CRUISE CONTROL: DYNAMIC RADAR CRUISE CONTROL SYSTEM (for HV Model): U012587,U012687,U012987,U015587,U029387,U110687; Lost Communication with Multi-axis Acceleration Sensor Module Missing Message; 2019 - 2021 MY RAV4 HV [02/2019

Last Modified: 05-08-2025	6.11:8.1.0	Doc ID: RM100000001HU80
Model Year Start: 2019	Model: RAV4 HV	Prod Date Range: [02/2019 - 12/2021]
Title: CRUISE CONTROL: DYNAMIC RADAR CRUISE CONTROL SYSTEM (for HV Model): U012587,U012687,U012987,U015587,U029387,U110687; Lost Communication with Multi-axis Acceleration Sensor Module Missing Message; 2019 - 2021 MY RAV4 HV [02/2019 - 12/2021]

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

U015587

Lost Communication with Instrument Panel Cluster (IPC) Control Module Missing Message

DTC

U029387

Lost Communication with Hybrid Powertrain Control Module Missing Message

DTC

U110687

Lost Communication with Electric Parking Brake Module Missing Message

DESCRIPTION

The forward recognition camera communicates with each sensor and ECU via CAN communication.

If any malfunction is detected in a CAN communication circuit, one or more CAN communication system DTCs are stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	MIL	DTC Output from
U012587	Lost Communication with Multi-axis Acceleration Sensor Module Missing Message	When the vehicle speed is approximately 1 km/h (1 mph) or more, a communication error between the forward recognition camera and airbag ECU assembly (yaw rate and acceleration sensor) continues for 1 second or more.	CAN communication system	Does not come on	Radar Cruise2
U012687	Lost Communication with Steering Angle Sensor Module Missing Message	When the ignition switch is ON for 2 seconds or more, a communication error between the forward recognition camera and steering sensor continues for 5 second or more.	CAN communication system	Does not come on	Radar Cruise2
U012987	Lost Communication with Brake System Control Module Missing Message	When the ignition switch is ON for 2 seconds or more, a communication error between the forward recognition camera and skid control ECU (brake booster with master cylinder assembly) continues for 5 seconds or more.	CAN communication system	Does not come on	Radar Cruise2
U015587	Lost Communication with Instrument Panel Cluster (IPC) Control Module Missing Message	When the ignition switch is ON for 2 seconds or more, a communication error between the forward recognition camera and combination meter assembly continues for 50 seconds or more.	CAN communication system	Does not come on	Radar Cruise2
U029387	Lost Communication with Hybrid Powertrain Control Module Missing Message	When the dynamic radar cruise control system is operating, a communication malfunction between the hybrid vehicle control ECU assembly and forward recognition camera is detected for 5 seconds or more.	CAN communication system	Does not come on	Radar Cruise2
U110687	Lost Communication with Electric Parking Brake Module Missing Message	When the ignition switch is ON for 2 seconds or more, a communication error between the forward recognition camera and parking brake ECU assembly continues for 5 seconds or more.	CAN communication system	Does not come on	Radar Cruise2

PROCEDURE

1.	CHECK FOR DTCs (Radar Cruise2)

(a) Clear the DTCs.

Click here

Powertrain > Radar Cruise2 > 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

Powertrain > Radar Cruise2 > Trouble Codes

Result	Proceed to
DTC U012587, U012687, U012987, U015587, U029387 and U110687 are not output	A
DTC U012587, U012687, U012987, U015587, U029387 or U110687 is output	B

USE SIMULATION METHOD TO CHECK

GO TO CAN COMMUNICATION SYSTEM