RM38N0EC _95 ADAS / AD _111850 ADVANCED DRIVER ASSISTANCE SYSTEM _0502172 FRONT RADAR SENSOR SYSTEM C

ADVANCED DRIVER ASSISTANCE SYSTEM FRONT RADAR SENSOR SYSTEM 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	· Pre-collision system · 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	Forward Recognition Camera
	Front Radar Sensor	Pre-Collision System	Lane Control	Forward Recognition Camera (Front Lighting Control)	Radar Cruise2
	U010487	U023587	U023587	U023587	U023587
○: DTC is output -: DTC is not output
Pattern 1	○	○	○	○	○	Harness or connector (Open or short)
						Millimeter wave radar sensor assembly (Internal malfunction)
						Forward recognition camera (Internal malfunction)
Pattern 2	○	-	-	-	-	Forward recognition camera (Internal malfunction)
Pattern 2	○	-	-	-	-	Millimeter wave radar sensor assembly (Internal malfunction)

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

WIRING DIAGRAM

0.75,1.875 2.729,2.073 1.979,0.198 10 false Forward Recognition Camera 4.823,1.854 6.24,2.281 1.417,0.427 10 false Millimeter Wave Radar Sensor Assembly 0.75,1.677 1.063,1.875 0.313,0.198 10 false Q4 4.823,1.688 5.135,1.885 0.313,0.198 10 false B5 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:

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 beam axis alignment and to clear the vehicle control history. Before performing the Driving Adjustment, make sure to read Before Starting Driving Adjustment.

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: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR>TARGET ADJUSTMENT(TRIANGLE TARGET)202303,999999,_95,_111850,_0502179,RM10000000292SE,; Flat Surface Target: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR>TARGET ADJUSTMENT(FLAT SURFACE TARGET)202303,999999,_95,_111850,_0502179,RM10000000292SF,; Driving Adjustment: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR>DRIVING ADJUSTMENT202303,999999,_95,_111850,_0502179,RM10000000292SD,

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 is replaced with a new one or the windshield glass is replaced or removed/installed, make sure to read Before Starting Adjustment, then perform optical axis alignment for the forward recognition camera and clear the vehicle control history for each system.

HINT:: Forward recognition camera axis alignment can be performed by using either One Time Recognition, Sequential Recognition or Driving Adjustment.; One Time Recognition: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA>TARGET ADJUSTMENT(ONE TIME RECOGNITION)202303,999999,_95,_111850,_0502177,RM10000000292S8,; Sequential Recognition: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA>TARGET ADJUSTMENT(SEQUENTIAL RECOGNITION)202303,999999,_95,_111850,_0502177,RM10000000292S9,; Driving Adjustment: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA>DRIVING ADJUSTMENT202303,999999,_95,_111850,_0502177,RM10000000292SB,

When the forward recognition camera is replaced, update the ECU security key.

Click hereGeneral>SETUP>WHEN REPLACING OR REMOVING/INSTALLING PARTS>UPDATE ECU SECURITY KEY202111,999999,_V1,_111780,_0504977,RM100000001ZKRX,

PROCEDURE

1.CHECK FOR DTCs

Read each DTC and check the diagnosis pattern using the table below.

Body Electrical > Front Radar Sensor > Trouble Codes: 50001 429

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

Chassis > Lane Control > Trouble Codes: 50001 418

Body Electrical > Front Recognition Camera (Front Lighting Control) > Trouble Codes: 50001 433

Powertrain > Radar Cruise2 > Trouble Codes: 50001 426

Pattern	DTC Output Part Name (Display on GTS)
Pattern	Front Radar Sensor	Pre-Collision System	Lane Control	Forward Recognition Camera (Front Lighting Control)	Radar Cruise2
Pattern 1	U010487	U023587	U023587	U023587	U023587
Pattern 2	U010487	-	-	-	-

Result:

Result	Proceed to
Pattern 1	A
Pattern 2	B

GO TO PRE-COLLISION SYSTEM

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>PRE-COLLISION SYSTEM>U023587202303,999999,_95,_111850,_0502173,RM1000000029EC7,U023587

2.CHECK FORWARD RECOGNITION CAMERA

0.313,0.979 0.688,1.26 0.375,0.281 0.844,1.688 0.958,1.688 0.958,1.688 1.427,1.229 true 1.01,1.917 1.125,1.917 1.125,1.917 1.604,1.24 true 0.406,1.052 0.74,1.26 0.333,0.208 10 false B5 0.469,1.615 1.021,1.833 0.552,0.219 10 false CA1P 0.625,1.865 1.177,2.083 0.552,0.219 10 false CA1N 0.125,0.083 0.438,0.281 0.313,0.198 10 false *a

*a	Front view of wire harness connector (to Millimeter Wave Radar Sensor Assembly)

Disconnect the millimeter wave radar sensor assembly connector.

Using an oscilloscope, check the waveform.

OK:

Tester Connection	Condition	Tool Setting	Specified Condition
Click Location & Routing(B5)Location & Routingewd_type=routing;type=c;code=B5 Click Connector(B5)Engine Compartment>No. 4 Engine Room Wire / No. 2 Engine Wire / No. 3 Engine Wire / No. 5 Engine Wire / No. 6 Engine Wire / Sensor Wire>Millimeter Wave Radar Sensor Assemblyewd_type=component;type=c;code=B5;pinno=5,6
B5-5 (CA1P) - B5-6 (CA1N)	Ignition switch ON	1V/DIV., 100μs./DIV.	Pulse generation

Tester Connection

Condition

Tool Setting

Specified Condition

Click Location & Routing(B5)Location & Routingewd_type=routing;type=c;code=B5

Click Connector(B5)Engine Compartment>No. 4 Engine Room Wire / No. 2 Engine Wire / No. 3 Engine Wire / No. 5 Engine Wire / No. 6 Engine Wire / Sensor Wire>Millimeter Wave Radar Sensor Assemblyewd_type=component;type=c;code=B5;pinno=5,6

B5-5 (CA1P) - B5-6 (CA1N)

Ignition switch ON

1V/DIV., 100μs./DIV.

Pulse generation

Result:

Proceed to
OK
NG

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR>REMOVAL202303,999999,_95,_111850,_0502179,RM10000000292O4,

REPLACE FORWARD RECOGNITION CAMERA

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA>REMOVAL202303,999999,_95,_111850,_0502177,RM10000000292O2,