RM36D0EC _51 Engine / Hybrid System _083055 CRUISE CONTROL _0403826 LANE TRACING ASSIST SYSTEM D

CRUISE CONTROL LANE TRACING ASSIST SYSTEM VEHICLE CONTROL HISTORY

NOTICE:: When checking the vehicle control history, first record the output codes and after clearing the history, check the output history again.

CHECK VEHICLE CONTROL HISTORY (LANE TRACING ASSIST SYSTEM)

Connect the GTS to the DLC3.

Turn the ignition switch to ON.

Turn the GTS on.

Enter the following menus: Chassis / Lane Control / Utility / Vehicle Control History (RoB).

Chassis > Lane Control > Utility

Tester Display
Vehicle Control History (RoB)

50005 418 55

Vehicle Control History (RoB)
Multi-information Display	Code	Tester Display	Measurement Item	Diagnostic Note
*: The lane tracing assist system does not output multi-information display requests to the combination meter assembly. Instead, the pre-collision system outputs "Front Camera Unavailable" and "Front Camera Unavailable See Owner's Manual" display requests.
LTA Malfunction Visit Your Dealer	X2000	Yaw Rate Sensor Malfunction	for HV Model: History of airbag ECU assembly malfunction signals output by the No. 2 skid control ECU (brake actuator assembly) for Gasoline Model: History of airbag ECU assembly malfunction signals output by the skid control ECU (brake actuator assembly)	Electronically controlled brake system (for HV Model):(202409,999999,_54,_083077,_0401811,RM100000002NJ91,) Electronically controlled brake system (for Gasoline Model):(202409,999999,_54,_083077,_0402316,RM100000002NJ2C,)
LTA Malfunction Visit Your Dealer	X2001	Steering Angle Sensor Malfunction	for HV Model: History of steering sensor malfunction signals output by the No. 2 skid control ECU (brake actuator assembly) for Gasoline Model: History of steering sensor malfunction signals output by the skid control ECU (brake actuator assembly)	Electronically controlled brake system (for HV Model):(202409,999999,_54,_083077,_0401811,RM100000002NJ91,) Electronically controlled brake system (for Gasoline Model):(202409,999999,_54,_083077,_0402316,RM100000002NJ2C,)
LTA Malfunction Visit Your Dealer	X2003	Brake Control System Malfunction	for HV Model: History of brake system malfunction signals output by the No. 2 skid control ECU (brake actuator assembly) for Gasoline Model: History of brake system malfunction signals output by the skid control ECU (brake actuator assembly)	Electronically controlled brake system (for HV Model):(202409,999999,_54,_083077,_0401811,RM100000002NJ91,) Electronically controlled brake system (for Gasoline Model):(202409,999999,_54,_083077,_0402316,RM100000002NJ2C,)
LTA Malfunction Visit Your Dealer	X2004	Speed Sensor Malfunction	for HV Model: History of vehicle speed sensor malfunction signals output by the No. 2 skid control ECU (brake actuator assembly) for Gasoline Model: History of vehicle speed sensor malfunction signals output by the skid control ECU (brake actuator assembly)	Electronically controlled brake system (for HV Model):(202409,999999,_54,_083077,_0401811,RM100000002NJ91,) Electronically controlled brake system (for Gasoline Model):(202409,999999,_54,_083077,_0402316,RM100000002NJ2C,)
LTA Unavailable	X2008	Steering Assist Request Invalid	History of power steering ECU (rack and pinion power steering gear assembly) low voltage malfunction signals output by the power steering system	(202409,999999,_55,_083083,_0403821,RM100000002NGWD,)
LTA Malfunction Visit Your Dealer	X2011	Front Recognition Camera System Software Not Programmed	History of vehicle specification unconfirmed judgment by the forward recognition camera	(202405,999999,_51,_083055,_0401001,RM100000002LT71,)
LTA Malfunction Visit Your Dealer	X2012	Front Recognition Camera Malfunction	History of forward recognition camera hardware damage judgment by the forward recognition camera	(202405,999999,_51,_083055,_0401001,RM100000002LT71,)
LTA Malfunction Visit Your Dealer	X2013	Front Recognition Camera Optical Axis Misalignment Malfunction	History of forward recognition camera axis misaligned judgment by the forward recognition camera	HINT: Forward recognition camera axis alignment can be performed by using either One Time Recognition, Sequential Recognition or Driving Adjustment. One time recognition:(202409,999999,_54,_083077,_0401811,RM100000002NJ91,) Sequential recognition:(202409,999999,_54,_083077,_0402316,RM100000002NJ2C,) Driving Adjustment:(202409,999999,_51,_083055,_0401005,RM100000002NTD4,)
LTA Malfunction Visit Your Dealer	X2014	Front Recognition Camera Optical Axis Not Adjusted	History of forward recognition camera axis not adjusted judgment by the forward recognition camera	If this DTC is output, clear the history after performing axis adjustment and check that no DTC is output. HINT: Forward recognition camera axis alignment can be performed by using either One Time Recognition, Sequential Recognition or Driving Adjustment. One time recognition:(202409,999999,_51,_083055,_0401005,RM100000002NTD0,) Sequential recognition:(202409,999999,_51,_083055,_0401005,RM100000002NTD3,) Driving Adjustment:(202409,999999,_51,_083055,_0401005,RM100000002NTD4,)
Not displayed* (LTA indicator light (yellow) turns on)	X2015	Front Recognition Camera Dirt	History of forward recognition camera dirty judgment judged by the forward recognition camera	(202405,999999,_51,_083055,_0401001,RM100000002LT71,)
Not displayed* (LTA indicator light (yellow) turns on)	X2016	Front Recognition Camera Outside Guaranteed Operating Temperature	History of forward recognition camera temperature malfunction judgment by the forward recognition camera	(202405,999999,_51,_083055,_0401001,RM100000002LT71,)
Not displayed* (LTA indicator light (yellow) turns on)	X2017	Front Recognition Camera Outside Guaranteed Operating Voltage	History of forward recognition camera voltage malfunction judgment by the forward recognition camera	(202405,999999,_51,_083055,_0401001,RM100000002LT71,)
LTA Malfunction Visit Your Dealer	X201D	Front Recognition Camera System Software Malfunction	History of forward recognition camera specification malfunction judgment by the forward recognition camera	(202405,999999,_51,_083055,_0401001,RM100000002LT71,)
LTA Unavailable	X201F	Front Recognition Camera Temporary Unavailable (Front Recognition Camera Recognition Stop)	History of forward recognition camera vehicle information malfunctions	(202405,999999,_51,_083055,_0401001,RM100000002LT71,)
LTA Malfunction Visit Your Dealer	X2020	Front Radar Sensor Destination Malfunction	History of received millimeter wave radar sensor assembly destination malfunctions	(202405,999999,_51,_083055,_0401004,RM100000002LTBC,)
LTA Malfunction Visit Your Dealer	X2021	Front Radar Sensor Malfunction	History of millimeter wave radar sensor assembly malfunction signals output by the millimeter wave radar sensor assembly	(202405,999999,_51,_083055,_0401004,RM100000002LTBC,)
LTA Malfunction Visit Your Dealer	X2022	Front Radar Sensor Optical Axis Misalignment Malfunction	History of millimeter wave radar sensor assembly axis misaligned malfunction signals output by the millimeter wave radar sensor assembly	Adjust the millimeter wave radar sensor assembly. 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:(202409,999999,_51,_083055,_0401007,RM100000002NTD8,) Flat Surface Target:(202409,999999,_51,_083055,_0401007,RM100000002NTDA,) Driving Adjustment:(202409,999999,_51,_083055,_0401007,RM100000002NTD7,)
LTA Malfunction Visit Your Dealer	X2023	Front Radar Sensor Optical Axis Not Adjusted	History of millimeter wave radar sensor assembly axis not adjusted signals output by the millimeter wave radar sensor assembly	If this Vehicle Control History (RoB) code is output, perform millimeter wave radar sensor assembly beam axis adjustment, clear the Vehicle Control History (RoB) and then check that this code is not stored again. 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:(202409,999999,_51,_083055,_0401007,RM100000002NTD8,) Flat Surface Target:(202409,999999,_51,_083055,_0401007,RM100000002NTDA,) Driving Adjustment:(202409,999999,_51,_083055,_0401007,RM100000002NTD7,)
LTA Unavailable	X2026	Front Radar Sensor Dirt	History of millimeter wave radar sensor assembly dirty malfunction signals output by the millimeter wave radar sensor assembly	(202405,999999,_51,_083055,_0401004,RM100000002LTBC,)
LTA Unavailable	X2027	Front Radar Sensor Outside Guaranteed Operating Temperature	History of millimeter wave radar sensor assembly temperature malfunction signals output by the millimeter wave radar sensor assembly	(202405,999999,_51,_083055,_0401004,RM100000002LTBC,)
LTA Unavailable	X2028	Front Radar Sensor Outside Guaranteed Operating Voltage	History of millimeter wave radar sensor assembly voltage malfunction signals output by the millimeter wave radar sensor assembly	(202405,999999,_51,_083055,_0401004,RM100000002LTBC,)
LTA Malfunction Visit Your Dealer	X204A	Acceleration Sensor Malfunction	for HV Model: History of G sensor (yaw rate sensor) malfunction signals output by the No. 2 skid control ECU (brake actuator assembly) for Gasoline Model: History of G sensor (yaw rate sensor) malfunction signals output by the skid control ECU (brake actuator assembly)	Electronically controlled brake system (for HV Model):(202409,999999,_51,_083055,_0401005,RM100000002NTD0,) Electronically controlled brake system (for Gasoline Model):(202409,999999,_51,_083055,_0401005,RM100000002NTD3,)
LTA Malfunction Visit Your Dealer	X2073	Communication Error from Lane Control Module to Power Steering Control System	History of communication malfunctions received from the power steering ECU (forward recognition camera → power steering ECU (rack and pinion power steering gear assembly))	(202409,999999,_55,_083083,_0403821,RM100000002NGWD,)
LTA Malfunction Visit Your Dealer	X2081	Power Steering Control System for Steering Assist Invalid	History of steering assist power steering system unavailable malfunction signals output by the power steering system	(202409,999999,_55,_083083,_0403821,RM100000002NGWD,)
LTA Malfunction Visit Your Dealer	X2082	Power Steering Control System for Steering Assist Steering Angle Malfunction	History of steering assist power steering system actual steering angle malfunction signals output by the power steering system	(202409,999999,_55,_083083,_0403821,RM100000002NGWD,)
LTA Malfunction Visit Your Dealer	X2084	Meter Speed Tolerance Malfunction	History of meter speed tolerance malfunction signals output by the combination meter assembly	for GTMC Made:(202405,999999,_58,_083097,_0694857,RM100000002LUOC,) for SFTM Made:(202405,999999,_58,_083097,_0694858,RM100000002LUR9,)
LTA Unavailable	X2160	Communication Error by ECU Security Key Not Registered (Engine Control Module)	ECU security key has not been registered	Refer to the ECU security key registration. (202405,999999,_V1,_083041,_0402305,RM100000002ISNL,)
LTA Unavailable	X2162	Communication Error by ECU Security Key Not Registered (Hybrid/EV Powertrain Control Module)	ECU security key has not been registered	Refer to the ECU security key registration. (202405,999999,_V1,_083041,_0402305,RM100000002ISNL,)
LTA Unavailable	X2163	Communication Error by ECU Security Key Not Registered (TCM)	ECU security key has not been registered	Refer to the ECU security key registration. (202405,999999,_V1,_083041,_0402305,RM100000002ISNL,)
-	X21A0	IG OFF Status	Stored when the forward recognition camera received IGR signals from the certification ECU (smart key ECU assembly)	Refer to How to Proceed with Troubleshooting for the smart entry and start system (for Start Function. for HV Model:(202409,999999,_58,_083094,_0402999,RM100000002NSRK,) for Gasoline Model:(202409,999999,_58,_083094,_0403000,RM100000002NSSW,)
LTA Malfunction Visit Your Dealer	XF01B	ECU Security Key Not Registered	ECU security key has not been registered	Refer to the ECU security key registration. (202405,999999,_V1,_083041,_0402305,RM100000002ISNL,)

CLEAR VEHICLE CONTROL HISTORY (LANE TRACING ASSIST SYSTEM)