PRE-COLLISION: PRE-COLLISION SYSTEM: VEHICLE CONTROL HISTORY; 2021 MY RAV4 RAV4 HV [08/2020

Last Modified: 05-08-2025	6.11:8.1.0	Doc ID: RM100000001R69N
Model Year Start: 2021	Model: RAV4	Prod Date Range: [08/2020 - 12/2021]
Title: PRE-COLLISION: PRE-COLLISION SYSTEM: VEHICLE CONTROL HISTORY; 2021 MY RAV4 RAV4 HV [08/2020 - 12/2021]

VEHICLE CONTROL HISTORY

NOTICE:

When checking the vehicle control history, make sure to record the output histories. Then, remove the histories and recheck the output histories again.

CHECK VEHICLE CONTROL HISTORY (PRE-COLLISION SYSTEM)

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

(d) Enter the following menus: Body Electrical / Pre-Collision System / Utility / Vehicle Control History (RoB).

Body Electrical > Pre-Collision System > Utility

Tester Display
Vehicle Control History (RoB)

Vehicle Control History (RoB)

Multi-information Display	Code	Tester Display	Measurement Item	Diagnostic Note
Pre-Collision System Malfunction Visit Your Dealer	X2000	Yaw Rate Sensor Malfunction	for HV Model: Recorded when forward recognition camera received a malfunction signal of airbag ECU assembly output from airbag ECU assembly or brake booster with master cylinder assembly (skid control ECU). for Gasoline Model: Recorded when forward recognition camera received a malfunction signal of airbag ECU assembly output from airbag ECU assembly or brake actuator assembly (skid control ECU).	for HV Model: Electronically controlled brake system (HOW TO PROCEED WITH TROUBLESHOOTING) for Gasoline Model: Electronically controlled brake system (HOW TO PROCEED WITH TROUBLESHOOTING)
Pre-Collision System Malfunction Visit Your Dealer	X2001	Steering Angle Sensor Malfunction	Recorded when forward recognition camera received a malfunction signal of steering sensor output from steering sensor.	for HV Model: Electronically controlled brake system (HOW TO PROCEED WITH TROUBLESHOOTING) for Gasoline Model: Electronically controlled brake system (HOW TO PROCEED WITH TROUBLESHOOTING)
Pre-Collision System Malfunction Visit Your Dealer	X2002	Accelerator Sensor Malfunction	for HV Model: Recorded when forward recognition camera received a malfunction signal of accelerator sensor output from hybrid vehicle control ECU. for Gasoline Model: Recorded when forward recognition camera received a malfunction signal of accelerator sensor output from ECM.	for HV Model: Hybrid control system (for AWD with NICKEL METAL HYDRIDE BATTERY) (HOW TO PROCEED WITH TROUBLESHOOTING) Hybrid control system (for LITHIUM-ION BATTERY) (HOW TO PROCEED WITH TROUBLESHOOTING) for Gasoline Model: SFI system (HOW TO PROCEED WITH TROUBLESHOOTING)
Pre-Collision System Malfunction Visit Your Dealer	X2003	Brake Control System Malfunction	for HV Model: Recorded when forward recognition camera received a malfunction signal of brake control system output from brake booster with master cylinder assembly (skid control ECU). for Gasoline Model: Recorded when forward recognition camera received a malfunction signal of brake control system output from brake actuator assembly (skid control ECU).	for HV Model: Electronically controlled brake system (HOW TO PROCEED WITH TROUBLESHOOTING) for Gasoline Model: Electronically controlled brake system (HOW TO PROCEED WITH TROUBLESHOOTING)
Pre-Collision System Malfunction Visit Your Dealer	X2011	Front Recognition Camera System Software Not Programmed	Recorded when forward recognition camera received an information undefined signal output from forward recognition camera.	Front camera system (HOW TO PROCEED WITH TROUBLESHOOTING)
Pre-Collision System Malfunction Visit Your Dealer	X2012	Front Recognition Camera Malfunction	Recorded when forward recognition camera received a malfunction signal of forward recognition camera output from forward recognition camera.	Front camera system (HOW TO PROCEED WITH TROUBLESHOOTING)
Pre-Collision System Malfunction Visit Your Dealer	X2013	Front Recognition Camera Optical Axis Misalignment Malfunction	Recorded when forward recognition camera received an optical axis misalignment malfunction signal of forward recognition camera output from forward recognition camera.	Front camera system (C1AA800)
Pre-Collision System Malfunction Visit Your Dealer	X2014	Front Recognition Camera Optical Axis Not Adjusted	Recorded when forward recognition camera received an optical axis unadjusted signal of forward recognition camera output from forward recognition camera.	If this DTC is output, clear the history after performing axis adjustment and check that no DTC is output. HINT: Forward recognition camera adjustment can be performed by using either "One Time Recognition" or "Sequential Recognition". One Time Recognition: Sequential Recognition:
Front Camera Unavailable SeeOwner's Manual	X2015	Front Recognition Camera Dirt	Recorded when forward recognition camera received a dirt signal of forward recognition camera output from forward recognition camera.	Refer to X2015 in the front camera system vehicle control history.
Front Camera Unavailable	X2016	Front Recognition Camera Outside Guaranteed Operating Temperature	Recorded when forward recognition camera received an outside guaranteed operating temperature signal of forward recognition camera output from forward recognition camera.	Refer to X2016 in the front camera system vehicle control history.
Front Camera Unavailable	X2017	Front Recognition Camera Outside Guaranteed Operating Voltage	Recorded when forward recognition camera received an outside guaranteed operating voltage signal of forward recognition camera output from forward recognition camera.	Refer to X2017 in the front camera system vehicle control history.
Pre-Collision System Malfunction Visit Your Dealer	X2018	Front Recognition Camera Heater Malfunction	Recorded when forward recognition camera received a camera heater malfunction signal output from forward recognition camera.	Front camera system (HOW TO PROCEED WITH TROUBLESHOOTING)
Pre-Collision System Malfunction Visit Your Dealer	X201D	Front Recognition Camera System Software Malfunction	Recorded when forward recognition camera received system software malfunction signal of forward recognition camera output from forward recognition camera.	Front camera system (HOW TO PROCEED WITH TROUBLESHOOTING)
Front Camera Unavailable	X201F	Front Recognition Camera Temporary Unavailable (Front Recognition Camera Recognition Stop)	Recorded when forward recognition camera received a recognition stop signal of forward recognition camera output from forward recognition camera.	Front camera system (HOW TO PROCEED WITH TROUBLESHOOTING) Cause: The forward recognition camera temporary recognition stops.
Pre-Collision System Malfunction Visit Your Dealer	X2020	Front Radar Sensor Destination Malfunction	Recorded when forward recognition camera received a destination malfunction signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.	Front radar sensor system (HOW TO PROCEED WITH TROUBLESHOOTING)
Pre-Collision System Malfunction Visit Your Dealer	X2021	Front Radar Sensor Malfunction	Recorded when forward recognition camera received a malfunction signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.	Front radar sensor system (HOW TO PROCEED WITH TROUBLESHOOTING)
Pre-Collision System Malfunction Visit Your Dealer	X2022	Front Radar Sensor Optical Axis Misalignment Malfunction	Recorded when forward recognition camera received an optical axis misalignment malfunction signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.	Front radar sensor system (C1A1100)
Pre-Collision System Malfunction Visit Your Dealer	X2023	Front Radar Sensor Optical Axis Not Adjusted	Recorded when forward recognition camera received an optical axis unadjusted signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.	If this DTC is output, clear the history after performing axis adjustment and check that no DTC is output.
Pre-Collision System Unavailable	X2024	Front Radar Sensor Temporary Unavailable (Vertical Direction Optical Axis Misalignment)	Recorded when forward recognition camera received a vertical direction optical axis misalignment signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.	Refer to X2024 in the front radar sensor system vehicle control history. HINT: The vehicle control history may be stored even when "Pre-Collision System Unavailable" is not displayed on the multi-information display. When this occurs, the vehicle control history can be erased by completing drive learning.
Pre-Collision System Unavailable	X2025	Front Radar Sensor Temporary Unavailable (Horizontal Direction Optical Axis Misalignment)	Recorded when forward recognition camera received a horizontal direction optical axis misalignment signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.	Refer to X2025 in the front radar sensor system vehicle control history. HINT: The vehicle control history may be stored even when "Pre-Collision System Unavailable" is not displayed on the multi-information display. When this occurs, the vehicle control history can be erased by completing drive learning.
Pre-Collision System Unavailable Clean Sensor	X2026	Front Radar Sensor Dirt	Recorded when forward recognition camera received a dirt malfunction signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.	Refer to X2026 in the front radar system vehicle control history.
Pre-Collision System Unavailable	X2027	Front Radar Sensor Outside Guaranteed Operating Temperature	Recorded when forward recognition camera received an outside guaranteed operation temperature signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.	Refer to X2027 in the front radar sensor system vehicle control history.
Pre-Collision System Unavailable	X2028	Front Radar Sensor Outside Guaranteed Operating Voltage	Recorded when forward recognition camera received an outside guaranteed operating voltage signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.	Refer to X2028 in the front radar sensor system vehicle control history.
Pre-Collision System Malfunction Visit Your Dealer	X2070	Communication Error from Pre-Collision System to Front Radar Sensor	Recorded when forward recognition camera received a communication error signal from forward recognition camera to millimeter wave radar sensor assembly.	Front radar sensor system (HOW TO PROCEED WITH TROUBLESHOOTING)

CLEAR VEHICLE CONTROL HISTORY (PRE-COLLISION SYSTEM)

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

(d) Enter the following menus: Body Electrical / Pre-Collision System / Utility / Vehicle Control History (RoB).

NOTICE:

By performing this procedure, all stored Vehicle Control History items will be cleared.

Body Electrical > Pre-Collision System > Utility

Tester Display
Vehicle Control History (RoB)

CHECK VEHICLE CONTROL HISTORY (SRS AIRBAG)

HINT:

A part of the control history can be confirmed using the vehicle control history.

Click here

VEHICLE CONTROL HISTORY

Body Electrical > Pre-Collision System > Utility

Vehicle Control History (RoB)

for HV Model:

for Gasoline Model:

for HV Model:

for Gasoline Model:

for HV Model:

for Gasoline Model:

for HV Model:

for Gasoline Model:

for HV Model:

for Gasoline Model:

for HV Model:

for Gasoline Model:

for HV Model:

for Gasoline Model:

Cause:

Body Electrical > Pre-Collision System > Utility