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If this code is output, check for dynamic radar cruise control system DTCs or vehicle control history for other vehicle control systems.
Check for DTCs:
![2019 - 2021 MY RAV4 HV [02/2019 - 12/2021]; CRUISE CONTROL: DYNAMIC RADAR CRUISE CONTROL SYSTEM (for HV Model): DTC CHECK / CLEAR](/t3Portal/stylegraphics/info.gif)
Vehicle Control History:
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If DTCs for the dynamic radar cruise control system or vehicle control history for other vehicle control systems are output, refer to the respective troubleshooting procedures.
Diagnostic Trouble Code Chart:
Vehicle Control History:
- If DTCs for the dynamic radar cruise control system or vehicle control history for other vehicle control systems are not output, this code may have been stored due to environmental influence such as bad weather causing the system to cancel control of vehicle speed.
| Last Modified: 01-30-2024 | 6.11:8.1.0 | Doc ID: RM100000001HU7V |
| Model Year Start: 2019 | Model: RAV4 HV | Prod Date Range: [02/2019 - 08/2020] |
| Title: CRUISE CONTROL: DYNAMIC RADAR CRUISE CONTROL SYSTEM (for HV Model): VEHICLE CONTROL HISTORY; 2019 - 2020 MY RAV4 HV [02/2019 - 08/2020] | ||
VEHICLE CONTROL HISTORY
NOTICE:
Make sure to record any output Vehicle Control History codes before clearing them and checking the Vehicle Control History again.
CHECK VEHICLE CONTROL HISTORY (DYNAMIC RADAR CRUISE 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: Powertrain / Radar Cruise2 / Utility / Vehicle Control History (RoB).
Powertrain > Radar Cruise2 > Utility
|
Tester Display |
|---|
|
Vehicle Control History (RoB) |
(e) Read the Vehicle Control History (RoB) according to the display on the Techstream.
Vehicle Control History (RoB)
|
Multi-information Display |
Code |
Tester Display |
Description |
Diagnostic Note |
|---|---|---|---|---|
|
- |
X2000 |
Yaw Rate Sensor Malfunction |
The forward recognition camera received a yaw rate and acceleration sensor (airbag ECU assembly) malfunction signal from the skid control ECU (brake booster with master cylinder assembly). |
Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
|
|
Cruise Control Malfunction Visit Your Dealer |
X2010 |
Front Recognition Camera System Malfunction |
The forward recognition camera detected a front camera system malfunction. |
Refer to How to Proceed with Troubleshooting in Front Camera System.
|
|
Cruise Control Malfunction Visit Your Dealer |
X2011 |
Front Recognition Camera System Software Not Programmed |
The forward recognition camera cannot store the vehicle information. |
Refer to How to Proceed with Troubleshooting in Front Camera System.
|
|
Cruise Control Malfunction Visit Your Dealer |
X2012 |
Front Recognition Camera Malfunction |
The forward recognition camera detected an internal malfunction. |
Refer to How to Proceed with Troubleshooting in Front Camera System.
|
|
Cruise Control Malfunction Visit Your Dealer |
X2013 |
Front Recognition Camera Optical Axis Misalignment Malfunction |
The forward recognition camera detected optical axis misalignment. |
Refer to DTC C1AA800 in Front Camera System.
|
|
Cruise Control Malfunction Visit Your Dealer |
X2014 |
Front Recognition Camera Optical Axis Not Adjusted |
Forward recognition camera optical axis adjustment has not been performed. |
If this code is output, perform forward recognition camera optical axis adjustment, clear the Vehicle Control History and then check that this code is not stored again. HINT: Forward recognition camera adjustment can be performed by using either One Time Recognition or Sequential Recognition. One Time Recognition:
Sequential Recognition:
|
|
Radar Cruise Control Unavailable See Owner's Manual |
X2015 |
Front Recognition Camera Dirt |
History of forward recognition camera dirty malfunction signals output by the forward recognition camera |
Refer to vehicle control history code X2015 in Front Camera System.
|
|
Radar Cruise Control Unavailable |
X2016 |
Front Recognition Camera Outside Guaranteed Operating Temperature |
System operation was temporarily suspended due to the forward recognition camera being excessively hot or cold. |
Refer to vehicle control history code X2016 in Front Camera System.
|
|
Radar Cruise Control Unavailable |
X2017 |
Front Recognition Camera Outside Guaranteed Operating Voltage |
System operation was temporarily suspended due to the forward recognition camera power source voltage being excessively high or low. |
Refer to vehicle control history code X2017 in Front Camera System.
|
|
Cruise Control Malfunction Visit Your Dealer |
X201D |
Front Recognition Camera System Software Malfunction |
The forward recognition camera detected a specification information malfunction. |
Refer to How to Proceed with Troubleshooting in Front Camera System.
|
|
Radar Cruise Control Unavailable |
X201F |
Front Recognition Camera Temporary Unavailable (Front Recognition Camera Recognition Stop) |
The forward recognition camera operation was suspended. |
Refer to How to Proceed with Troubleshooting in Front Camera System.
|
|
Cruise Control Malfunction Visit Your Dealer |
X2020 |
Front Radar Sensor Destination Malfunction |
The forward recognition camera received a destination information malfunction signal from the millimeter wave radar sensor assembly. |
Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
|
|
Cruise Control Malfunction Visit Your Dealer |
X2021 |
Front Radar Sensor Malfunction |
The forward recognition camera received a malfunction signal from the millimeter wave radar sensor assembly. |
Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
|
|
Cruise Control Malfunction Visit Your Dealer |
X2022 |
Front Radar Sensor Optical Axis Misalignment Malfunction |
The forward recognition camera received a beam axis misalignment malfunction signal from the millimeter wave radar sensor assembly. |
Perform beam axis adjustment for the millimeter wave radar sensor assembly.
|
|
Cruise Control Malfunction Visit Your Dealer |
X2023 |
Front Radar Sensor Optical Axis Not Adjusted |
The forward recognition camera received a beam axis unadjusted signal from the millimeter wave radar sensor assembly. |
If this history is output, delete the vehicle control history after adjusting the beam axis and check that the history is not output again.
|
|
Radar Cruise Control Unavailable See Owner's Manual |
X2026 |
Front Radar Sensor Dirt |
The forward recognition camera received a millimeter wave radar sensor assembly dirty malfunction signal from the millimeter wave radar sensor assembly. |
Refer to vehicle control history code X2026 in Front Radar Sensor System.
|
|
Radar Cruise Control Unavailable |
X2027 |
Front Radar Sensor Outside Guaranteed Operating Temperature |
The forward recognition camera received a temperature malfunction signal from the millimeter wave radar sensor assembly. |
Refer to vehicle control history code X2027 in Front Radar Sensor System.
|
|
Radar Cruise Control Unavailable |
X2028 |
Front Radar Sensor Outside Guaranteed Operating Voltage |
The forward recognition camera received a voltage malfunction signal from the millimeter wave radar sensor assembly. |
Refer to vehicle control history code X2028 in Front Radar Sensor System.
|
|
Radar Cruise Control Unavailable |
X2029 |
Front Radar Sensor Temporary Unavailable (Optical Axis Misalignment) |
The forward recognition camera received a beam axis misalignment signal from the millimeter wave radar sensor assembly. |
Perform beam axis adjustment for the millimeter wave radar sensor assembly.
|
|
Radar Cruise Control Unavailable |
X20AE |
Radar Cruise Control Invalidation for Undetectable Vehicle Traveling Directly Ahead |
The forward recognition camera stores a cancellation history of control of vehicle speed when the dynamic radar cruise control system temporarily could not detect the preceding vehicle due to environmental influence such as bad weather. |
|
CLEAR VEHICLE CONTROL HISTORY (DYNAMIC RADAR CRUISE 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: Powertrain / Radar Cruise2 / Utility / Vehicle Control History (RoB)
Powertrain > Radar Cruise2 > Utility
|
Tester Display |
|---|
|
Vehicle Control History (RoB) |
(e) According to the display on the Techstream, clear the Vehicle Control History (RoB).
NOTICE:
By performing this procedure, all stored Vehicle Control History will be cleared.
CHECK VEHICLE CONTROL HISTORY (AIRBAG SYSTEM)
HINT:
Part of the control history can be confirmed using the vehicle control history.
Click here
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