RM3660EC _95 ADAS / AD _139716 ADVANCED DRIVER ASSISTANCE SYSTEM _0601174 FRONT RADAR SENSOR SYSTEM(for NR Series Engine) C

ADVANCED DRIVER ASSISTANCE SYSTEM  FRONT RADAR SENSOR SYSTEM(for NR Series Engine)  U010487  Lost Communication with Cruise Control Module Missing Message  


DESCRIPTION

The millimeter wave radar sensor assembly communicates with the forward recognition camera via CAN communication.

If a communication error is detected between the forward recognition camera and millimeter wave radar sensor assembly, the millimeter wave radar sensor assembly stores this DTC.

DTC No. Detection Item DTC Detection Condition Trouble Area
U010487 Lost Communication with Cruise Control Module Missing Message
Detection condition:

Ignition switch ON


Malfunction status:

Communication malfunction with the forward recognition camera is detected


Malfunction duration:

10 seconds or more


·

CAN bus line

·

Forward recognition camera

·

Millimeter wave radar sensor assembly



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

○: DTC is output

-: DTC is not output

Pattern 1 ○ ○
·

Open in CAN communication line (forward recognition camera - CAN junction connector)

·

Open in CAN communication line (millimeter wave radar sensor assembly - CAN junction connector)

·

CAN junction connector disconnected

·

CAN junction connector

·

Short in CAN communication line

·

Open or short in forward recognition camera internal circuit

·

Open or short in millimeter wave radar sensor assembly internal circuit


Pattern 2 ○ -
·

Forward recognition camera connector disconnected

·

Forward recognition camera power supply circuit malfunction

·

Forward recognition camera internal malfunction

·

Millimeter wave radar sensor assembly internal malfunction



HINT:

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


WIRING DIAGRAM

B330403E01
0.75,1.708 2.729,1.906 1.979,0.198 10 false Forward Recognition Camera 4.823,1.719 6.26,2.083 1.438,0.365 10 false Millimeter Wave Radar Sensor Assembly 0.75,1.552 1.063,1.75 0.313,0.198 10 false T9 4.823,1.563 5.135,1.76 0.313,0.198 10 false A1 1.604,0.792 2.219,0.99 0.615,0.198 10 false CANH 1.615,1.469 2.229,1.667 0.615,0.198 10 false CANL 5.115,0.771 5.729,0.969 0.615,0.198 10 false CA1P 5.125,1.479 5.74,1.677 0.615,0.198 10 false CA1N 2.083,0.781 2.24,0.979 0.156,0.198 10 false 6 2.073,1.25 2.271,1.448 0.198,0.198 10 false 12 4.948,0.771 5.104,0.969 0.156,0.198 10 false 5 4.948,1.24 5.104,1.438 0.156,0.198 10 false 6

CAUTION / NOTICE / HINT

NOTICE:
·

After turning the ignition switch off, waiting time may be required before disconnecting the cable from the negative (-) battery terminal. Therefore, make sure to read the disconnecting the cable from the negative (-) battery terminal notices before proceeding with work.

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

·

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 adjustment and front radar acceleration sensor calibration, and to clear the vehicle control history.

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

·

If the forward recognition camera has been replaced with a new one, forward recognition camera adjustment must be performed.

HINT:

Forward recognition camera adjustment can be performed by using either One Time Recognition or Sequential Recognition.

One Time Recognition: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA (for NR Series Engine)>ADJUSTMENT (ONE TIME RECOGNITION)

Sequential Recognition: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA (for NR Series Engine)>ADJUSTMENT (SEQUENTIAL RECOGNITION)




PROCEDURE

1.CHECK FOR DTCs
a.

Check for pre-collision system DTCs.

Body Electrical > Pre-Collision System > Trouble Codes
50001 432

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



A

2.CHECK CAN BUS LINES

B

4.CHECK CONNECTOR (FORWARD RECOGNITION CAMERA)
2.CHECK CAN BUS LINES
B515747C01
1.771,0.427 2.115,0.646 0.344,0.219 4.917,0.375 5.26,0.594 0.344,0.219 2.333,1.417 2.583,0.667 2.583,0.667 2.833,0.667 true 2.333,1.75 2.583,2.333 2.583,2.333 2.833,2.333 true 5,1.135 4.75,0.469 4.75,0.469 4.5,0.469 true 5.75,1.708 5.583,2.292 5.583,2.292 5.333,2.292 true 4.052,0.219 4.365,0.375 0.313,0.156 10 false *1 1.292,0.219 1.604,0.375 0.313,0.156 10 false *a 1.865,0.469 2.177,0.667 0.313,0.198 10 false T9 5,0.417 5.313,0.615 0.313,0.198 10 false I26 2.885,0.604 3.5,0.802 0.615,0.198 10 false CANH 2.885,2.271 3.5,2.469 0.615,0.198 10 false CANL 4.26,0.417 4.875,0.615 0.615,0.198 10 false CG 5.052,2.229 5.667,2.427 0.615,0.198 10 false BAT
*1 DLC3 - -
*a Front view of wire harness connector
(to Forward Recognition Camera) 		- -


a.

Disconnect the T9 forward recognition camera connector.


b.

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

Standard Resistance:
Tester Connection Condition Specified Condition
T9-6 (CANH) - T9-12 (CANL) Cable disconnected from negative (-) battery terminal 108 to 132Ω



c.

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

Standard Resistance:
Tester Connection Condition Specified Condition
T9-6 (CANH) - I26-4 (CG) Cable disconnected from negative (-) battery terminal 200 Ω or higher
T9-12 (CANL) - I26-4 (CG) Cable disconnected from negative (-) battery terminal 200 Ω or higher
T9-6 (CANH) - I26-16 (BAT) Cable disconnected from negative (-) battery terminal 6 kΩ or higher
T9-12 (CANL) - I26-16 (BAT) Cable disconnected from negative (-) battery terminal 6 kΩ or higher



d.

Connect the T9 forward recognition camera connector.


Result:
Proceed to
OK
NG



OK

REPLACE FORWARD RECOGNITION CAMERA

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


NG

3.CHECK CAN BUS LINES
3.CHECK CAN BUS LINES
B515746C01
1.854,0.396 2.208,0.625 0.354,0.229 4.99,0.365 5.344,0.594 0.354,0.229 1.417,2.25 1.667,2.25 1.667,2.25 1.833,1.583 true 1.948,1.583 2.115,2.25 2.115,2.25 2.365,2.25 true 4.583,0.583 4.833,0.583 4.833,0.583 5.104,1.125 true 5.823,1.719 5.667,2.25 5.667,2.25 5.417,2.25 true 4.167,0.271 4.479,0.427 0.313,0.156 10 false *1 1.292,0.292 1.604,0.448 0.313,0.156 10 false *a 1.958,0.448 2.177,0.646 0.219,0.198 10 false A1 5.083,0.406 5.542,0.604 0.458,0.198 10 false I26 1.042,2.198 1.656,2.396 0.615,0.198 10 false CA1P 2.427,2.188 3.042,2.385 0.615,0.198 10 false CA1N 4.354,0.521 4.667,0.719 0.313,0.198 10 false CG 5.115,2.188 5.552,2.406 0.438,0.219 10 false BAT
*1 DLC3 - -
*a Front view of wire harness connector
(to Millimeter Wave Radar Sensor Assembly) 		- -


a.

Disconnect the A1 millimeter wave radar sensor assembly connector.


b.

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

Standard Resistance:
Tester Connection Condition Specified Condition
A1-5 (CA1P) - A1-6 (CA1N) Cable disconnected from negative (-) battery terminal 108 to 132Ω



c.

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

Standard Resistance:
Tester Connection Condition Specified Condition
A1-5 (CA1P) - I26-4 (CG) Cable disconnected from negative (-) battery terminal 200 Ω or higher
A1-6 (CA1N) - I26-4 (CG) Cable disconnected from negative (-) battery terminal 200 Ω or higher
A1-5 (CA1P) - I26-16 (BAT) Cable disconnected from negative (-) battery terminal 6 kΩ or higher
A1-6 (CA1N) - I26-16 (BAT) Cable disconnected from negative (-) battery terminal 6 kΩ or higher



d.

Connect the A1 millimeter wave radar sensor assembly connector.


Result:
Proceed to
OK
NG



OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

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


NG

REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (FORWARD RECOGNITION CAMERA - NO. 2 CAN JUNCTION CONNECTOR)

4.CHECK CONNECTOR (FORWARD RECOGNITION CAMERA)
a.

Check the locking part and terminals of the forward recognition camera connector.

NOTICE:
·

Make sure the connector is not loose or disconnected.

·

Make sure that the connector and terminals are not deformed or corroded.



OK:

The connector and terminals are normal.



Result:
Proceed to
OK
NG



OK

5.CHECK HARNESS AND CONNECTOR (FORWARD RECOGNITION CAMERA POWER SOURCE CIRCUIT)

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR (FORWARD RECOGNITION CAMERA)

5.CHECK HARNESS AND CONNECTOR (FORWARD RECOGNITION CAMERA POWER SOURCE CIRCUIT)
A417825C23
1.542,0.198 1.906,0.448 0.365,0.25 0.802,1.385 1.26,1.385 true 1.802,1.438 1.948,1.927 true 1.635,0.26 2.094,0.458 0.458,0.198 10 false T9 0.563,1.333 1.177,1.531 0.615,0.198 10 false IGB 1.844,1.948 2.458,2.146 0.615,0.198 10 false GND 0.104,0.094 0.417,0.25 0.313,0.156 10 false *a
*a Front view of wire harness connector
(to Forward Recognition Camera)


a.

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


b.

Disconnect the T9 forward recognition camera connector.


c.

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

Standard Resistance:
Tester Connection Condition Specified Condition
T9-10 (GND) - Body ground Always Below 1 Ω



d.

Connect the cable to the negative (-) battery terminal.


e.

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

Standard Voltage:
Tester Connection Condition Specified Condition
T9-7 (IGB) - Body ground Ignition switch ON 11 to 14 V



f.

Connect the T9 forward recognition camera connector.


Result:
Proceed to
OK
NG



OK

6.INSPECT FORWARD RECOGNITION CAMERA (WAVEFORM)

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR (FORWARD RECOGNITION CAMERA POWER SOURCE CIRCUIT)

6.INSPECT FORWARD RECOGNITION CAMERA (WAVEFORM)
E417969C01
1.823,0.375 2.229,0.635 0.406,0.26 1.125,2.333 1.458,2.333 1.458,2.333 1.844,1.552 true 0.646,0.406 0.958,0.604 0.313,0.198 10 false *a 4.188,0.417 4.5,0.615 0.313,0.198 10 false *b 1.948,0.417 2.344,0.667 0.396,0.25 10 false A1 6.417,1.635 6.813,1.885 0.396,0.25 10 false GND 4.99,2.083 6.677,2.281 1.688,0.198 10 false 100 μs/DIV. 6.229,0.719 7.115,0.958 0.885,0.24 10 false 1 V/DIV. 0.719,2.25 1.229,2.479 0.51,0.229 10 false CA1P
*a Front view of wire harness connector
(to Millimeter Wave Radar Sensor Assembly) 		*b Waveform


a.

Turn the ignition switch off.


b.

Disconnect the A1 millimeter wave radar sensor assembly connector.


c.

Turn the ignition switch to ON.


d.

Using an oscilloscope, measure the waveform at the A1 millimeter wave radar sensor assembly connector.

Measurement Condition:
Tester Connection Condition Tool Setting
A1-5 (CA1P) - Body ground Ignition switch ON 1 V/DIV., 100 μs/DIV.


NOTICE:

The oscilloscope waveform is for reference only and does not include noise, fluctuations, etc.


OK:

A waveform similar to that in the illustration can be observed.



e.

Connect the A1 millimeter wave radar sensor assembly connector.


Result:
Proceed to
OK
NG



OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

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


NG

REPLACE FORWARD RECOGNITION CAMERA

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