| Last Modified: 01-30-2024 | 6.11:8.1.0 | Doc ID: RM100000001FOLP |
| Model Year Start: 2019 | Model: RAV4 | Prod Date Range: [11/2018 - 12/2021] |
| Title: PRE-COLLISION: PRE-COLLISION SYSTEM: U023587; Lost Communication with Cruise Control Front Distance Range Sensor Missing Message; 2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021] | ||
|
DTC |
U023587 |
Lost Communication with Cruise Control Front Distance Range Sensor Missing Message |
DESCRIPTION
The forward recognition camera is connected to the millimeter wave radar sensor assembly via the CAN communication line. When the signal from the millimeter wave radar sensor assembly is interrupted, the forward recognition camera outputs U023587.
|
DTC No. |
Detection Item |
DTC Detection Condition |
Trouble Area |
|---|---|---|---|
|
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. |
|
|
Pattern |
DTC output part name (Display on Techstream) |
Suspected Area (Malfunction Status) |
|
|---|---|---|---|
|
Millimeter Wave Radar Sensor Assembly (Front Radar Sensor) |
Forward Recognition Camera (Pre-collision System) |
||
|
U010487 |
U023587 |
||
|
○: DTC is output
-: DTC is not output |
|||
|
Pattern 1 |
○ |
○ |
Local bus (Open or short) |
|
Forward recognition camera (Internal malfunction) |
|||
|
Millimeter wave radar sensor assembly (Internal malfunction) |
|||
|
Pattern 2 |
- |
○ |
Forward recognition camera (Internal malfunction) |
|
Millimeter wave radar sensor assembly (Internal malfunction) |
|||
WIRING DIAGRAM
CAUTION / NOTICE / HINT
NOTICE:
- 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 it will not match the information from the vehicle and a DTC may be stored.
-
If the forward recognition camera has been replaced with a new one, be sure to perform forward recognition camera adjustment.
HINT:
Forward recognition camera adjustment can be performed by using either "One Time Recognition" or "Sequential Recognition".
One Time Recognition:
Click here
![2019 MY RAV4 RAV4 HV [11/2018 - 02/2019]; CRUISE CONTROL: FRONT CAMERA: ADJUSTMENT (ONE TIME RECOGNITION)](/t3Portal/stylegraphics/info.gif)
Sequential Recognition:
Click here
- 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 it will not match the information from the vehicle and a DTC may be stored.
-
If the millimeter wave radar sensor assembly has been replaced with a new one, be sure to perform Front Beam Axis Adjustment.
Click here
- Before measuring the resistance of the CAN bus, turn the ignition switch off and leave the vehicle for 1 minute or more without operating the key or any switches, or opening or closing the doors. After that, disconnect the cable from the negative (-) auxiliary battery terminal and leave the vehicle for 1 minute or more before measuring the resistance.
-
After turning the ignition switch off, waiting time may be required before disconnecting the cable from the negative (-) auxiliary battery terminal. Therefore, make sure to read the disconnecting the cable from the negative (-) auxiliary battery terminal notices before proceeding with work.
Click here
- Before troubleshooting, perform CAN bus diagnostics and check that there are no malfunctions in ECUs connected to the CAN communication system.
PROCEDURE
|
1. |
CHECK FOR DTC |
(a) Check for DTCs.
Body Electrical > Front Radar Sensor > Trouble Codes
Body Electrical > Pre-Collision System > Trouble Codes
|
Pattern |
DTC Output Part Name (Display on Techstream / Output DTC) |
|
|---|---|---|
|
Millimeter Wave Radar Sensor Assembly (Front Radar Sensor) |
Forward Recognition Camera (Pre-Collision System) |
|
|
Pattern 1 |
U010487 |
U023587 |
|
Pattern 2 |
- |
U023587 |
|
Result |
Proceed to |
|---|---|
|
Pattern 1 |
A |
|
Pattern 2 |
B |
| B |
|
|
|
2. |
CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA CAN MAIN WIRE) |
(a) Disconnect the cable from the negative (-) auxiliary battery terminal.
(b) Disconnect the P8 forward recognition camera connector.
(c) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
|
Tester Connection |
Condition |
Specified Condition |
|---|---|---|
|
P8-6 (CANH) - P8-12 (CANL) |
Cable disconnected from negative (-) auxiliary battery terminal |
108 to 132 Ω |
|
P8-6 (CANH) - G114-4 (CG) |
Cable disconnected from negative (-) auxiliary battery terminal |
200 Ω or higher |
|
P8-12 (CANL) - G114-4 (CG) |
Cable disconnected from negative (-) auxiliary battery terminal |
200 Ω or higher |
|
P8-6 (CANH) - G114-16 (BAT) |
Cable disconnected from negative (-) auxiliary battery terminal |
6 kΩ or higher |
|
P8-12 (CANL) - G114-16 (BAT) |
Cable disconnected from negative (-) auxiliary battery terminal |
6 kΩ or higher |
| NG |
|
|
|
3. |
CHECK FORWARD RECOGNITION CAMERA |
(a) Replace the forward recognition camera.
Click here
(b) Clear the DTCs.
Click here
Body Electrical > Pre-Collision System > Clear DTCs
(c) Make sure that the DTC detection conditions are met.
HINT:
If the detection conditions are not met, the system cannot detect the malfunction.
(d) Recheck for DTCs and check that no DTCs are output.
Click here
Body Electrical > Pre-Collision System > Trouble Codes
OK:
DTC U023587 is not output.
| OK |
|
END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE) |
| NG |
|
|
4. |
CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY CAN MAIN WIRE) |
(a) Reconnect the P8 forward recognition camera connector.
(b) Disconnect the B9 millimeter wave radar sensor assembly connector.
(c) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
|
Tester Connection |
Condition |
Specified Condition |
|---|---|---|
|
B9-5 (CA1P) - B9-6 (CA1N) |
Cable disconnected from negative (-) auxiliary battery terminal |
108 to 132 Ω |
|
B9-5 (CA1P) - G114-4 (CG) |
Cable disconnected from negative (-) auxiliary battery terminal |
200 Ω or higher |
|
B9-6 (CA1N) - G114-4 (CG) |
Cable disconnected from negative (-) auxiliary battery terminal |
200 Ω or higher |
|
B9-5 (CA1P) - G114-16 (BAT) |
Cable disconnected from negative (-) auxiliary battery terminal |
6 kΩ or higher |
|
B9-6 (CA1N) - G114-16 (BAT) |
Cable disconnected from negative (-) auxiliary battery terminal |
6 kΩ or higher |
| NG |
|
REPAIR OR REPLACE CAN MAIN WIRE OR CONNECTOR |
|
|
5. |
CHECK FORWARD RECOGNITION CAMERA |
(a) Replace the forward recognition camera.
Click here
(b) Clear the DTCs.
Click here
Body Electrical > Pre-Collision System > Clear DTCs
(c) Make sure that the DTC detection conditions are met.
HINT:
If the detection conditions are not met, the system cannot detect the malfunction.
(d) Recheck for DTCs and check that no DTCs are output.
Click here
Body Electrical > Pre-Collision System > Trouble Codes
OK:
DTC U023587 is not output.
| OK |
|
END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE) |
| NG |
|
|
6. |
CHECK FORWARD RECOGNITION CAMERA |
(a) Replace the forward recognition camera.
Click here
(b) Clear the DTCs.
Click here
Body Electrical > Pre-Collision System > Clear DTCs
(c) Make sure that the DTC detection conditions are met.
HINT:
If the detection conditions are not met, the system cannot detect the malfunction.
(d) Recheck for DTCs and check that no DTCs are output.
Click here
Body Electrical > Pre-Collision System > Trouble Codes
OK:
DTC U023587 is not output.
| OK |
|
END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE) |
| NG |
|
|
|