ADVANCED DRIVER ASSISTANCE SYSTEM LANE TRACING ASSIST SYSTEM VEHICLE CONTROL HISTORY (RoB)
- 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)
Read the Vehicle Control History (RoB) according to the display on the GTS.
- Chassis > Lane Control > Utility
-
Tester Display Vehicle Control History (RoB) - 50005 418 55
| Multi-information Display | Code | Tester Display | Measurement Item | Diagnostic Note |
|---|---|---|---|---|
|
*1: 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 Out of Temperature Range Unavailable Wait until Normal Temperature", "Front Camera Unavailable See Owner's Manual" or "Front Camera Low Visibility Unavailable See Owner's Manual" display requests. |
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| LTA Malfunction Visit Your Dealer | X2000 | Yaw Rate Sensor Malfunction | History of yaw rate sensor malfunction signals output by the yaw rate sensor | Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for HV Model:(  202111,999999,_54,_111814,_0500671,RM100000001Z2YP,)
for Gasoline Model:( 202111,999999,_54,_111814,_0503031,RM100000001ZCXQ,)
|
| 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) |
Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for HV Model:( 202111,999999,_54,_111814,_0500671,RM100000001Z2YP,)
for Gasoline Model:( 202111,999999,_54,_111814,_0503031,RM100000001ZCXQ,)
|
| 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) |
Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for HV Model:( 202111,999999,_54,_111814,_0500671,RM100000001Z2YP,)
for Gasoline Model:( 202111,999999,_54,_111814,_0503031,RM100000001ZCXQ,)
|
| LTA Malfunction Visit Your Dealer | X2004 | Speed Sensor Malfunction | for HV Model:
History of speed sensor malfunction signals output by the No. 2 skid control ECU (brake actuator assembly) for Gasoline Model:
History of speed sensor malfunction signals output by the skid control ECU (brake actuator assembly) |
Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for HV Model:( 202111,999999,_54,_111814,_0500671,RM100000001Z2YP,)
for Gasoline Model:( 202111,999999,_54,_111814,_0503031,RM100000001ZCXQ,)
|
| 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 | Refer to How to Proceed with Troubleshooting in Power Steering System.
( 202111,999999,_55,_111819,_0501137,RM100000001Z53B,)
|
| LTA Malfunction Visit Your Dealer | X2011 | Front Recognition Camera System Software Not Programmed | History of vehicle specification unconfirmed judgment by the forward recognition camera | Refer to How to Proceed with Troubleshooting in Front Camera System.
( 202111,999999,_95,_111850,_0502171,RM100000001Z91D,)
|
| LTA Malfunction Visit Your Dealer | X2012 | Front Recognition Camera Malfunction | History of forward recognition camera hardware damage judgment by the forward recognition camera | Refer to How to Proceed with Troubleshooting in Front Camera System.
( 202111,999999,_95,_111850,_0502171,RM100000001Z91D,)
|
| 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 |
|
| 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.
|
| Not displayed*1
(LTA indicator light (yellow) turns on) |
X2015 | Front Recognition Camera Dirt | History of forward recognition camera dirty judgment judged by the forward recognition camera | Refer to How to Proceed with Troubleshooting in Front Camera System.
( 202111,999999,_95,_111850,_0502171,RM100000001Z91D,)
|
| Not displayed*1
(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 | Refer to How to Proceed with Troubleshooting in Front Camera System.
( 202111,999999,_95,_111850,_0502171,RM100000001Z91D,)
|
| Not displayed*1
(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 | Refer to How to Proceed with Troubleshooting in Front Camera System.
( 202111,999999,_95,_111850,_0502171,RM100000001Z91D,)
|
| 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 | Refer to How to Proceed with Troubleshooting in Front Camera System.
( 202111,999999,_95,_111850,_0502171,RM100000001Z91D,)
|
| LTA Unavailable | X201F | Front Recognition Camera Temporary Unavailable (Front Recognition Camera Recognition Stop) | History of forward recognition camera vehicle information malfunctions | Refer to How to Proceed with Troubleshooting in Front Camera System.
( 202111,999999,_95,_111850,_0502171,RM100000001Z91D,)
|
| LTA Malfunction Visit Your Dealer | X2020 | Front Radar Sensor Destination Malfunction | History of received millimeter wave radar sensor assembly destination malfunctions | Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
( 202111,999999,_95,_111850,_0502172,RM100000001Z91Y,)
|
| 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 | Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
( 202111,999999,_95,_111850,_0502172,RM100000001Z91Y,)
|
| 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.
|
| 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 DTC is output, clear the vehicle control history after performing millimeter wave radar sensor assembly adjustment and check that no DTC is output.
|
| LTA Unavailable | X2026 | Front Radar Sensor Dirt | History of millimeter wave radar sensor assembly dirty signals output by the millimeter wave radar sensor assembly | Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
( 202111,999999,_95,_111850,_0502172,RM100000001Z91Y,)
|
| 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 | Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
( 202111,999999,_95,_111850,_0502172,RM100000001Z91Y,)
|
| 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 | Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
( 202111,999999,_95,_111850,_0502172,RM100000001Z91Y,)
|
| LTA Malfunction Visit Your Dealer | X204A | G Sensor Malfunction | for HV Model:
History of G sensor malfunction signals output by the No. 2 skid control ECU (brake actuator assembly) for Gasoline Model:
History of G sensor malfunction signals output by the skid control ECU (brake actuator assembly) |
Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
for HV Model:( 202111,999999,_54,_111814,_0500671,RM100000001Z2YP,)
for Gasoline Model:( 202111,999999,_54,_111814,_0503031,RM100000001ZCXQ,)
|
| 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 (rack and pinion power steering gear assembly) (forward recognition camera → power steering ECU (rack and pinion power steering gear assembly)) | Refer to How to Proceed with Troubleshooting in Power Steering System.
( 202111,999999,_55,_111819,_0501137,RM100000001Z53B,)
|
| 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 | Refer to How to Proceed with Troubleshooting in Power Steering System.
( 202111,999999,_55,_111819,_0501137,RM100000001Z53B,)
|
| 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 | Refer to How to Proceed with Troubleshooting in Power Steering System.
( 202111,999999,_55,_111819,_0501137,RM100000001Z53B,)
|
| LTA Malfunction Visit Your Dealer | X2084 | Meter Speed Tolerance Malfunction | History of meter speed tolerance malfunction signals output by the combination meter assembly | Refer to How to Proceed with Troubleshooting in Meter / Gauge System.
( 202111,999999,_58,_111835,_0504958,RM100000001ZKMB,)
|
| LTA Malfunction Visit Your Dealer | X20B9 | Communication Error from Steering Switch Control Module to Instrument Panel Cluster Control Module | History of communication with steering sensor lost signals output by the combination meter assembly | Refer to How to Proceed with Troubleshooting in Meter / Gauge System.
( 202111,999999,_58,_111835,_0504958,RM100000001ZKMB,)
|
| 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.
( 202111,999999,_V1,_111780,_0504977,RM100000001ZKRX,)
|
| 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.
( 202111,999999,_V1,_111780,_0504977,RM100000001ZKRX,)
|
| 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.
( 202111,999999,_V1,_111780,_0504977,RM100000001ZKRX,)
|
| - | X21A0 | IG OFF Status | History of IGP OFF being received from ECM while vehicle being driven | Refer to How to Proceed with Troubleshooting in SFI System.
for HV Model:( 202111,999999,_51,_111794,_0505179,RM100000001ZLH2,)
for Gasoline Model:( 202111,999999,_51,_111785,_0504416,RM100000001ZIBT,)
|
| 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.
( 202111,999999,_V1,_111780,_0504977,RM100000001ZKRX,)
|
CLEAR VEHICLE CONTROL HISTORY (LANE TRACING ASSIST SYSTEM)
- NOTICE:
-
When the vehicle control history is cleared, all the stored history items are cleared.
According to the display on the GTS, clear the Vehicle Control History (RoB).
- Chassis > Lane Control > Utility
-
Tester Display Vehicle Control History (RoB) - 50005 418 55
CHECK VEHICLE CONTROL HISTORY (AIRBAG SYSTEM)
Part of the control history can be confirmed using the Vehicle Control History.