The forward recognition camera is connected to the No. 2 skid control ECU (brake actuator assembly) via the CAN communication line. When the No. 2 skid control ECU (brake actuator assembly) receives a forward recognition camera communication malfunction signal, the forward recognition camera outputs U023A87.
The forward recognition camera is connected to the skid control ECU (brake actuator assembly) via the CAN communication line. When the skid control ECU (brake actuator assembly) receives a forward recognition camera communication malfunction signal, the forward recognition camera outputs U023A87.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area |
|---|---|---|---|
| U023A87 | Lost Communication with Image Processing Module "A" | for HV Model:
Once 2 seconds elapse after turning the ignition switch to ON, the No. 2 skid control ECU (brake actuator assembly) receives a forward recognition camera communication malfunction signal from the No. 2 skid control ECU (brake actuator assembly) for approximately 3 seconds or more. for Gasoline Model:
Once 2 seconds elapse after turning the ignition switch to ON, the skid control ECU (brake actuator assembly) receives a forward recognition camera communication malfunction signal from the skid control ECU (brake actuator assembly) for approximately 3 seconds or more. |
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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 it 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, be sure to perform forward recognition camera adjustment.
Forward recognition camera adjustment can be performed by using either "One Time Recognition" or "Sequential Recognition".
One Time Recognition:
Sequential Recognition:
Check the DTCs.
for HV Model:
for Gasoline Model:
If U023A87 is output in the pre-collision system, electronically controlled brake system DTCs may also have been output. Check the electronically controlled brake system first.
Electronically controlled brake system DTCs are not output.
| Result | Proceed to |
|---|---|
| OK (for Gasoline Model) | A |
| OK (for HV Model) | B |
| NG | C |
A
B
C
for HV Model:
for Gasoline Model:
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 Test Mode (Signal Check)
Turn the ignition switch off.
Apply the parking brake.
Check that the shift lever is in P.
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/EPB / 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.
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.
Recheck for DTCs and check that no DTCs are output.
DTC U023A87 is not output.
| Proceed to |
|---|
| OK |
| NG |
OK
NG
When entering test mode, the No. 2 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 test mode within 5 seconds of entering test mode.
Procedure to Enter Test Mode
Turn the ignition switch to ON.
Check that the steering wheel is centered.
Check that the parking brake is released.
Check that the shift lever is in P.
Turn the ignition switch off.
Connect the GTS to the DLC3.
Turn the ignition switch to ON.
Turn the GTS on.
Switch the No. 2 skid control ECU (brake actuator assembly) to Test Mode using the GTS. Enter the following menus: Chassis / Brake/EPB / Utility / Signal Check.
| Tester Display |
|---|
| Signal Check |
Check that the ABS warning, brake warning / yellow (minor malfunction) and slip indicator lights come on for several seconds and then blink in the Test Mode pattern.
If the ABS warning, brake warning / yellow (minor malfunction) and slip indicator lights do not blink, inspect the ABS warning, brake warning / yellow (minor malfunction) and slip indicator light circuits.
Do not exit test mode within 5 seconds of entering test mode. If test mode is exited within 5 seconds of entering test mode, DTC U023A87 may be stored. If DTC U023A87 is output after exiting test mode, enter test mode again, wait at least 5 seconds, then recheck for DTCs.
| Proceed to |
|---|
| NEXT |
NEXT