ADVANCED DRIVER ASSISTANCE SYSTEM FRONT CAMERA SYSTEM(Production Date from 2023/04) VEHICLE CONTROL HISTORY (RoB)
- NOTICE:
-
Make sure to record any output Vehicle Control History codes before clearing them and checking the Vehicle Control History again.
CHECK VEHICLE CONTROL HISTORY (FRONT CAMERA SYSTEM)
Read the Vehicle Control History (RoB) according to the display on the GTS.
- Chassis > Front Recognition Camera > Utility
-
Tester Display Vehicle Control History (RoB) - 50005 498 55
| Multi-information Display | Code | Tester Display | Measurement Item | Diagnostic Note |
|---|---|---|---|---|
| System Malfunction Visit Your Dealer | X2000 | Yaw Rate Sensor Malfunction | History of yaw rate sensor malfunction signals output from the yaw rate sensor being received | Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for Gasoline Model:(  202307,999999,_54,_112606,_0608078,RM100000002C7CZ,)
for HEV Model:( 202307,999999,_54,_112606,_0608077,RM100000002C79S,)
|
| System Malfunction Visit Your Dealer | X2001 | Steering Angle Sensor Malfunction | History of steering sensor malfunction signals output from the skid control ECU (brake actuator assembly) being received | Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for Gasoline Model:( 202307,999999,_54,_112606,_0608078,RM100000002C7CZ,)
for HEV Model:( 202307,999999,_54,_112606,_0608077,RM100000002C79S,)
|
| System Malfunction Visit Your Dealer | X2002 | Accelerator Sensor Malfunction | History of accelerator sensor malfunction signals output from ECM being received | Refer to How to Proceed with Troubleshooting in SFI System.
for M20A-FKS, M20C-FKS, M20E-FKS:( 202307,999999,_51,_112530,_0606951,RM100000002C3DZ,)
for M20F-FXS, M20G-FXS:( 202307,999999,_51,_144956,_0604911,RM100000002BWP9,)
|
| System Stopped See Owner's Manual | X2003 | Brake Control System Malfunction | History of brake system malfunction signals output from the skid control ECU (brake actuator assembly) being received | Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for Gasoline Model:( 202307,999999,_54,_112606,_0608078,RM100000002C7CZ,)
for HEV Model:( 202307,999999,_54,_112606,_0608077,RM100000002C79S,)
|
| System Malfunction Visit Your Dealer | X2004 | Speed Sensor Malfunction | History of vehicle speed sensor malfunction signals output from the skid control ECU (brake actuator assembly) being received | Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for Gasoline Model:( 202307,999999,_54,_112606,_0608078,RM100000002C7CZ,)
for HEV Model:( 202307,999999,_54,_112606,_0608077,RM100000002C79S,)
|
| System Malfunction Visit Your Dealer | X2014 | Front Recognition Camera Optical Axis Not Adjusted | History is stored when the forward recognition camera judged that the optical axis of the forward recognition camera has not been adjusted |
|
| System Stopped Front Camera Low Visibility See Owner's Manual | X2015 | Front Recognition Camera Dirt | History is stored when the forward recognition camera judged that the vehicle has poor visibility or is obscured | Perform the following inspections:
·
Be sure to use Toyota genuine front wiper blades ·
Be sure that the wiper rubber is not deteriorated ·
Be sure that there are not stickers, accessories, luggage, etc. within the field of view of the forward recognition camera ·
Be sure that there is not snow, ice, fog, dirt, frost, dust or oil film on the front part of the windshield glass camera ·
Be sure that the front part of the windshield glass camera is not damaged or cracked ·
Be sure to install a Toyota genuine windshield glass ·
Be sure that the vehicle was not driven in bad weather (In darkness, backlight, snow, fog, etc. When the surrounding conditions of forward recognition camera have improved and the forward recognition camera is operable, the warning display will disappear) ·
Be sure that the hood was not open (Depending on the hood, poor visibility may be output due to obstruction of forward visibility of the forward recognition camera. When the visibility is improved and the forward recognition camera is operable, the warning display will disappear) Cause:
When the area around the forward recognition camera is dirty or covered with foreign matter, the camera lens or windshield is fogged up, or an obstruction is in front of the camera Measures:
If the inside of the windshield glass is dirty, clean it using glass cleaner. |
| System Stopped Front Camera Out of Temperature Range Wait until Normal Temperature | X2016 | Front Recognition Camera Outside Guaranteed Operating Temperature | History is stored when the forward recognition camera was temporarily unavailable due to high or low temperature | 1.
Check the following items on the data monitor (Front Recognition Camera) using GTS. -
Camera Low Temperature Flag -
Camera High Temperature 1 Flag 2.
If the value is "ON", perform the data monitor remarks Cause:
When the following conditions of the forward recognition camera occur -
When the ambient temperature is -30°C (-22°F) or less such as after leaving the vehicle in an extremely cold environment -
When the ambient temperature is 80°C (176°F) or higher such as after leaving the vehicle in the hot sun |
| System Stopped See Owner's Manual | X2017 | Front Recognition Camera Outside Guaranteed Operating Voltage | History is stored when the forward recognition camera was temporarily unavailable due to low or high voltage | Check the supply voltage (IGB) of the forward recognition camera. Refer to the ECU terminal arrangement to check terminals and reference values.
( 202307,999999,_95,_112293,_0586709,RM100000002BSW0,)
If the symptoms do not disappear while the power source voltage is within the specified range, the forward recognition camera may be malfunctioning. Cause:
When the following conditions of the forward recognition camera occur -
for Gasoline Model: (1)
When the input voltage is approximately 6 V or less, immediately after starting the engine (2)
When the input voltage is approximately 16 V or higher, immediately after starting the engine -
for HEV Model: (1)
When the input voltage is approximately 6 V or less, immediately after starting the hybrid system (2)
When the input voltage is approximately 16 V or higher, immediately after starting the hybrid system |
| System Malfunction Visit Your Dealer | X2020 | Front Radar Sensor Destination Malfunction | History is stored when a destination malfunction of the millimeter wave radar sensor assembly is received | Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
( 202307,999999,_95,_112293,_0586710,RM100000002BSWF,)
|
| System Malfunction Visit Your Dealer | X2021 | Front Radar Sensor Malfunction | History is stored when abnormal signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly are received | Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
( 202307,999999,_95,_112293,_0586710,RM100000002BSWF,)
|
| System Malfunction Visit Your Dealer | X2022 | Front Radar Sensor Optical Axis Misalignment Malfunction | History is stored when misalignment error signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly are received | If this code is output, perform millimeter wave radar sensor assembly beam axis adjustment, clear the Vehicle Control History and then check that this code is not output again.
|
| System Malfunction Visit Your Dealer | X2023 | Front Radar Sensor Optical Axis Not Adjusted | History is stored when beam unaligned signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly is received | If this code is output, perform millimeter wave radar sensor assembly beam axis adjustment, clear the Vehicle Control History and then check that this code is not output again.
|
| System Stopped Front Radar In Self Calibration See Owner's Manual | X2025 | Front Radar Sensor Temporary Unavailable (Horizontal Direction Optical Axis Misalignment) | History is stored when optical axis deviation temporary disabled signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly is received | Perform beam axis adjustment for the millimeter wave radar sensor assembly.
|
| System Stopped Front Radar Sensor Blocked Clean Radar Sensor | X2026 | Front Radar Sensor Dirt | History is stored when dirty signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly are received | Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
( 202307,999999,_95,_112293,_0586710,RM100000002BSWF,)
|
| System Stopped Front Radar Sensor Out of Temperature Range Wait until Normal Temperature | X2027 | Front Radar Sensor Outside Guaranteed Operating Temperature | History is stored when abnormal temperature signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly are received | Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
( 202307,999999,_95,_112293,_0586710,RM100000002BSWF,)
|
| System Stopped See Owner's Manual | X2028 | Front Radar Sensor Outside Guaranteed Operating Voltage | History is stored when the millimeter wave radar sensor assembly detects a sensor voltage malfunction due to low voltage | 1.
After vehicle control history cleared, drive the vehicle at 5 km/h (3 mph) or more and check if the vehicle control history is output. 2.
If the history is output, check that the voltage between ECU terminals IGB and SGND is within the standard voltage range. 3.
As the millimeter wave radar sensor assembly may be malfunctioning, check if DTC U023587 is output 60 minutes or more after the ignition is turned to ON (IG). 4.
After inspecting the Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message "U023587", replace the millimeter wave radar sensor assembly. Cause:
When any of the following conditions of the millimeter wave radar sensor assembly occur: -
for Gasoline Model: (1)
When the input voltage is approximately 6 V or less, immediately after starting the engine -
for HEV Model: (1)
When the input voltage is approximately 6 V or less, immediately after starting the hybrid system |
| System Stopped Front Radar In Self Calibration See Owner's Manual | X2029 | Front Radar Sensor Temporary Unavailable (Optical Axis Misalignment) | History is stored when misalignment error signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly are received | Perform beam axis adjustment for the millimeter wave radar sensor assembly.
|
| System Stopped See Owner's Manual | X2048 | AVN Malfunction | History of malfunction signal received from the radio and display receiver assembly. | Refer to How to Proceed with Troubleshooting in audio and visual system.
( 202307,999999,_56,_111966,_0589552,RM100000002BIZN,)
|
| System Malfunction Visit Your Dealer | X204A | Acceleration Sensor Malfunction | History of G sensor malfunction signals output by the skid control ECU (brake actuator assembly) | Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for Gasoline Model:( 202307,999999,_54,_112606,_0608078,RM100000002C7CZ,)
for HEV Model:( 202307,999999,_54,_112606,_0608077,RM100000002C79S,)
|
| System Stopped Front Camera Out of Temperature Range Wait until Normal Temperature | X204D | Front Lighting Control System Inoperative Condition by Front Recognition Camera High Temperature | History is stored when a high temperature signal of the forward recognition camera output from the forward recognition camera is received | Move the vehicle to a cool place such as a shade to cool the forward recognition camera.
Cause:
When the forward recognition camera temperature becomes high |
| System Stopped Front Camera Low Visibility See Owner's Manual | X204E | Front Lighting Control System Inoperative Condition by Front Recognition Camera Adverse Environment | History is stored when a bad weather signal output from the forward recognition camera is received | The system returns to normal when the inclement weather of the surrounding environment becomes normal (no heavy rain, snow, fog, etc.).
Measures:
If the inside of the windshield glass is dirty, clean it using glass cleaner. |
| - | X2076 | Wiper Malfunction | History is stored when a wiper malfunction signal is received from the main body ECU (multiplex network body ECU) | Refer to How to Proceed with Troubleshooting in wiper and washer system.
( 202307,999999,_59,_114146,_0510034,RM100000002BTYD,)
|
| - | X2077 | Ambient Temperature Sensor Circuit | History is stored when an ambient temperature sensor malfunction signal is received from the air conditioning amplifier assembly | Refer to How to Proceed with Troubleshooting in air conditioning system.
for Gasoline Model with Automatic Air Conditioning System:( 202307,999999,_58,_104612,_0601931,RM100000002BIKW,)
for Gasoline Model with Manual Air Conditioning System for Electrical Control Type:( 202307,999999,_58,_104612,_0601932,RM100000002BIMF,)
for Gasoline Model with Manual Air Conditioning System for Mechanical Control Type:( 202307,999999,_58,_104612,_0601933,RM100000002BINO,)
for HEV Model:( 202307,999999,_58,_104612,_0601796,RM100000002BI7B,)
|
| System Stopped See Owner's Manual | X2082 | Power Steering Control System for Steering Assist Steering Angle Malfunction | History is stored when an actual steering angle abnormality of the power steering system output from the power steering system is received | Refer to How to Proceed with Troubleshooting in power steering system.
( 202307,999999,_55,_112287,_0510880,RM100000002C46O,)
|
| System Stopped See Owner's Manual | X2083 | Navigation Function Invalid | History is stored when a navigation system sensor malfunction signal output from the radio and display receiver assembly is received | Refer to How to Proceed with Troubleshooting in navigation system.
( 202307,999999,_56,_111967,_0588532,RM100000002BKYF,)
|
| System Malfunction Visit Your Dealer | X2084 | Meter Speed Tolerance Malfunction | History is stored when a meter speed tolerance error signal output from the combination meter assembly is received | Refer to How to Proceed with Troubleshooting in meter / gauge system.
( 202307,999999,_58,_112289,_0504968,RM100000002BI7M,)
|
| System Malfunction Visit Your Dealer | X2085 | Electric Parking Brake Control Module Malfunction | History of EPB malfunction signals output from the skid control ECU (brake actuator assembly) being received | Refer to How to Proceed with Troubleshooting in electric parking brake system.
for Gasoline Model:( 202307,999999,_54,_112607,_0608082,RM100000002C7GM,)
for HEV Model:( 202307,999999,_54,_112607,_0608079,RM100000002C7FV,)
|
| System Malfunction Visit Your Dealer | X20B9 | Communication Error from Steering Switch Control Module to Instrument Panel Cluster Control Module | History is stored when a communication error between the steering pad switch assembly and combination meter assembly is received from the combination meter assembly | Refer to How to Proceed with Troubleshooting in meter / gauge system.
( 202307,999999,_58,_112289,_0504968,RM100000002BI7M,)
|
| System Stopped See Owner's Manual | X2160 | Communication Error by ECU Security Key Not Registered (Engine Control Module) | History is stored when an ECU security key update incomplete signal is received from ECM | Refer to the ECU security key registration.
( 202405,999999,_V1,_106911,_0485801,RM100000002NHZW,)
|
| System Stopped See Owner's Manual | X2162 | Communication Error by ECU Security Key Not Registered (Hybrid/EV Powertrain Control Module) | History is stored when an ECU security key update incomplete signal is received from the hybrid vehicle control ECU | Refer to the ECU security key registration.
( 202405,999999,_V1,_106911,_0485801,RM100000002NHZW,)
|
| System Stopped See Owner's Manual | X2163 | Communication Error by ECU Security Key Not Registered (TCM) | for Gasoline Model:
History is stored when an ECU security key update incomplete signal is received from ECM for HEV Model:
History is stored when an ECU security key update incomplete signal is received from the hybrid vehicle control ECU |
Refer to the ECU security key registration.
( 202405,999999,_V1,_106911,_0485801,RM100000002NHZW,)
|
| System Stopped See Owner's Manual | X2164 | Communication Error by ECU Security Key Not Registered (MET) | History is stored when an ECU security key update incomplete signal is received from the combination meter assembly | Refer to the ECU security key registration.
( 202405,999999,_V1,_106911,_0485801,RM100000002NHZW,)
|
| System Stopped See Owner's Manual | X2166 | Communication Error by ECU Security Key Not Registered (Power Steering Control Module "A") | History is stored when an ECU security key update incomplete signal is received from the power steering ECU assembly | Refer to the ECU security key registration.
( 202405,999999,_V1,_106911,_0485801,RM100000002NHZW,)
|
| System Stopped See Owner's Manual | X2167 | Communication Error by ECU Security Key Not Registered (VSC) | History is stored when an ECU security key update incomplete signal is received from the skid control ECU (brake actuator assembly) | Refer to the ECU security key registration.
( 202405,999999,_V1,_106911,_0485801,RM100000002NHZW,)
|
| System Malfunction Visit Your Dealer | X216E | Front Recognition Camera => BRK Communication Invalid | History is stored when a communication error signal between the skid control ECU (brake actuator assembly) and forward recognition camera is received from the skid control ECU (brake actuator assembly) | Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for Gasoline Model:( 202307,999999,_54,_112606,_0608078,RM100000002C7CZ,)
for HEV Model:( 202307,999999,_54,_112606,_0608077,RM100000002C79S,)
|
| System Malfunction Visit Your Dealer | X216F | Front Recognition Camera => FRD Communication Error | History is stored when a communication stop signal of the forward recognition camera is received from the millimeter wave radar sensor assembly | Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
( 202307,999999,_95,_112293,_0586710,RM100000002BSWF,)
|
| System Stopped See Owner's Manual | X21A0 | IG OFF Status | History is stored when the IGP OFF signal is received from ECM when the vehicle speed is 8 km/h (5 mph) or more | Refer to How to Proceed with Troubleshooting in SFI System.
for M20A-FKS, M20C-FKS, M20E-FKS:( 202307,999999,_51,_112530,_0606951,RM100000002C3DZ,)
for M20F-FXS, M20G-FXS:( 202307,999999,_51,_144956,_0604911,RM100000002BWP9,)
|
| System Malfunction Visit Your Dealer | X21BA | BH System Malfunction | History is stored when a brake hold malfunction signal is received from the skid control ECU (brake actuator assembly) | Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for Gasoline Model:( 202307,999999,_54,_112606,_0608078,RM100000002C7CZ,)
for HEV Model:( 202307,999999,_54,_112606,_0608077,RM100000002C79S,)
|
| System Stopped See Owner's Manual | X2351 | PDA (DA) Brake Control Invalid Condition | History is stored when an assist system braking control inability signal or a braking control inability signal is received from the skid control ECU (brake actuator assembly) | Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for Gasoline Model:( 202307,999999,_54,_112606,_0608078,RM100000002C7CZ,)
for HEV Model:( 202307,999999,_54,_112606,_0608077,RM100000002C79S,)
|
| - | X2352 | +B Relay Stuck (Drive Recorder) | History is stored when the voltage is applied to the forward recognition camera for 80 seconds after the ignition switch off judgment*
|
1.
Perform a health check, and confirm that DTC is not output.
2.
Check the supply voltage (IGB) of the forward recognition camera. Refer to the ECU terminal arrangement to check terminals and reference values. Cause:
During the ignition switch off judgment, power source voltage (11 to 14 V) is applied to the forward recognition camera |
| System Malfunction Visit Your Dealer | X2400 | Lateral Control System Malfunction | History is stored when a lateral control system unachievable signal is received from the skid control ECU (brake actuator assembly) | Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for Gasoline Model:( 202307,999999,_54,_112606,_0608078,RM100000002C7CZ,)
for HEV Model:( 202307,999999,_54,_112606,_0608077,RM100000002C79S,)
|
| System Malfunction Visit Your Dealer | X2401 | Automatic Brake Malfunction (Main) | History is stored when an assist system braking control inability signal or a braking control inability signal is received from the skid control ECU (brake actuator assembly) | Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for Gasoline Model:( 202307,999999,_54,_112606,_0608078,RM100000002C7CZ,)
for HEV Model:( 202307,999999,_54,_112606,_0608077,RM100000002C79S,)
|
| System Malfunction Visit Your Dealer | X2402 | Powertrain System Malfunction | History is stored when a drive control upper/lower limit request impossible signal is received from the skid control ECU (brake actuator assembly) | Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for Gasoline Model:( 202307,999999,_54,_112606,_0608078,RM100000002C7CZ,)
for HEV Model:( 202307,999999,_54,_112606,_0608077,RM100000002C79S,)
|
| System Malfunction Visit Your Dealer | X2403 | Automatic Brake Malfunction (Sub) | History is stored when an assist system braking control inability signal or a braking control inability signal is received from the skid control ECU (brake actuator assembly) | Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for Gasoline Model:( 202307,999999,_54,_112606,_0608078,RM100000002C7CZ,)
for HEV Model:( 202307,999999,_54,_112606,_0608077,RM100000002C79S,)
|
| System Malfunction Visit Your Dealer | X2404 | Driver Brake Malfunction | History is stored when a driver brake malfunction signal is received from the skid control ECU (brake actuator assembly) | Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for Gasoline Model:( 202307,999999,_54,_112606,_0608078,RM100000002C7CZ,)
for HEV Model:( 202307,999999,_54,_112606,_0608077,RM100000002C79S,)
|
| System Malfunction Visit Your Dealer | X2405 | Parking Brake Malfunction | History is stored when a parking brake request unachievable signal is received from the skid control ECU (brake actuator assembly) | Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for Gasoline Model:( 202307,999999,_54,_112606,_0608078,RM100000002C7CZ,)
for HEV Model:( 202307,999999,_54,_112606,_0608077,RM100000002C79S,)
|
| System Malfunction Visit Your Dealer | X2406 | Brake Hold Fail | History is stored when a brake hold malfunction signal is received from the skid control ECU (brake actuator assembly) | Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for Gasoline Model:( 202307,999999,_54,_112606,_0608078,RM100000002C7CZ,)
for HEV Model:( 202307,999999,_54,_112606,_0608077,RM100000002C79S,)
|
| System Malfunction Visit Your Dealer | X2501 | CXPI Communication Error (CMB) | History is stored when a communication error between the multiplex network steering ECU and combination meter assembly is received from the combination meter assembly | Refer to How to Proceed with Troubleshooting in meter / gauge system.
( 202307,999999,_58,_112289,_0504968,RM100000002BI7M,)
|
| System Malfunction Visit Your Dealer | X2904 | ABS Not Operating Condition | History of ABS/BA control disable signals output from the skid control ECU (brake actuator assembly) being received | Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for Gasoline Model:( 202307,999999,_54,_112606,_0608078,RM100000002C7CZ,)
for HEV Model:( 202307,999999,_54,_112606,_0608077,RM100000002C79S,)
|
| System Malfunction Visit Your Dealer | XF01B | ECU Security Key Not Registered | ECU security key has not been registered | Refer to the ECU security key registration.
( 202405,999999,_V1,_106911,_0485801,RM100000002NHZW,)
|
CLEAR VEHICLE CONTROL HISTORY (FRONT CAMERA SYSTEM)
- NOTICE:
-
By performing this procedure, all stored Vehicle Control History items will be cleared.
According to the display on the GTS, clear the Vehicle Control History (RoB).
- Chassis > Front Recognition Camera > Utility
-
Tester Display Vehicle Control History (RoB) - 50005 498 55