Information sent from the steering sensor indicating whether the vehicle is equipped with the variable gear ratio steering system is received by the forward recognition camera via CAN communication.
When the vehicle information cannot be confirmed using the information sent from the steering sensor indicating whether the vehicle is equipped with the variable gear ratio steering system, the forward recognition camera stores DTC U032851.
When the information value sent from the steering sensor indicating whether the vehicle is equipped with the variable gear ratio steering system does not match that stored by the forward recognition camera, the forward recognition camera stores DTC U032857.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | DTC Output from | Priority |
|---|---|---|---|---|---|
| U032851 | Software Incompatibility with Steering Angle Sensor Module Not Programmed | When the ignition switch is ON for 3 seconds or more, the vehicle information of the forward recognition camera cannot be confirmed for approximately 7 seconds or more using the information sent from the steering sensor indicating whether the vehicle is equipped with the variable gear ratio steering system. | ·
Steering sensor ·
Forward recognition camera |
Pre-Collision System | B |
| U032857 | Software Incompatibility with Steering Angle Sensor Module Invalid/Incompatible Software Component | When the ignition switch is ON for 3 seconds or more, the information value sent from the steering sensor indicating whether the vehicle is equipped with the variable gear ratio steering system does not match that stored by the forward recognition camera for approximately 4 seconds or more. | ·
Steering sensor ·
Forward recognition camera |
Pre-Collision System | B |
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 (RoB) for each system.
Forward recognition camera axis alignment can be performed by using either One Time Recognition, Sequential Recognition or Driving Adjustment.
One Time Recognition: Click hereEngine / Hybrid System>CRUISE CONTROL>FRONT CAMERA>TARGET ADJUSTMENT(ONE TIME RECOGNITION)202304,202405,_51,_083055,_0401005,RM1000000029L6A,202405,202409,_51,_083055,_0401005,RM100000002ME7B,202409,999999,_51,_083055,_0401005,RM100000002NTD0,
Sequential Recognition: Click hereEngine / Hybrid System>CRUISE CONTROL>FRONT CAMERA>TARGET ADJUSTMENT(SEQUENTIAL RECOGNITION)202304,202405,_51,_083055,_0401005,RM1000000029L6B,202405,202409,_51,_083055,_0401005,RM100000002ME7D,202409,999999,_51,_083055,_0401005,RM100000002NTD3,
Driving Adjustment: Click hereEngine / Hybrid System>CRUISE CONTROL>FRONT CAMERA>DRIVING ADJUSTMENT202304,202405,_51,_083055,_0401005,RM1000000029L6D,202405,202409,_51,_083055,_0401005,RM100000002ME7F,202409,999999,_51,_083055,_0401005,RM100000002NTD4,
Using the GTS, perform the Health Check.
Check for DTCs.
DTCs other than U032851 and U032857 are not output.
| Proceed to |
|---|
| OK |
| NG |
OK
NG
Using the GTS, read the Data List.
| Tester Display | Measurement Item | Range | Normal Condition | Diagnostic Note |
|---|---|---|---|---|
| VGRS ECU Equipped Information | Variable gear ratio steering system function availability | Unknown, Absence or Presence | Unknown: Vehicle information not confirmed
Absence: Variable gear ratio steering system absence Presence: Variable gear ratio steering system presence |
- |
| Tester Display |
|---|
| VGRS ECU Equipped Information |
When the specification stored by the forward recognition camera and the vehicle specification do not match, there is a malfunction in the specification information stored by the forward recognition camera. Therefore, replace the forward recognition camera.
When the specification stored by the forward recognition camera and the vehicle specification match, a steering sensor with different specifications may be installed. Therefore, replace the steering sensor.
| Result | Proceed to |
|---|---|
| Specification stored by the forward recognition camera and vehicle specification do not match | A |
| Specification stored by the forward recognition camera and vehicle specification match | B |
A
B