The forward recognition camera communicates with the skid control ECU (brake actuator assembly) via CAN communication.
If a communication error is detected between the skid control ECU (brake actuator assembly) and forward recognition camera, the forward recognition camera stores this DTC.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area |
|---|---|---|---|
| U023A87 | Lost Communication with Image Processing Module "A" Missing Message | When the ignition switch is ON for 2 seconds or more, a communication malfunction between the skid control ECU (brake actuator assembly) the forward recognition camera is detected for 3 seconds or more. | ·
Electronically controlled brake system ·
Forward recognition camera |
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.
If the forward recognition camera has been replaced with a new one, forward recognition camera adjustment must be performed.
Forward recognition camera adjustment can be performed by using either One Time Recognition or Sequential Recognition.
One Time Recognition: Click hereEngine / Hybrid System>CRUISE CONTROL>FRONT CAMERA>ADJUSTMENT (ONE TIME RECOGNITION)201902,201906,_51,_078884,_0384728,RM100000001GI2G,201906,202208,_51,_078884,_0384728,RM100000001IUI2,202208,999999,_51,_078884,_0384728,RM1000000024I1G,
Sequential Recognition: Click hereEngine / Hybrid System>CRUISE CONTROL>FRONT CAMERA>ADJUSTMENT (SEQUENTIAL RECOGNITION)201902,201906,_51,_078884,_0384728,RM100000001GI2H,201906,202208,_51,_078884,_0384728,RM100000001IULT,202208,999999,_51,_078884,_0384728,RM1000000024I1H,
Using the GTS, check for electronically controlled brake system DTCs.
If DTC U023A87 and electronically controlled brake system DTCs are output, perform troubleshooting for the electronically controlled brake system first.
| Result | Proceed to |
|---|---|
| Electronically controlled brake system DTCs are not output | A |
| Electronically controlled brake system DTCs are output | B |
A
B
When entering Dealer Mode (Signal Check), the skid control ECU (brake actuator assembly) communicates with the forward recognition camera to judge whether the vehicle is equipped with the pre-collision system. Therefore, do not exit Dealer Mode (Signal Check) within 5 seconds of entering Dealer Mode (Signal Check).
Procedure to enter Dealer Mode (Signal Check)
Turn the ignition switch off.
Apply the parking brake.
except Manual Transmission:
Check that the shift lever is in P.
for Manual Transmission:
Check that the shift lever is in neutral.
Connect the GTS to the DLC3.
Turn the ignition switch to ON.
Check that the steering wheel is centered.
Turn the GTS on.
Switch the skid control ECU (brake actuator assembly) to Dealer Mode (Signal Check) using the GTS. Enter the following menus: Chassis / Brake / Utility / Signal Check.
| Tester Display |
|---|
| Signal Check |
Do not exit Dealer Mode (Signal Check) within 5 seconds of entering Dealer Mode (Signal Check). If Dealer Mode (Signal Check) is exited within 5 seconds of entering Dealer Mode (Signal Check), DTC U023A87 may be stored. If DTC U023A87 is output after exiting Dealer Mode (Signal Check), enter Dealer Mode (Signal Check) again, wait at least 5 seconds, then recheck for DTCs.
Confirm the system has entered Dealer Mode (Signal Check).
Confirm that the ABS warning light and slip indicator light indicate the Dealer Mode pattern (blinking at 0.25 second intervals).
If the ABS warning light or slip indicator light remains illuminated or does not illuminate when Dealer Mode (Signal Check) is entered, a component or wire harness may be malfunctioning.
End of Dealer Mode (Signal Check)
Turn the ignition switch off.
Disconnect the GTS.
| Proceed to |
|---|
| NEXT |
NEXT
Clear the DTCs.
Make sure that the DTC detection conditions are met.
If the detection conditions are not met, the system cannot detect the malfunction.
Check for DTCs.
| Result | Proceed to |
|---|---|
| DTC U023A87 is not output | A |
| DTC U023A87 is output | B |
A
B