DTC C1A22: Object Recognition Camera Incorrect Axial Gap; DTC C1A23: Object Recognition Camera Initialization Incomplete; DTC C1A25: Object Recognition Camera Recognizing Distance Discrepancy [10/2014 - ]: Procedure

1. Adjust the object recognition camera. Refer to ADJUSTMENT [10/2014 - ] .

NEXT: Go to next step 

1. Clear DTCs. Refer to DTC CHECK / CLEAR [10/2014 - ] .
2. Make sure the following conditions are met:

   HINT: 

   If the detection conditions are not met, the system cannot detect malfunctions.

   • Pre-collision system:

     The engine switch is on (IG) (for DTC C1A23, the vehicle needs to be driven at a speed of 10 km/h [6 mph] or more).

   • Radar cruise control system:

     The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the distance control switch is on.

   • Lane keeping assist system:

     The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the lane keeping assist main switch is on.

3. Check for DTCs. Refer to DTC CHECK / CLEAR [10/2014 - ] .

   OK

   DTCs C1A22, C1A23 and C1A25 are not output.

NG → See step   3 

OK → END 

1. Replace the object recognition camera. Refer to REMOVAL [10/2014 - ] .

NEXT: Go to next step 

1. Adjust the object recognition camera. Refer to ADJUSTMENT [10/2014 - ] .

NEXT: Go to next step 

1. Clear DTCs. Refer to DTC CHECK / CLEAR [10/2014 - ] .
2. Make sure the following conditions are met:

   HINT: 

   If the detection conditions are not met, the system cannot detect malfunctions.

   • Pre-collision system:

     The engine switch is on (IG) (for DTC C1A23, the vehicle needs to be driven at a speed of 10 km/h [6 mph] or more).

   • Radar cruise control system:

     The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the distance control switch is on.

   • Lane keeping assist system:

     The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the lane keeping assist main switch is on.

3. Check for DTCs. Refer to DTC CHECK / CLEAR [10/2014 - ] .

   OK

   DTCs C1A22, C1A23 and C1A25 are not output.

NG → See step   6 

OK → END (OBJECT RECOGNITION CAMERA IS DEFECTIVE) 

1. Replace the object recognition ECU. Refer to REMOVAL [10/2014 - ] .

NEXT: Go to next step 

1. Adjust the object recognition camera. Refer to ADJUSTMENT [10/2014 - ] .

NEXT: Go to next step 

1. Clear DTCs. Refer to DTC CHECK / CLEAR [10/2014 - ] .
2. Make sure the following conditions are met:

   HINT: 

   If the detection conditions are not met, the system cannot detect malfunctions.

   • Pre-collision system:

     The engine switch is on (IG) (for DTC C1A23, the vehicle needs to be driven at a speed of 10 km/h [6 mph] or more).

   • Radar cruise control system:

     The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the distance control switch is on.

   • Lane keeping assist system:

     The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the lane keeping assist main switch is on.

3. Check for DTCs. Refer to DTC CHECK / CLEAR [10/2014 - ] .

   OK

   DTCs C1A22, C1A23 and C1A25 are not output.

   NOTE:

   When replacing the driving support ECU assembly, always replace it with a new one and be sure to perform initialization. Refer to INITIALIZATION [10/2014 - ] . If an ECU which was installed to another vehicle is used, the information stored in the ECU will not match the information from the vehicle, and as a result, a DTC may be stored.

NG → See step   9 

OK → END (OBJECT RECOGNITION ECU IS DEFECTIVE)