruise 1*1 or Radar Cruise 2*2 / Trouble Codes.

• *1: Output from the ECM
• *2: Output from the driving support ECU assembly

(e) From the DTC screen, select the DTCs (with snow icon) for which freeze frame data is recorded.

LIST OF FREEZE FRAME DATA

(a) Radar Cruise 1:

(b) Radar Cruise 2:

How To Proceed With Troubleshooting

CAUTION / NOTICE / HINT

HINT:

• Perform the following procedure to troubleshoot the dynamic radar cruise control system.
• *: Use the Techstream.

PROCEDURE

NEXT

(a) Measure the battery voltage.

Standard Voltage:

11 to 14 V

If the voltage is below 11 V, replace or recharge the battery before proceeding to the next step.

NEXT

(a) Adjust the reflector height.

Click here

(b) Place the reflector.

Click here

(c) Connect the Techstream to the DLC3.

(d) Turn the engine switch on (IG).

(e) Turn the Techstream on.

(f) Turn the cruise control main switch on.

(g) Enter the following menus: Body Electrical / Pre-Collision 2 / Utility / Front Beam Axis Misalignment Reading.

(h) Check the amount of misalignment and make a note.

(i) Enter the following menus: Body Electrical / Pre-Collision 2 / Utility / Front Beam Axis Offset Reading.

(j) Check the amount of misalignment and make a note.

(k) Calculate the "Dealership Axis Offset Angle (with On-line Calibration Angle)" using the values "Front Beam Axis Misalignment Reading" and "Front Beam Axis Offset Reading".

(1) "Dealership Axis Offset Angle (with On-line Calibration Angle)" = "Front Beam Axis Misalignment Reading" - "Front Beam Axis Offset Reading"

Standard:

Dealership Axis Offset Angle (with On-line Calibration Angle)

B

GO TO STEP 12

A

(a) Using the Techstream, check that the CAN communication system is functioning normally.

Click here

OK:

CAN communication system is functioning normally.

NG

GO TO CAN COMMUNICATION SYSTEM

OK

(a) Check for DTCs.

B

GO TO METER / GAUGE SYSTEM

A

(a) Check for DTCs.

B

GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM

C

GO TO ELECTRIC PARKING BRAKE SYSTEM

A

(a) Check for DTCs and note any codes that are output.

(b) Clear the DTCs.

(c) Recheck for DTCs. Try to reproduce the DTCs by duplicating the conditions indicated by the DTCs.

B

GO TO DTC CHART

A

HINT:

Refer to Problem Symptoms Table.

Click here

B

ADJUST, REPAIR OR REPLACE IN ACCORDANCE WITH PROBLEM SYMPTOMS TABLE

A

(a) Data List / Active Test

Click here

(b) Road test

Click here

(c) Operation check

Click here

(d) Terminals of ECU

Click here

NEXT

NOTICE:

When the millimeter wave radar sensor assembly is replaced with a new one, adjustment of the radar sensor beam axis must be performed.

Click here

NEXT

NEXT

END

(a) Perform millimeter wave radar sensor assembly adjustment.

Click here

NEXT

GO TO STEP 4

Operation Check

OPERATION CHECK

INPUT SIGNAL CHECK

(a) Connect the Techstream to the DLC3.

(b) Check the steering pad switch assembly using the Data List function of the Techstream (cruise control main switch, -SET switch, +RES switch and CANCEL switch).

Click here

INSPECT CRUISE CONTROL MAIN SWITCH

(a) Turn the engine switch on (IG).

(b) Turn the dynamic radar cruise control system on using the cruise control main switch.

(c) Check that the cruise control indicator (vehicle-to-vehicle distance control mode) in the combination meter assembly illuminates and "Radar Ready" is displayed on the multi-information display.

(d) Turn the dynamic radar cruise control system off using the cruise control main switch. Check that the cruise control indicator (vehicle-to-vehicle distance control mode) in the combination meter assembly and "Radar Ready" on the multi-information display turn off.

(e) Turn the engine switch off with the cruise control indicator (vehicle-to-vehicle distance control mode) in the combination meter assembly illuminated and "Radar Ready" on the multi-information display displayed. Turn the engine switch back on (IG) and check that the cruise control indicator (vehicle-to-vehicle distance control mode) in the combination meter assembly and "Radar Ready" on the multi-information display are turned off.

INSPECT MODE SELECT

(a) Turn the engine switch on (IG).

(b) Push and hold the cruise control main switch for 1.5 seconds or more with the dynamic radar cruise control system off to change to constant speed control mode.

NOTICE:

Do not push any other switches before pushing the cruise control main switch. If any other switches are pushed, turn the dynamic radar cruise control system off and repeat the above procedure.

(c) Check that the cruise control indicator (vehicle-to-vehicle distance control mode) in the combination meter assembly and "Radar Ready" on the multi-information display turn off and the cruise control indicator (constant speed control mode) illuminates.

HINT:

If a malfunction is detected, turn the engine switch off and repeat the procedure above.

INSPECT VEHICLE-TO-VEHICLE DISTANCE CONTROL SWITCH

(a) Turn the engine switch on (IG).

(b) Turn the dynamic radar cruise control system on using the cruise control main switch.

(c) Press the vehicle-to-vehicle distance control switch.

(d) Check that the indicator of the vehicle-to-vehicle distance, which is shown on the multi-information display in the combination meter assembly changes from long to middle to short in that order.

HINT:

Long is automatically selected each time the engine switch is turned on (IG).

Brake Switch "A" Circuit Open (P057113)

DESCRIPTION

When the brakes are applied by the dynamic radar cruise control system, the skid control ECU (brake actuator assembly) operates the stop light switch assembly (stop light control relay) to illuminate the stop lights.

If the ECM receives a stop light control relay malfunction signal from the skid control ECU (brake actuator assembly), DTC P057113 is stored.

CAUTION / NOTICE / HINT

HINT:

When DTC P057113 is stored by the dynamic radar cruise control system, DTC C1A4B is stored by the pre-collision system. Therefore, if DTC P057113 is stored, inspect the pre-collision system first.

PROCEDURE

Click here

NEXT

END

Brake Switch "A" Signal Compare Failure (P057162)

DESCRIPTION

When the brake pedal is depressed, the stop light switch assembly sends a signal to the ECM. When the ECM receives this signal, it cancels the dynamic radar cruise control. The fail-safe function operates to enable normal driving even if there is a malfunction in the stop light signal circuit. The cancellation condition occurs when voltage is applied to the terminal STP. When the brake is applied, voltage is normally applied to the terminal STP of the ECM through the STOP fuse and the stop light switch assembly, and the ECM turns the dynamic radar cruise control system off.

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

• Inspect the fuses for circuits related to this system before performing the following procedure.
• Before replacing the ECM, refer to Registration.

  Click here

PROCEDURE

(a) Disconnect the A33 stop light switch assembly connector.

*a Front view of wire harness connector (to Stop Light Switch Assembly)

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

Standard Resistance:

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

Standard Voltage:

(d) Connect the A33 stop light switch assembly connector.

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

OK

(a) Inspect the stop light switch assembly.

Click here

NG

REPLACE STOP LIGHT SWITCH ASSEMBLY

OK

(a) Disconnect the A18 ECM connector.

(b) Disconnect the A33 stop light switch assembly connector.

(c) Disconnect the A28 skid control ECU (brake actuator assembly) connector.

(d) Disconnect the K10 certification ECU (smart key ECU assembly) connector.

(e) Disconnect the G21 shift lock control ECU (shift lock control unit assembly) connector.

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

Standard Resistance:

(g) Connect the G21 shift lock control ECU (shift lock control unit assembly) connector.

(h) Connect the K10 certification ECU (smart key ECU assembly) connector.

(i) Connect the A28 skid control ECU (brake actuator assembly) connector.

(j) Connect the A33 stop light switch assembly connector.

(k) Connect the A18 ECM connector.

OK

REPLACE ECM

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

Cruise Control System Internal Failure (P057504,P057549)

DESCRIPTION

This DTC is stored when there is a malfunction in the ECM.

CAUTION / NOTICE / HINT

NOTICE:

Before replacing the ECM, refer to Registration.

Click here

PROCEDURE

(a) Clear the DTCs.

(b) Make sure that the DTC detection conditions are met.

HINT:

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

(c) Check for DTCs.

A

USE SIMULATION METHOD TO CHECK

B

REPLACE ECM

Brake System (P157800)

DESCRIPTION

This DTC is stored when a malfunction is detected in the electronically controlled brake system. Check the electronically controlled brake system when DTC P157800 is stored.

PROCEDURE

HINT:

If DTC P157800 is output by the dynamic radar cruise control system, perform troubleshooting for the electronically controlled brake system.

Click here

NEXT

END

Cruise Control Input Processor (P160700)

DESCRIPTION

The ECM continuously monitors its main and sub CPUs. This self-check ensures that the ECM is functioning properly. If outputs from the CPUs are different and deviate from the standard, the ECM will illuminate the MIL and store the DTC.

MONITOR DESCRIPTION

The ECM continuously monitors its main and sub CPUs. This self-check ensures that the ECM is functioning properly. If outputs from the CPUs are different and deviate from the standard, illuminate the MIL and store the DTC immediately.

MONITOR STRATEGY

TYPICAL ENABLING CONDITIONS

TYPICAL MALFUNCTION THRESHOLDS

CONFIRMATION DRIVING PATTERN

HINT:

When clearing the permanent DTCs, refer to the "CLEAR PERMANENT DTC" procedure.

Click here

1. Connect the Techstream to the DLC3.
2. Turn the engine switch on (IG) and turn the Techstream on.
3. Clear the DTCs (even if no DTCs are stored, perform the clear DTC procedure).
4. Turn the Techstream off.
5. Turn the engine switch off.
6. Disconnect the Techstream.
7. Disconnect the cable from the negative (-) battery terminal and wait for 1 minute.
8. Connect the cable to the negative (-) battery terminal.
9. Connect the Techstream to the DLC3.
10. Turn the engine switch on (IG) and turn the Techstream on.
11. Turn the cruise control main switch on.
12. Wait 16 seconds or more.[*1]

    HINT:

    [*1] : Normal judgment procedure.

    The normal judgment procedure is used to complete DTC judgment and also used when clearing permanent DTCs.

13. Enter the following menus: Powertrain / Radar Cruise 1 / Trouble Codes.
14. Read the DTCs.

    HINT:

    • If a DTC is output, the system is malfunctioning.
    • If a DTC is not output, perform the following procedure.
15. If the DTCs are not output, perform a universal trip and check for permanent DTCs.

    Click here

    HINT:

    • If a permanent DTC is output, the system is malfunctioning.
    • If no permanent DTCs are output, the system is normal.

CAUTION / NOTICE / HINT

NOTICE:

Before replacing the ECM, refer to Registration.

Click here

HINT:

The ECM receives signals from each sensor to control all functions of the dynamic radar cruise control system. When a DTC is detected, the fail-safe function remains on until the engine switch is turned off.

PROCEDURE

(a) Clear the DTCs.

(b) Make sure that the DTC detection conditions are met.

HINT:

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

(c) Check for DTCs.

A

USE SIMULATION METHOD TO CHECK

B

REPLACE ECM

Communication Error from VSC to ECM Invalid Serial Data Received (P163081)

DESCRIPTION

The skid control ECU (brake actuator assembly) sends signals such as cruise control cancel signals and brake demand response signals to the ECM when the dynamic radar cruise control system is operating.

CAUTION / NOTICE / HINT

NOTICE:

• First check the CAN communication system by following How to Proceed with Troubleshooting. After checking that there are no malfunctions in the CAN communication system, proceed with troubleshooting.

  Click here

• Before replacing the ECM, refer to Registration.

  Click here

• After the skid control ECU (brake actuator assembly) is replaced, perform the yaw rate sensor and G sensor zero point calibration and store the system information.

  Click here

PROCEDURE

(a) Using the Techstream, check if the CAN communication system is functioning normally.

Click here

NG

GO TO CAN COMMUNICATION SYSTEM

OK

(a) Clear the DTCs.

(b) Make sure that the DTC detection conditions are met.

HINT:

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

(c) Check for DTCs.

A

USE SIMULATION METHOD TO CHECK

B

(a) Replace the brake actuator assembly.

Click here

NEXT

(a) Clear the DTCs.

(b) Make sure that the DTC detection conditions are met.

HINT:

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

(c) Check for DTCs.

A

END

B

REPLACE ECM

Communication Error from ECM to VSC Invalid Serial Data Received (P163181)

DESCRIPTION

The ECM sends signals such as dynamic radar cruise control operation signals, brake operation demand signals and buzzer operation demand signals to the skid control ECU (brake actuator assembly) when the dynamic radar cruise control is operating. Therefore, if the skid control ECU (brake actuator assembly) detects a communication error with the ECM, it sends a malfunction signal back to the ECM.

CAUTION / NOTICE / HINT

NOTICE:

• First check the CAN communication system by following How to Proceed with Troubleshooting. After checking that there are no malfunctions in the CAN communication system, proceed with troubleshooting.

  Click here

• Before replacing the ECM, refer to Registration.

  Click here

• After the skid control ECU (brake actuator assembly) is replaced, perform the yaw rate sensor and G sensor zero point calibration and store the system information.

  Click here

PROCEDURE

(a) Using the Techstream, check if the CAN communication system is functioning normally.

Click here

NG

GO TO CAN COMMUNICATION SYSTEM

OK

(a) Clear the DTCs.

(b) Make sure that the DTC detection conditions are met.

HINT:

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

(c) Check for DTCs.

A

USE SIMULATION METHOD TO CHECK

B

(a) Replace the ECM.

Click here

NEXT

(a) Clear the DTCs.

(b) Make sure that the DTC detection conditions are met.

HINT:

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

(c) Check for DTCs.

A

END

B

REPLACE BRAKE ACTUATOR ASSEMBLY

Parts Location

PARTS LOCATION

ILLUSTRATION

ILLUSTRATION

Precaution

PRECAUTION

PRECAUTION FOR DISCONNECTING CABLE FROM NEGATIVE BATTERY TERMINAL

NOTICE:

When disconnecting the cable from the negative (-) battery terminal, initialize the following system(s) after the cable is reconnected:

HANDLING PRECAUTION FOR DYNAMIC RADAR CRUISE CONTROL SYSTEM

Keep in mind the following points when servicing vehicles equipped with the dynamic radar cruise control system.

(a) The dynamic radar cruise control system is designed to be used when driving on highways and freeways. The system may not operate correctly when driving on roads used by pedestrians and bicycles, and may result in an accident.

(b) Do not overly rely on the dynamic radar cruise control system.

• The dynamic radar cruise control system is designed to assist in maintaining an appropriate distance with the preceding vehicle, however, the system alone is not sufficient. Pay constant attention to the vehicle-to-vehicle distance and the traffic conditions when using the dynamic radar cruise control system and decelerate with the brake pedal or accelerate with the accelerator pedal according to the situation to keep an appropriate distance with the preceding vehicle.
• The dynamic radar cruise control system applies brakes as necessary, however, there is a limitation on the deceleration control capability. When the preceding vehicle decelerates rapidly or another vehicle moves in front of the vehicle, decelerating in time to avoid a collision may not be possible without additional braking.

(c) The millimeter wave radar sensor assembly dirt detection function.

• The millimeter wave radar sensor assembly can automatically detect dirt on the sensor face or the front or back surface of the front emblem, however, dirt may not always be detected.
• The dirt detection function may not operate if a metal object or plastic sheet with metal coating is attached to the sensor or the front emblem.
• The dirt detection function may not operate if there is snow or ice on the sensor or the front emblem.

HINT:

The preceding conditions may result in the vehicle being unable to maintain an appropriate distance with the preceding vehicle.

(d) Keep the sensor face and the front and back surfaces of the front emblem clean.

(e) The dynamic radar cruise control system does not operate or give a vehicle approach warning for vehicles which are stopped or driving at significantly slower speeds.

HINT:

This includes vehicles stopped at a tollgate or in traffic, or a preceding vehicle driving at significantly slower speeds.

(f) When following another vehicle with vehicle-to-vehicle distance control mode controlling vehicle speed, the vehicle will not accelerate if the +RES switch is pushed, as the speed is controlled in accordance with the speed of the preceding vehicle.

NOTICE:

If the set vehicle speed is increased by pushing the +RES switch, the vehicle will accelerate to the newly set speed when the preceding vehicle moves out of the lane.

HINT:

The set vehicle speed can be confirmed on the multi-information display.

(g) The actual vehicle-to-vehicle distance may be shorter than the set vehicle-to-vehicle distance when driving on a downhill road.

(h) When a system malfunction is detected, the master warning light illuminates, a warning message is displayed on the multi-information display in the combination meter assembly and the buzzer sounds.

(i) Keep the windshield glass clean.

(j) Do not apply excessive force to the forward recognition camera or subject it to a strong impact.

(k) Do not disassemble the forward recognition camera.

(l) Do not attach a sticker to the windshield glass in the area in front of the forward recognition camera.

(m) If the heater is used with FOOT mode selected, the upper area of the windshield glass may fog up, affecting the operation of the forward recognition camera.

HINT:

If the windshield glass fogs up, clear it using the front defroster.

(n) Do not damage the forward recognition camera lens or allow it to become dirty.

HINT:

• When cleaning the inner surface of the windshield glass, do not allow cleaning agent to contact the forward recognition camera lens.
• Do not touch the forward recognition camera lens.

(o) Do not place any objects on top of the instrument panel.

HINT:

If an object is reflecting off of the windshield glass, the performance of the forward recognition camera may decrease.

(p) The vehicle approach warning buzzer does not sound when constant speed control mode is controlling vehicle speed.

(q) As the controls performed by constant speed control mode and vehicle-to-vehicle distance control mode are different, always confirm which mode is selected before operating the dynamic radar cruise control system.

(r) Take the following precautions concerning the dynamic radar cruise control system.

(1) Turn the cruise control system off using the cruise control main switch when not using the cruise control system.

(2) Be careful as the vehicle speed may increase beyond the set vehicle speed when driving downhill even when the cruise control system is controlling vehicle speed.

(3) If the +RES switch is operated while the cruise control system is controlling vehicle speed or after control of vehicle speed by the cruise control system is canceled, the vehicle may accelerate.

(4) If the cruise control indicator turns off and a warning message is displayed when the cruise control system is controlling vehicle speed, turn the cruise control system off then on using the cruise control main switch and set the cruise control system vehicle set speed again. If the cruise control system does not turn on or stops functioning immediately after being set, there may be a malfunction in the cruise control system.

(5) Do not use the dynamic radar cruise control system where the road conditions are as follows:

• Heavy traffic
• Steep downhill roads
• Roads with sharp turns
• Icy or snowy roads
• Slippery roads

(s) Do not use the dynamic radar cruise control system while towing.

PRECAUTIONS WHEN REPLACING DRIVING SUPPORT ECU ASSEMBLY

When replacing the driving support ECU assembly, always replace it with a new one. If a driving support ECU assembly which was installed to another vehicle is used, the information stored in the driving support ECU assembly will not match the information from the vehicle. As a result, a DTC may be stored.

PRECAUTION WHEN REPLACING ECM

Before replacing the ECM, refer to Registration.

Click here

HANDLING PRECAUTIONS FOR CAN COMMUNICATION SYSTEM

First check the CAN communication system by following How to Proceed with Troubleshooting. After checking that there are no malfunctions in the CAN communication system, proceed with troubleshooting.

Click here

HANDLING PRECAUTIONS FOR FORWARD RECOGNITION CAMERA

Click here

PRECAUTIONS WHEN REPLACING MILLIMETER WAVE RADAR SENSOR ASSEMBLY

• When replacing the millimeter wave radar sensor assembly, always replace it with a new one. When a new millimeter wave radar sensor assembly is installed to the vehicle, it receives vehicle information from the driving support ECU assembly and stores it. If a millimeter wave radar sensor assembly which was installed to another vehicle is used, the information stored in the driving support ECU assembly and millimeter wave radar sensor assembly will not match and a DTC may be stored.
• When the millimeter wave radar sensor assembly is replaced with a new one, adjustment of the radar sensor beam axis must be performed.

  Click here

PRECAUTION WHEN REPLACING SKID CONTROL ECU (BRAKE ACTUATOR ASSEMBLY)

After the skid control ECU (brake actuator assembly) is replaced, perform the yaw rate sensor and G sensor zero point calibration and store the system information.

Click here

Problem Symptoms Table

PROBLEM SYMPTOMS TABLE

NOTICE:

• Before replacing the ECM, refer to Registration.

  Click here

• When replacing the driving support ECU assembly, always replace it with a new one. If a driving support ECU assembly which was installed to another vehicle is used, the information stored in the driving support ECU assembly will not match the information from the vehicle. As a result, a DTC may be stored.
• When the millimeter wave radar sensor assembly is replaced with a new one, adjustment of the radar sensor beam axis must be performed.

  Click here

• 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 Recognition Camera/Target Position Memory and Recognition Camera Axis Adjust.

  Click here

HINT:

• Use the table below to help determine the cause of problem symptoms. If multiple suspected areas are listed, the potential causes of the symptoms are listed in order of probability in the "Suspected Area" column of the table. Check each symptom by checking the suspected areas in the order they are listed. Replace parts as necessary.
• Inspect the fuses and relays related to this system before inspecting the suspected areas below.

*1: When the "Radar Cruise Control Unavailable" message is displayed and "Front Radar Incorrect Axis Gap (Vertical) History: ON" is output, the millimeter wave radar sensor assembly may be automatically performing beam axis calibration. In this case, the display is turned off due to beam axis adjustment being performed. Automatic calibration is complete when the "Radar Cruise Control Unavailable" message turns off.

*2: w/ Shift Paddle Switch

Road Test

ROAD TEST

HINT:

• The dynamic radar cruise control system has 2 cruise control modes: constant speed control mode and vehicle-to-vehicle distance control mode.
• Vehicle-to-vehicle distance control mode is selected by default when the dynamic radar cruise control system is turned on using the cruise control main switch.

PROBLEM SYMPTOM CONFIRMATION (VEHICLE-TO-VEHICLE DISTANCE CONTROL MODE)

(a) Inspect the SET function.

(1) Turn the dynamic radar cruise control system on using the cruise control main switch.

(2) Check that the cruise control indicator illuminates in the combination meter assembly.

(3) Drive at a speed between approximately 50 km/h (31 mph) and 180 km/h (112 mph).

(4) Push the -SET switch.

(5) Check that the cruise control indicator remains illuminated, the cruise SET indicator illuminates in the combination meter assembly and the set speed is displayed on the multi-information display.

(6) After releasing the switch, check that the vehicle maintains the set speed.

(b) Inspect the + (ACCEL) function.

(1) Turn the dynamic radar cruise control system on using the cruise control main switch.

(2) Drive at a speed between approximately 50 km/h (31 mph) and 180 km/h (112 mph).

(3) Push the -SET switch.

(4) Push and hold the +RES switch and check that vehicle speed increases in 1 km/h or 1 mph*1 or 5 km/h or 5 mph*2 increments.

*1: for Speedometer with Imperial Units for Main Scale

*2: for Speedometer with Metric Units for Main Scale

(5) Push the +RES switch and then release it immediately. Check that vehicle speed increases by approximately 1 km/h or 1 mph (tap-up control).

(c) Inspect the - (COAST) function.

(1) Turn the dynamic radar cruise control system on using the cruise control main switch.

(2) Drive at a speed between approximately 50 km/h (31 mph) and 180 km/h (112 mph).

(3) Push the -SET switch.

(4) Push and hold the -SET switch and check that vehicle speed decreases in 1 km/h or 1 mph*1 or 5 km/h or 5 mph*2 increments.

*1: for Speedometer with Imperial Units for Main Scale

*2: for Speedometer with Metric Units for Main Scale

(5) Push the -SET switch, and then release it immediately. Check that vehicle speed decreases by approximately 1 km/h or 1 mph (tap-down control).

(d) Inspect the CANCEL function.

(1) Turn the dynamic radar cruise control system on using the cruise control main switch.

(2) Drive at a speed between approximately 50 km/h (31 mph) and 180 km/h (112 mph).

(3) Push the -SET switch.

(4) When any of the following are performed, check that control of vehicle speed by the dynamic radar cruise control system is canceled and that the normal driving mode (no control of vehicle speed by the dynamic radar cruise control system) resumes.

• Depressing the brake pedal.
• Moving the shift lever from D or S to any other position.
• Selecting the S3, S2 or S1 range with the shift lever in S.
• Selecting the D3, D2 or D1 range using the transmission shift switch assembly (shift paddle switch) with the shift lever in D (w/ Shift Paddle Switch).
• Pushing the CANCEL switch.
• Applying the electric parking brake.
• Turning the dynamic radar cruise control system off using the cruise control main switch (the stored vehicle speed in the ECM is not maintained).

(e) Inspect the RES (RESUME) function.

(1) Turn the dynamic radar cruise control system on using the cruise control main switch.

(2) Drive at a speed between approximately 50 km/h (31 mph) and 180 km/h (112 mph).

(3) Push the -SET switch.

(4) Cancel control of vehicle speed by the dynamic radar cruise control system by performing any of the CANCEL functions (other than turning the dynamic radar cruise control system off using the cruise control main switch).

(5) Push the +RES switch while driving the vehicle at a speed of more than approximately 40 km/h (25 mph), and check that the vehicle resumes the speed set prior to cancellation and that the cruise SET indicator illuminates.

HINT:

The stored vehicle speed is retained even if the vehicle speed drops below approximately 40 km/h (25 mph). The previously stored vehicle speed can be resumed by pushing the +RES switch when the vehicle speed has returned to approximately 40 km/h (25 mph) or more.

PROBLEM SYMPTOM CONFIRMATION (CONSTANT SPEED CONTROL MODE)

(a) Inspect the SET function.

(1) Push and hold the switch of the cruise control main switch for 1.5 seconds or more with the dynamic radar cruise control system off to change to the constant speed control mode.

(2) Check that the cruise control indicator (vehicle-to-vehicle distance control mode) turns off and the cruise control indicator (constant speed control mode) illuminates.

(3) Drive at a speed between 40 km/h (25 mph) and 200 km/h (124 mph).

(4) Push the -SET switch.

(5) Check that the cruise SET indicator illuminates at this time.

(6) After releasing the switch, check that the vehicle maintains the set speed.

(b) Inspect the + (ACCEL) function.

(1) Push and hold the switch of the cruise control main switch for 1.5 seconds or more with the dynamic radar cruise control system off to change to the constant speed control mode.

(2) Drive at a speed between 40 km/h (25 mph) and 200 km/h (124 mph).

(3) Push the -SET switch.

(4) Check that vehicle speed increases while the +RES switch is pushed, and that the vehicle maintains the newly set speed when the switch is released.

(5) Push the +RES switch and then release it immediately. Check that vehicle speed increases by approximately 1 km/h or 1 mph (tap-up control).

(c) Inspect the - (COAST) function.

(1) Push and hold the switch of the cruise control main switch for 1.5 seconds or more with the dynamic radar cruise control system off to change to the constant speed control mode.

(2) Drive at a speed between 40 km/h (25 mph) and 200 km/h (124 mph).

(3) Push the -SET switch.

(4) Check that vehicle speed decreases while the - SET switch is pushed, and the vehicle maintains the newly set speed when the switch is released.

(5) Push the -SET switch, and then release it immediately. Check that vehicle speed decreases by approximately 1 km/h or 1 mph (tap-down control).

(d) Inspect the CANCEL function.

(1) Push and hold the switch of the cruise control main switch for 1.5 seconds or more with the dynamic radar cruise control system off to change to the constant speed control mode.

(2) Drive at a speed between 40 km/h (25 mph) and 200 km/h (124 mph).

(3) Push the -SET switch.

(4) When any of the following are performed, check that cruise control system control of vehicle speed is canceled and that the normal driving mode (no control of vehicle speed by the cruise control system) resumes.

• Depressing the brake pedal.
• Moving the shift lever from D or S to any other position.
• Selecting the S3, S2 or S1 range with the shift lever in S.
• Selecting the D3, D2 or D1 range using the transmission shift switch assembly (shift paddle switch) with the shift lever in D (w/ Shift Paddle Switch).
• Pushing the CANCEL switch.
• Turning the dynamic radar cruise control system off using the cruise control main switch (the stored vehicle speed in the ECM is not maintained).

(e) Inspect the RES (RESUME) function.

(1) Push and hold the switch of the cruise control main switch for 1.5 seconds or more with the dynamic radar cruise control system off to change to the constant speed control mode.

(2) Drive at a speed between 40 km/h (25 mph) and 200 km/h (124 mph).

(3) Push the -SET switch.

(4) Cancel cruise control system control of vehicle speed by performing any of the above operations (other than turning the cruise control system off using the cruise control main switch).

(5) After pushing the +RES switch at a speed of more than 40 km/h (25 mph), check that the vehicle resumes the speed set prior to cancellation.

CHECK FULL-SPEED RANGE FOLLOWING FUNCTION

(a) Check the SET function.

(1) Turn the dynamic radar cruise control system on using the cruise control main switch.

(2) Drive at a speed between approximately 0 km/h (0 mph) and 180 km/h (112 mph).

(3) Check that there is a preceding vehicle that can be tracked.

HINT:

Tracking control may not track the preceding vehicle under the following conditions:

• The rear of the preceding vehicle is small, such as an empty trailer or motorcycle.

(4) Push the -SET switch.

(5) Check that tracking of the preceding vehicle begins with the set vehicle speed as the upper limit when the -SET switch is pressed.

(6) Check that the set vehicle speed is displayed on the multi-information display in the combination meter assembly.

(b) Check the deceleration function.

(1) When the preceding vehicle decelerates, check that the vehicle automatically decelerates while maintaining the set vehicle-to-vehicle distance.

(2) When the vehicle stops, check that "Waiting" is displayed on the multi-information display in the combination meter assembly.

HINT:

When "Waiting" is displayed on the multi-information display in the combination meter assembly, even if the brake pedal is depressed, tracking control is not canceled.

(c) Check the acceleration function.

(1) When the preceding vehicle starts off, check that "Operate Cruise Switch or Accelerator Pedal to Resume" is displayed on the multi-information display in the combination meter assembly.

(2) When the +RES switch is pushed or the accelerator pedal is depressed, check that tracking control resumes and begins tracking the preceding vehicle.

(d) Check the tracking control cancel function.

(1) When the vehicle speed is approximately 40 km/h (25 mph) or less and the preceding vehicle is no longer in front of the vehicle, check that "Radar Cruise Control Not Available No Preceding Vehicle" is displayed on the multi-information display in the combination meter assembly, the warning buzzer sounds 4 times and tracking control cancels.

HINT:

Tracking control also automatically cancels when the preceding vehicle moves out of the detection range due to a curve, etc., when the vehicle speed is 40 km/h (25 mph) or less.

Steering Pad Switch Circuit

DESCRIPTION

• The steering pad switch assembly outputs the on/off signal and various control signals to the ECM.
• The ECM performs cruise control according to the signals received from the steering pad switch assembly.

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

• The vehicle is equipped with a Supplemental Restraint System (SRS) which includes components such as airbags. Before servicing (including removal or installation of parts), be sure to read the precaution for Supplemental Restraint System.

  Click here

• Before replacing the ECM, refer to Registration.

  Click here

PROCEDURE

(a) Connect the Techstream to the DLC3.

*1 Steering Pad Switch Assembly *a Cruise Control Main Switch *b -SET Switch *c +RES Switch *d CANCEL Switch

(b) Turn the engine switch on (IG).

(c) Turn the Techstream on.

(d) Enter the following menus: Powertrain / Radar Cruise 1 / Data List.

(e) Read the Data List according to the display on the Techstream.

OK:

The value of each measurement item changes according to the operation of the steering pad switch assembly.

OK

PROCEED TO NEXT SUSPECTED AREA SHOWN IN PROBLEM SYMPTOMS TABLE

NG

(a) Remove the steering pad switch assembly.

Click here

(b) Inspect the steering pad switch assembly.

Click here

NG

REPLACE STEERING PAD SWITCH ASSEMBLY

OK

(a) Remove the spiral cable sub-assembly.

Click here

(b) Inspect the spiral cable sub-assembly.

Click here

NG

REPLACE SPIRAL CABLE SUB-ASSEMBLY

OK

(a) Disconnect the G17 spiral cable sub-assembly connector.

(b) Disconnect the A18 ECM connector.

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

Standard Resistance:

(d) Connect the A18 ECM connector.

(e) Connect the G17 spiral cable sub-assembly connector.

OK

REPLACE ECM

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

System Diagram

SYSTEM DIAGRAM

Terminals Of Ecu

TERMINALS OF ECU

CHECK DRIVING SUPPORT ECU ASSEMBLY

NOTICE:

Do not apply excessive force to the connector. If a force of 10 kg or more is applied, the connector may be broken.

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

(b) Check for pulses according to the value(s) in the table below.

HINT:

If the waveform is not similar to that shown in the illustration, a malfunction of a CAN bus line, terminating resistor, or the driving support ECU assembly is suspected.

(1) WAVEFORM 1

HINT:

The waveform varies depending on the CAN communication signal.

(2) WAVEFORM 2

HINT:

The waveform varies depending on the CAN communication signal.

CHECK ECM

HINT:

The standard voltage, resistance and waveform between each pair of the ECM terminals is shown in the table below. The appropriate conditions for checking each pair of the terminals is also indicated. The result of checks should be compared with the standard voltage, resistance and waveform for each pair of the terminals as displayed in the Specified Condition column. The illustration above can be used as a reference to identify the ECM terminal locations.

CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY

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

(b) Check for pulses according to the value(s) in the table below.

HINT:

If the waveform is not similar to that shown in the illustration, a malfunction of a CAN bus line, terminating resistor, or the millimeter wave radar sensor assembly is suspected.

(1) WAVEFORM 1

HINT:

The waveform varies depending on the CAN communication signal.

(2) WAVEFORM 2

HINT:

The waveform varies depending on the CAN communication signal.

Lost Communication with ECM / PCM "A" (U0100,U0125,U0126,U0129)

DESCRIPTION

The driving support ECU assembly communicates with each sensor and ECU via CAN communication.

If any malfunction is detected in a CAN communication circuit, one or more CAN communication system DTCs are stored.

PROCEDURE

(a) Clear the DTCs.

(b) Make sure that the DTC detection conditions are met.

HINT:

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

(c) Check for DTCs.

A

USE SIMULATION METHOD TO CHECK

B

GO TO CAN COMMUNICATION SYSTEM

Lost Communication with Cruise Control Front Distance Range Sensor (U0235)

DESCRIPTION

The driving support ECU assembly sends vehicle speed and vehicle condition information to the millimeter wave radar sensor assembly. The millimeter wave radar sensor assembly then sends information on the presence, distance, and relative speed of objects in front of the vehicle to the driving support ECU assembly. The driving support ECU assembly sends this information to the ECM and the ECM operates the dynamic radar cruise control system.

PROCEDURE

HINT:

If DTC U0235 is output by the dynamic radar cruise control system, perform troubleshooting for the pre-collision system.

Click here

NEXT

END

Lost Communication with Driving Support ECU (U1104)

DESCRIPTION

The driving support ECU assembly sends vehicle speed and vehicle condition information to the millimeter wave radar sensor assembly. The millimeter wave radar sensor assembly then sends information on the presence, distance, and relative speed of objects in front of the vehicle to the driving support ECU assembly. The driving support ECU assembly sends this information to the ECM and the ECM operates the dynamic radar cruise control system.

PROCEDURE

HINT:

If DTC U1104 is output by the dynamic radar cruise control system, perform troubleshooting for the pre-collision system.

Click here

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END

Lost Communication With ECM/PCM "A" Missing Message (U010087,U012287,U110487)

DESCRIPTION

The ECM communicates with each sensor and ECU via CAN communication.

If any malfunction is detected in a CAN communication circuit, one or more CAN communication system DTCs are stored.

PROCEDURE

(a) Clear the DTCs.

(b) Make sure that the DTC detection conditions are met.

HINT:

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

(c) Check for DTCs.

A

USE SIMULATION METHOD TO CHECK

B

GO TO CAN COMMUNICATION SYSTEM

Vehicle Control History

VEHICLE CONTROL HISTORY

VEHICLE CONTROL HISTORY

HINT:

Part of the control history can be confirmed using the vehicle control history.

Click here