RM3660EC _95 ADAS / AD _139716 ADVANCED DRIVER ASSISTANCE SYSTEM _0584193 FRONT CAMERA SYSTEM(except NR Series Engine) C

ADVANCED DRIVER ASSISTANCE SYSTEM  FRONT CAMERA SYSTEM(except NR Series Engine)  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 Priority
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 A

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

B660522E22
4.667,1.667 5.208,1.906 0.542,0.24 10 false T17 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 A136 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 (except NR Series Engine)>TARGET ADJUSTMENT(TRIANGLE TARGET)

Flat Surface Target: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR (except NR Series Engine)>TARGET ADJUSTMENT(FLAT SURFACE TARGET)

Driving Adjustment: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR (except NR Series Engine)>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 (except NR Series Engine)>TARGET ADJUSTMENT(ONE TIME RECOGNITION)

Driving Adjustment: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA (except NR Series Engine)>DRIVING ADJUSTMENT

Camera Axis Adjustment Value Write: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA (except NR Series Engine)>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 (except NR Series Engine)>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 MILLIMETER WAVE RADAR SENSOR ASSEMBLY
2.CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA)

Pre-procedure1

a.

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


b.

Disconnect the T17 forward recognition camera connector.


Procedure1

c.

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

Standard Resistance:
Tester Connection Condition Specified Condition
T17-12 (CANH) - T17-11 (CANL) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω
T17-12 (CANH) - Body ground Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
T17-11 (CANL) - Body ground Cable disconnected from negative (-) auxiliary battery terminal
T17-12 (CANH) - +B Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
T17-11 (CANL) - +B Cable disconnected from negative (-) auxiliary battery terminal


Result:
Proceed to
OK
NG



Post-procedure1

d.

None.



OK

REPLACE FORWARD RECOGNITION CAMERA

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA (except NR Series Engine)>REMOVAL


NG

3.CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA)
3.CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA)

Pre-procedure1

a.

Connect the T17 forward recognition camera connector.


b.

Disconnect the A136 millimeter wave radar sensor assembly connector.


Procedure1

c.

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

Standard Resistance:
Tester Connection Condition Specified Condition
A136-8 (CA1P) - A136-7 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω
A136-8 (CA1P) - Body ground Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
A136-7 (CA1N) - Body ground Cable disconnected from negative (-) auxiliary battery terminal
A136-8 (CA1P) - +B Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
A136-7 (CA1N) - +B Cable disconnected from negative (-) auxiliary battery terminal


Result:
Proceed to
OK
NG



Post-procedure1

d.

None.



OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR (except NR Series Engine)>REMOVAL

NOTICE:

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



NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

4.CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY

Pre-procedure1

a.

Disconnect the T17 forward recognition camera connector.


Procedure1

b.

Using an oscilloscope, check the waveform.

OK:
Tester Connection Condition Tool Setting Specified Condition
T17-12 (CANH) - T17-11 (CANL) Ignition switch ON 1V/DIV., 100μs./DIV. Pulse generation


Result:
Proceed to
OK
NG



Post-procedure1


OK

REPLACE FORWARD RECOGNITION CAMERA

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA (except NR Series Engine)>REMOVAL


NG

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR (except NR Series Engine)>REMOVAL