RM38N0EC _95 ADAS / AD _111850 ADVANCED DRIVER ASSISTANCE SYSTEM _0502173 PRE-COLLISION SYSTEM C

ADVANCED DRIVER ASSISTANCE SYSTEM  PRE-COLLISION SYSTEM  U023587  Lost Communication with Cruise Control Front Distance Range Sensor Missing Message  


DESCRIPTION

The forward recognition camera communicates with the millimeter wave radar sensor assembly via CAN communication. If a communication malfunction between the forward recognition camera and millimeter wave radar sensor assembly is detected, DTC U023587 is stored.

DTC No. Detection Item DTC Detection Condition Trouble Area DTC Output from Priority
U023587 Lost Communication with Cruise Control Front Distance Range Sensor Missing Message Once 3 seconds elapse after turning the ignition switch to ON, a communication malfunction between the millimeter wave radar sensor assembly continues for approximately 2 seconds or more.
·

Harness or connector

·

Forward recognition camera

·

Millimeter wave radar sensor assembly


Pre-Collision System A

Pattern DTC output part name
(Display on GTS) 		Suspected Area (Malfunction Status)
Forward Recognition Camera Millimeter Wave Radar Sensor Assembly
Pre-Collision System Lane Control Forward Recognition Camera (Front Lighting Control) Radar Cruise2 Front Radar Sensor
U023587 U023587 U023587 U023587 U010487

○: 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)
Millimeter wave radar sensor assembly (Internal malfunction)

HINT:

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


WIRING DIAGRAM

B330403E14
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)

Flat Surface Target: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR>TARGET ADJUSTMENT(FLAT SURFACE TARGET)

Driving Adjustment: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR>DRIVING 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. As a result, 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)

Sequential Recognition: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA>TARGET ADJUSTMENT(SEQUENTIAL RECOGNITION)

Driving Adjustment: Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA>DRIVING ADJUSTMENT


·

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

Click hereGeneral>SETUP>WHEN REPLACING OR REMOVING/INSTALLING PARTS>UPDATE ECU SECURITY KEY

·

After the ignition switch is turned off, there may be a waiting time before disconnecting the negative (-) auxiliary battery terminal.

Click hereGeneral>SETUP>WHEN DISCONNECTING OR RECONNECTING BATTERY TERMINAL>BEFORE DISCONNECTING BATTERY

·

When disconnecting and reconnecting the auxiliary battery

Click hereGeneral>SETUP>WHEN DISCONNECTING OR RECONNECTING BATTERY TERMINAL>WORK PROCEDURE

HINT:

When disconnecting and reconnecting the auxiliary battery, there is an automatic learning function that completes learning when the respective system is used.

Click hereGeneral>SETUP>WHEN DISCONNECTING OR RECONNECTING BATTERY TERMINAL>AUTOMATIC LEARNING CHART




PROCEDURE

1.CHECK FOR DTCs
a.

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

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
Body Electrical > Front Radar Sensor > Trouble Codes
50001 429
Pattern DTC output part name
(Display on GTS)
Pre-Collision System Lane Control Forward Recognition Camera (Front Lighting Control) Radar Cruise2 Front Radar Sensor
Pattern 1 U023587 U023587 U023587 U023587 U010487
Pattern 2 U023587 U023587 U023587 U023587 -


Result:
Result Proceed to
Pattern 1 A
Pattern 2 B



A

2.CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA)

B

4.CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY
2.CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA)
a.
C378826C39
0.573,0.979 0.948,1.26 0.375,0.281 2.146,1.104 2.51,0.927 true 2.135,1.427 2.542,1.615 true 0.688,1.052 1,1.25 0.313,0.198 10 false Q4 2.573,0.854 3.125,1.073 0.552,0.219 10 false CANH 2.594,1.573 3.146,1.792 0.552,0.219 10 false CANL 0.125,0.083 0.438,0.281 0.313,0.198 10 false *a
*a Front view of wire harness connector
(to Forward Recognition Camera)


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


b.

Disconnect the forward recognition camera connector.


c.

Measure the resistance according to the value(s) in the table below.

Standard Resistance:
Tester Connection Condition Specified Condition

Click Location & Routing(Q4)Location & Routing

Click Connector(Q4)Body>Roof Wire>Forward Recognition Camera

Q4-6 (CANH) - Q4-12 (CANL) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω
Q4-6 (CANH) - Body ground Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
Q4-12 (CANL) - Body ground
Q4-6 (CANH) - +B Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
Q4-12 (CANL) - +B



Result:
Proceed to
OK
NG



OK

REPLACE FORWARD RECOGNITION CAMERA

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA>REMOVAL


NG

3.CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)
3.CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)
C426618C10
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 0.427,1.052 0.76,1.26 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)


a.

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


b.

Connect the forward recognition camera connector.


c.

Disconnect the millimeter wave radar sensor assembly connector.


d.

Measure the resistance according to the value(s) in the table below.

Standard Resistance:
Tester Connection Condition Specified Condition

Click Location & Routing(B5)Location & Routing

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 Assembly

B5-5 (CA1P) - B5-6 (CA1N) Cable disconnected from negative (-) auxiliary battery terminal 108 to 132 Ω
B5-5 (CA1P) - Body ground Cable disconnected from negative (-) auxiliary battery terminal 200 Ω or higher
B5-6 (CA1N) - Body ground
B5-5 (CA1P) - +B Cable disconnected from negative (-) auxiliary battery terminal 6 kΩ or higher
B5-6 (CA1N) - +B



Result:
Proceed to
OK
NG



OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR>REMOVAL


NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

4.CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY
a.
C378826C39
0.573,0.979 0.948,1.26 0.375,0.281 2.146,1.104 2.51,0.927 true 2.135,1.427 2.542,1.615 true 0.688,1.052 1,1.25 0.313,0.198 10 false Q4 2.573,0.854 3.125,1.073 0.552,0.219 10 false CANH 2.594,1.573 3.146,1.792 0.552,0.219 10 false CANL 0.125,0.083 0.438,0.281 0.313,0.198 10 false *a
*a Front view of wire harness connector
(to Forward Recognition Camera)


Disconnect the forward recognition camera connector.


b.

Using an oscilloscope, check the waveform.

OK:
Tester Connection Condition Tool Setting Specified Condition

Click Location & Routing(Q4)Location & Routing

Click Connector(Q4)Body>Roof Wire>Forward Recognition Camera

Q4-6 (CANH) - Q4-12 (CANL) Ignition switch ON 1 V/DIV., 100 μs./DIV. Pulse generation



Result:
Proceed to
OK
NG



OK

REPLACE FORWARD RECOGNITION CAMERA

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>FRONT CAMERA>REMOVAL


NG

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

Click hereADAS / AD>ADVANCED DRIVER ASSISTANCE SYSTEM>MILLIMETER WAVE RADAR SENSOR>REMOVAL