for HV Model:
- History of airbag ECU assembly malfunction signals output by the brake booster with master cylinder assembly (skid control ECU)
| Last Modified: 05-08-2025 | 6.11:8.1.0 | Doc ID: RM100000001HF3W |
| Model Year Start: 2019 | Model: RAV4 | Prod Date Range: [02/2019 - 08/2020] |
| Title: CRUISE CONTROL: LANE CONTROL SYSTEM: VEHICLE CONTROL HISTORY; 2019 - 2020 MY RAV4 RAV4 HV [02/2019 - 08/2020] | ||
VEHICLE CONTROL HISTORY
NOTICE:
When checking the vehicle control history, first record the output codes and after clearing the history, check the output history again.
CHECK VEHICLE CONTROL HISTORY (LANE CONTROL SYSTEM)
(a) Connect the Techstream to the DLC3.
(b) Turn the ignition switch to ON.
(c) Turn the Techstream on.
(d) Enter the following menus: Chassis / Lane Control / Utility / Vehicle Control History (RoB).
Chassis > Lane Control > Utility
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Tester Display |
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Vehicle Control History (RoB) |
Vehicle Control History (RoB)
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Multi-information Display |
Code |
Tester Display |
Measurement Item |
Diagnostic Note |
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| *: The lane control system does not output multi-information display requests to the combination meter. Instead, the pre-collision system outputs "Front Camera Unavailable" and "Front Camera Unavailable See Owner's Manual" display requests. | ||||
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X2000 |
Yaw Rate Sensor Malfunction |
for Gasoline Model:
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X2001 |
Steering Angle Sensor Malfunction |
for HV Model:
for Gasoline Model:
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X2003 |
Brake Control System Malfunction |
for HV Model:
for Gasoline Model:
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X2004 |
Speed Sensor Malfunction |
for HV Model:
for Gasoline Model:
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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LTA Unavailable (w/ Lane Centering Function) |
X2008 |
Steering Assist Request Invalid |
History of power steering ECU (rack and pinion power steering gear assembly) low voltage malfunction signals output by the power steering system |
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LDA Unavailable (w/o Lane Centering Function) |
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X2011 |
Front Recognition Camera System Software Not Programmed |
History of vehicle specification unconfirmed judgment by the forward recognition camera |
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X2012 |
Front Recognition Camera Malfunction |
History of forward recognition camera hardware damage judgment by the forward recognition camera |
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X2013 |
Front Recognition Camera Optical Axis Misalignment Malfunction |
History of forward recognition camera axis misaligned judgment by the forward recognition camera |
HINT: Perform forward recognition camera axis alignment with either "One time recognition" or "Sequential recognition".
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X2014 |
Front Recognition Camera Optical Axis Not Adjusted |
History of forward recognition camera axis not adjusted judgment by the forward recognition camera |
HINT: Perform forward recognition camera axis alignment with either "One time recognition" or "Sequential recognition".
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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- (LTA indicator light (yellow) turns on)* (w/ Lane Centering Function) |
X2015 |
Front Recognition Camera Dirt |
History of forward recognition camera dirty judgment judged by the forward recognition camera |
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- (LDA indicator light (yellow) turns on)* (w/o Lane Centering Function) |
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- (LTA indicator light (yellow) turns on)* (w/ Lane Centering Function) |
X2016 |
Front Recognition Camera Outside Guaranteed Operating Temperature |
History of forward recognition camera temperature malfunction judgment by the forward recognition camera |
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- (LDA indicator light (yellow) turns on)* (w/o Lane Centering Function) |
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LTA Unavailable (w/ Lane Centering Function) |
X2017 |
Front Recognition Camera Outside Guaranteed Operating Voltage |
History of forward recognition camera voltage malfunction judgment by the forward recognition camera |
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LDA Unavailable (w/o Lane Centering Function) |
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X201D |
Front Recognition Camera System Software Malfunction |
History of forward recognition camera specification malfunction judgment by the forward recognition camera |
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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- (LTA indicator light (yellow) turns on)* (w/ Lane Centering Function) |
X201F |
Front Recognition Camera Temporary Unavailable (Front Recognition Camera Recognition Stop) |
History of forward recognition camera vehicle information malfunctions |
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- (LDA indicator light (yellow) turns on)* (w/o Lane Centering Function) |
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X2020 |
Front Radar Sensor Destination Malfunction |
History of received millimeter wave radar sensor assembly destination malfunctions |
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X2021 |
Front Radar Sensor Malfunction |
History of millimeter wave radar sensor assembly malfunction signals output by the millimeter wave radar sensor assembly |
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X2022 |
Front Radar Sensor Optical Axis Misalignment Malfunction |
History of millimeter wave radar sensor assembly axis misaligned malfunction signals output by the millimeter wave radar sensor assembly |
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X2023 |
Front Radar Sensor Optical Axis Not Adjusted |
History of millimeter wave radar sensor assembly axis not adjusted signals output by the millimeter wave radar sensor assembly |
If the history output, delete the vehicle control histories after adjusting the optical axis, and check that the history is not output again.
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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LTA Unavailable (w/ Lane Centering Function) |
X2026 |
Front Radar Sensor Dirt |
History of millimeter wave radar sensor assembly dirty malfunction signals output by the millimeter wave radar sensor assembly |
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LDA System Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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LTA Unavailable (w/ Lane Centering Function) |
X2027 |
Front Radar Sensor Outside Guaranteed Operating Temperature |
History of millimeter wave radar sensor assembly temperature malfunction signals output by the millimeter wave radar sensor assembly |
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LDA Unavailable (w/o Lane Centering Function) |
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LTA Unavailable (w/ Lane Centering Function) |
X2028 |
Front Radar Sensor Outside Guaranteed Operating Voltage |
History of millimeter wave radar sensor assembly voltage malfunction signals output by the millimeter wave radar sensor assembly |
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LDA Unavailable (w/o Lane Centering Function) |
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X204A |
Acceleration Sensor Malfunction |
for HV Model:
for Gasoline Model:
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X2073 |
Communication Error from Lane Control Module to Power Steering Control System |
History of communication malfunctions received from the power steering ECU (forward recognition camera → power steering ECU (rack and pinion power steering gear assembly)) |
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X2081 |
Power Steering Control System for Steering Assist Invalid |
History of steering assist power steering system unavailable malfunction signals output by the power steering system |
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X2082 |
Power Steering Control System for Steering Assist Steering Angle Malfunction |
History of steering assist power steering system actual steering angle malfunction signals output by the power steering system |
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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LTA Malfunction Visit Your Dealer (w/ Lane Centering Function) |
X2084 |
Meter Speed Tolerance Malfunction |
History of meter speed tolerance malfunction signals output by the combination meter assembly |
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LDA Malfunction Visit Your Dealer (w/o Lane Centering Function) |
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CLEAR VEHICLE CONTROL HISTORY (LANE CONTROL SYSTEM)
(a) Connect the Techstream to the DLC3.
(b) Turn the ignition switch to ON.
(c) Enter the following menus: Chassis / Lane Control / Utility / Vehicle Control History (RoB).
NOTICE:
By performing this procedure, all stored Vehicle Control History items will be cleared.
Chassis > Lane Control > Utility
|
Tester Display |
|---|
|
Vehicle Control History (RoB) |
CHECK VEHICLE CONTROL HISTORY (SRS AIRBAG)
HINT:
Some of the control history can be checked from "Vehicle Control History".
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w/ Occupant Classification System:
![2019 - 2020 MY RAV4 RAV4 HV [02/2019 - 08/2020]; SUPPLEMENTAL RESTRAINT SYSTEMS: AIRBAG SYSTEM (w/ Occupant Classification System): VEHICLE CONTROL HISTORY](/t3Portal/stylegraphics/info.gif)
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w/o Occupant Classification System:
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