RM3660EC _95 ADAS / AD _139716 ADVANCED DRIVER ASSISTANCE SYSTEM _0601175 PRE-COLLISION SYSTEM(for NR Series Engine) C

ADVANCED DRIVER ASSISTANCE SYSTEM  PRE-COLLISION SYSTEM(for NR Series Engine)  U023587  Lost Communication with Cruise Control Front Distance Range Sensor Missing Message  


DESCRIPTION

The forward recognition camera and millimeter wave radar sensor assembly communicate via CAN communication. If a signal is not received from the millimeter wave radar sensor assembly, the forward recognition camera stores a DTC.

DTC No. Detection Item DTC Detection Condition Trouble Area
U023587 Lost Communication with Cruise Control Front Distance Range Sensor Missing Message 3 seconds or more after the ignition switch is turned to ON, a communication malfunction with the millimeter wave radar sensor assembly is detected for 2 seconds or more.
·

CAN bus line

·

Forward recognition camera

·

Millimeter wave radar sensor assembly



Pattern DTC Location Name
(GTS Displayed Name) 		Suspected Area (Malfunction Status)
Forward recognition camera
(Pre-Collision System) 		Millimeter wave radar sensor assembly
(Front Radar Sensor)
U023587 U010487

○: DTC is stored

-: DTC is not stored

Pattern 1 ○ ○
·

Open in CAN communication line (forward recognition camera - millimeter wave radar sensor assembly)

·

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 ○ -
·

Millimeter wave radar sensor assembly connector disconnected

·

Millimeter wave radar sensor assembly power supply circuit malfunction

·

Millimeter wave radar sensor assembly internal malfunction

·

Forward recognition camera internal malfunction



HINT:

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


WIRING DIAGRAM

B682632E02
0.719,1.688 2.698,1.885 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 0.719,1.542 0.938,1.729 0.219,0.188 10 false T9 4.823,1.563 5.135,1.76 0.313,0.198 10 false A1 1.583,0.76 2.01,0.958 0.427,0.198 10 false CANH 1.615,1.427 2.01,1.604 0.396,0.177 10 false CANL 5.115,0.74 5.542,0.927 0.427,0.188 10 false CA1P 5.125,1.427 5.542,1.604 0.417,0.177 10 false CA1N 2.083,0.76 2.24,0.958 0.156,0.198 10 false 6 2.073,1.229 2.271,1.427 0.198,0.198 10 false 12 4.927,0.729 5.083,0.927 0.156,0.198 10 false 5 4.927,1.219 5.083,1.417 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.

·

When the forward recognition camera has been replaced with a new one or the windshield glass has been removed and installed, it is necessary to perform forward recognition camera adjustment and to clear the vehicle control history.

HINT:

Forward recognition camera adjustment can be performed by using either One Time Recognition or Sequential Recognition. When clearing vehicle control history, refer to the following links:

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.

Using the GTS, check for front radar sensor system DTCs.

Body Electrical > Front Radar Sensor > Trouble Codes
50001 429

Result:
Result Proceed to
DTC U010487 is output A
DTC U010487 is not output B



A

2.CHECK CAN BUS LINES

B

4.CHECK CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)
2.CHECK CAN BUS LINES
a.

Disconnect the T9 forward recognition camera connector.

B515747C71
1.771,0.49 2.115,0.708 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 1.865,0.49 2.063,0.688 0.198,0.198 10 false T9 5,0.375 5.313,0.573 0.313,0.198 10 false I26 2.865,0.563 3.313,0.76 0.448,0.198 10 false CANH 2.865,2.229 3.271,2.406 0.406,0.177 10 false CANL 4.281,0.365 4.531,0.552 0.25,0.188 10 false CG 5.052,2.167 5.385,2.365 0.333,0.198 10 false BAT
*1 DLC3 - -
*a Front view of wire harness connector
(to Forward Recognition Camera) 		- -



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)>COMPONENTS


NG

3.CHECK CAN BUS LINES
3.CHECK CAN BUS LINES
a.

Disconnect the A1 millimeter wave radar sensor assembly connector.

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) 		- -



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)>COMPONENTS


NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

4.CHECK CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)
a.

Check the locking part and terminals of the millimeter wave radar sensor assembly connector.

NOTICE:
·

Make sure the connector is not loose or disconnected.

·

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



OK:

The connector and terminals are normal.



Result:
Proceed to
OK
NG



OK

5.CHECK HARNESS AND CONNECTOR (POWER SOURCE CIRCUIT)

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

5.CHECK HARNESS AND CONNECTOR (POWER SOURCE CIRCUIT)
a.

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


b.
A417826C12
1.51,0.167 1.865,0.375 0.354,0.208 0.927,0.406 1.177,0.406 1.177,0.406 1.448,0.99 true 1.927,1.25 2.094,1.844 2.094,1.844 2.344,1.844 true 0.125,0.125 0.438,0.281 0.313,0.156 10 false *a 1.604,0.188 1.917,0.385 0.313,0.198 10 false A1 2.406,1.781 2.802,1.979 0.396,0.198 10 false IGB 0.5,0.333 1.042,0.552 0.542,0.219 10 false SGND
*a Front view of wire harness connector
(to Millimeter Wave Radar Sensor Assembly)


Disconnect the A1 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
A1-1 (SGND) - 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
A1-8 (IGB) - Body ground Ignition switch ON 10.5 to 16 V



f.

Connect the A1 millimeter wave radar sensor assembly connector.


Result:
Proceed to
OK
NG



OK

6.INSPECT MILLIMETER WAVE RADAR SENSOR ASSEMBLY (WAVEFORM)

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR (MILLIMETER WAVE RADAR SENSOR ASSEMBLY POWER SOURCE CIRCUIT)

6.INSPECT MILLIMETER WAVE RADAR SENSOR ASSEMBLY (WAVEFORM)
a.

Turn the ignition switch off.


b.

Disconnect the T9 forward recognition camera connector.


c.

Turn the ignition switch to ON.


d.

Using an oscilloscope, measure the waveform at T9 forward recognition camera connector.

B330405C18
1.781,0.385 2.125,0.646 0.344,0.26 2.344,1.323 2.625,0.823 2.625,0.823 2.896,0.823 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 1.875,0.406 2.104,0.604 0.229,0.198 10 false T9 6.406,1.615 6.76,1.802 0.354,0.188 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. 2.927,0.708 3.354,0.885 0.427,0.177 10 false CANH
*a Front view of wire harness connector
(to Forward Recognition Camera Connector) 		*b Waveform


Measurement Condition:
Tester Connection Condition Tool Setting
T9-6 (CANH) - 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 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)>COMPONENTS


NG

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

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