PRE-COLLISION: PRE-COLLISION SYSTEM: U010087,U012587,U012687,U012987,U029387; Lost Communication With ECM/PCM "A" Missing Message; 2019 - 2021 MY RAV4 RAV4 HV [11/2018

Last Modified: 05-08-2025	6.11:8.1.0	Doc ID: RM100000001FOLO
Model Year Start: 2019	Model: RAV4	Prod Date Range: [11/2018 - 12/2021]
Title: PRE-COLLISION: PRE-COLLISION SYSTEM: U010087,U012587,U012687,U012987,U029387; Lost Communication With ECM/PCM "A" Missing Message; 2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]

DTC

U010087

Lost Communication With ECM/PCM "A" Missing Message

DTC

U012587

Lost Communication With Multi-axis Acceleration Sensor Module Missing Message

DTC

U012687

Lost Communication with Steering Angle Sensor Module Missing Message

DTC

U012987

Lost Communication with Brake System Control Module Missing Message

DTC

U029387

Lost Communication with Hybrid Powertrain Control Module Missing Message

DESCRIPTION

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
U010087	Lost Communication With ECM/PCM "A" Missing Message	While the vehicle is being driven at 5 km/h (3 mph) or more, a communication error between the ECM and the forward recognition camera is detected for approximately 6 seconds or more.	CAN communication system
U012587	Lost Communication With Multi-axis Acceleration Sensor Module Missing Message	While the vehicle is being driven at 5 km/h (3 mph) or more, a communication error between the airbag ECU assembly and the forward recognition camera is detected for approximately 4 seconds or more.	CAN communication system
U012687	Lost Communication with Steering Angle Sensor Module Missing Message	3 seconds after the ignition switch is turned to ON, a communication error between the steering sensor and the forward recognition camera is detected for approximately 1 second or more.	CAN communication system
U012987	Lost Communication with Brake System Control Module Missing Message	for HV Model: 3 seconds after the ignition switch is turned to ON, a communication error between the brake booster with master cylinder assembly (skid control ECU) and the forward recognition camera is detected for approximately 1 second or more. for Gasoline Model: 3 seconds after the ignition switch is turned to ON, a communication error between the brake actuator assembly (skid control ECU) and the forward recognition camera is detected for approximately 1 second or more.	CAN communication system
U029387	Lost Communication with Hybrid Powertrain Control Module Missing Message	While the vehicle is being driven at 5 km/h (3 mph) or more, a communication error between the hybrid vehicle control ECU and the forward recognition camera is detected for approximately 6 seconds or more.	CAN communication system

PROCEDURE

1.	CHECK FOR DTC

(a) Clear the DTCs.

Click here

Body Electrical > Pre-Collision System > Clear DTCs

(b) Make sure that the DTC detection conditions are met.

HINT:

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

Click here

Body Electrical > Pre-Collision System > Trouble Codes

OK:

U010087, U012587, U012687, U012987 and U029387 are not output.

USE SIMULATION METHOD TO CHECK

GO TO CAN COMMUNICATION SYSTEM

for HV Model:

Click here

for Gasoline Model:

Click here