RM38T0EC _95 ADAS / AD _112293 ADVANCED DRIVER ASSISTANCE SYSTEM _0586709 FRONT CAMERA SYSTEM(Production Date from 2023/04) C

ADVANCED DRIVER ASSISTANCE SYSTEM  FRONT CAMERA SYSTEM(Production Date from 2023/04)  U023587  Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message  


DESCRIPTION

The forward recognition camera communicates with the millimeter wave radar sensor assembly via CAN communication line. If communication with the millimeter wave radar sensor assembly stops, the forward recognition camera stores DTC U023587.

DTC No. Detection Item DTC Detection Condition Trouble Area DTC Output from
U023587 Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message When a communication error between forward recognition camera and millimeter wave radar sensor assembly is detected
·

Harness or connector

·

Forward recognition camera

·

Millimeter wave radar sensor assembly


Front Recognition Camera

HINT:

If the DTCs are output simultaneously, the inspection area can be narrowed down.


Pattern DTC output part name
(Display on GTS) 		Suspected Area (Malfunction Status)
Forward Recognition Camera Millimeter Wave Radar Sensor Assembly
Front Recognition Camera Front Radar Sensor
U023587 U010487

○: DTC is output

-: DTC is not output

Pattern 1 ○ ○ Harness or connector (Open or short)
Millimeter wave radar sensor assembly (Internal malfunction)
Forward recognition camera (Internal malfunction)
Pattern 2 ○ - Millimeter wave radar sensor assembly (Internal malfunction)
Forward recognition camera (Internal malfunction)

WIRING DIAGRAM

B660522E19
4.667,1.667 5.208,1.906 0.542,0.24 10 false T37 4.667,1.844 6.844,2.094 2.177,0.25 10 false Forward Recognition Camera 0.833,1.667 1.385,1.865 0.552,0.198 10 false A181 0.823,1.833 4.802,2.031 3.979,0.198 10 false Millimeter Wave Radar Sensor Assembly 1.583,0.76 2.198,1.667 0.615,0.906 10 false CA1P 4.823,0.76 5.375,0.958 0.552,0.198 10 false 12 5.156,0.76 5.708,0.958 0.552,0.198 10 false CANH 5.135,1.427 5.833,1.833 0.698,0.406 10 false CANL 4.833,1.229 5.385,1.427 0.552,0.198 10 false 11 2.083,1.229 2.635,1.427 0.552,0.198 10 false 7 1.583,1.417 2.135,1.615 0.552,0.198 10 false CA1N 2.083,0.75 2.635,0.948 0.552,0.198 10 false 8


CAUTION / NOTICE / HINT

NOTICE:
·

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 and a DTC may be stored.

·

When the millimeter wave radar sensor assembly has been replaced with a new one, it is necessary to perform millimeter wave radar sensor assembly beam axis alignment and to clear the vehicle control history. Before performing the Driving Adjustment, make sure to read Before Starting Driving Adjustment.

HINT:

Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment.

Triangle Target: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR (Production Date from 2023/04)>TARGET ADJUSTMENT(TRIANGLE TARGET)

Flat Surface Target: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR (Production Date from 2023/04)>TARGET ADJUSTMENT(FLAT SURFACE TARGET)

Driving Adjustment: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR (Production Date from 2023/04)>DRIVING ADJUSTMENT


·

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 and a DTC may be stored.

·

When the forward recognition camera has been replaced with a new one, make sure to clear all stored vehicle control history of each system and the forward recognition camera beam axis alignment data.

HINT:

Forward recognition camera beam axis alignment can be performed by using "One Time Recognition", "Driving Adjustment" or "Camera Axis Adjustment Value Write".

One Time Recognition: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA (Production Date from 2023/04)>TARGET ADJUSTMENT(ONE TIME RECOGNITION)

Driving Adjustment: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA (Production Date from 2023/04)>DRIVING ADJUSTMENT

Camera Axis Adjustment Value Write: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA (Production Date from 2023/04)>CAMERA AXIS ADJUSTMENT VALUE WRITE


·

If the forward recognition camera has been replaced with a new one, make sure to perform Software Version Confirmation.

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>UTILITY (Production Date from 2023/04)>SOFTWARE VERSION CONFIRMATION

·

After the ignition switch is turned off, there may be a waiting time before disconnecting the negative (-) auxiliary battery terminal.

Click hereGeneral>SETUP>WHEN DISCONNECTING OR RECONNECTING BATTERY TERMINAL>BEFORE DISCONNECTING BATTERY

HINT:

When disconnecting and reconnecting the auxiliary battery, there is an automatic learning function that completes learning when the respective system is used.

Click hereGeneral>SETUP>WHEN DISCONNECTING OR RECONNECTING BATTERY TERMINAL>AUTOMATIC LEARNING CHART




PROCEDURE

1.CHECK FOR DTCs
a.

Read each DTC and check the diagnosis pattern using the table below.

Chassis > Front Recognition Camera > Trouble Codes
50001 498
Body Electrical > Front Radar Sensor > Trouble Codes
50001 429
Pattern DTC output part name
(Display on GTS)
Front Recognition Camera Front Radar Sensor
Pattern 1 U023587 U010487
Pattern 2 U023587 -


Result:
Result Proceed to
Pattern 1 A
Pattern 2 B



A

2.CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA)

B

4.CHECK CONNECTION OF CONNECTORS
2.CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA)
a.

Disconnect the cable from the negative (-) auxiliary battery terminal.


b.

Disconnect the T37 forward recognition camera connector.


c.

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

Standard Resistance:
Tester Connection Condition Specified Condition
T37-12 (CANH) - T37-11 (CANL) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω
T37-12 (CANH) - Body ground Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
T37-11 (CANL) - Body ground Cable disconnected from negative (-) auxiliary battery terminal
T37-12 (CANH) - +B Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
T37-11 (CANL) - +B Cable disconnected from negative (-) auxiliary battery terminal



Result:
Proceed to
OK
NG



OK

REPLACE FORWARD RECOGNITION CAMERA

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA (Production Date from 2023/04)>REMOVAL


NG

3.CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)
3.CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)
a.

Connect the T37 forward recognition camera connector.


b.

Disconnect the A181 millimeter wave radar sensor assembly connector.


c.

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

Standard Resistance:
Tester Connection Condition Specified Condition
A181-8 (CA1P) - A181-7 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω
A181-8 (CA1P) - Body ground Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
A181-7 (CA1N) - Body ground Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
A181-8 (CA1P) - +B Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
A181-7 (CA1N) - +B Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher



Result:
Proceed to
OK
NG



OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR (Production Date from 2023/04)>REMOVAL

NOTICE:

Before replacing the millimeter wave radar sensor assembly, make sure to turn the ignition switch from off to ON and check for DTCs.



NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

4.CHECK CONNECTION OF CONNECTORS
a.

Check that the connectors are properly connected to the forward recognition camera and millimeter wave radar sensor assembly.

OK:

The connectors are properly connected



Result:
Proceed to
OK
NG



OK

5.CLEAR DTC

NG

REPAIR OR REPLACE CAN BUS HARNESS OR CONNECTOR

5.CLEAR DTC
a.

Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs
50002 498

Result:
Proceed to
NEXT



NEXT

6.CHECK FOR DTCs
6.CHECK FOR DTCs
a.

Turn the ignition switch off.


b.

Turn the ignition switch to ON.


c.

Make sure that the DTC detection conditions are met.

HINT:

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



d.

Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes
50001 498

Result:
Result Proceed to
U023587 is not output A
U023587 is output B



A

END

B

7.CHECK CAN WIRE (FORWARD RECOGNITION CAMERA)
7.CHECK CAN WIRE (FORWARD RECOGNITION CAMERA)
a.

Disconnect the cable from the negative (-) auxiliary battery terminal.


b.

Disconnect the T37 forward recognition camera connector.


c.

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

Standard Resistance:
Tester Connection Condition Specified Condition
T37-12 (CANH) - T37-11 (CANL) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω



Result:
Proceed to
OK
NG



OK

8.CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY

NG

REPAIR OR REPLACE CAN BUS HARNESS OR CONNECTOR

8.CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY
a.

Disconnect the T37 forward recognition camera connector.


b.

Using an oscilloscope, check the waveform.

OK:
Tester Connection Condition Tool Setting Specified Condition
T37-12 (CANH) - T37-11 (CANL) Ignition switch ON 1V/DIV., 100μs./DIV. Pulse generation



Result:
Proceed to
OK
NG



OK

REPLACE FORWARD RECOGNITION CAMERA

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA (Production Date from 2023/04)>REMOVAL


NG

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR (Production Date from 2023/04)>REMOVAL

NOTICE:

Before replacing the millimeter wave radar sensor assembly, make sure to turn the ignition switch from off to ON and check for DTCs.