LIGHTING (EXT): AUTOMATIC HIGH BEAM SYSTEM: VEHICLE CONTROL HISTORY; 2021 MY RAV4 RAV4 HV [08/2020

Last Modified: 05-08-2025	6.11:8.1.0	Doc ID: RM100000001WDIF
Model Year Start: 2021	Model: RAV4	Prod Date Range: [08/2020 - 12/2021]
Title: LIGHTING (EXT): AUTOMATIC HIGH BEAM SYSTEM: VEHICLE CONTROL HISTORY; 2021 MY RAV4 RAV4 HV [08/2020 - 12/2021]

VEHICLE CONTROL HISTORY

CHECK THE VEHICLE CONTROL HISTORY

HINT:

The vehicle control history data stores the history of the reject function and system protection operations.
The number of occurrences, date and distance are stored in batches for each item.

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

(d) Enter the following menus: Body Electrical / Front Recognition Camera (Front Lighting Control) / Utility / Vehicle Control History (RoB).

Body Electrical > Front Recognition Camera (Front Lighting Control) > Utility

Tester Display
Vehicle Control History (RoB)

NOTICE:

When several vehicle control histories are stored, prioritize performing the required actions for "Voltage Low for Shift Control System"

Code	Tester Display	Measurement Item	Diagnostic Note
X2000	Yaw Rate Sensor Malfunction	for HV Model: History of yaw rate sensor malfunction signals output by the brake booster with master cylinder assembly (skid control ECU) for Gasoline Model: History of yaw rate sensor malfunction signals output by the brake actuator assembly (skid control ECU)	for HV Model: for Gasoline Model:
X2004	Speed Sensor Malfunction	for HV Model: History of vehicle speed sensor malfunction signals output by the brake booster with master cylinder assembly (skid control ECU) for Gasoline Model: History of vehicle speed sensor malfunction signals output by the brake actuator assembly (skid control ECU)	for HV Model: for Gasoline Model:
X2011	Front Recognition Camera System Software Not Programmed	History of vehicle specifications unconfirmed malfunction signals output by the forward recognition camera
X2012	Front Recognition Camera Malfunction	History of forward recognition camera malfunction signals output by the forward recognition camera
X2013	Front Recognition Camera Optical Axis Misalignment Malfunction	History of forward recognition camera axis misalignment malfunction signals output by the forward recognition camera
X2014	Front Recognition Camera Optical Axis Not Adjusted	History of forward recognition camera axis unadjusted malfunction signals output by the forward recognition camera	for Sequential Recognition: for One Time Recognition:
X2015	Front Recognition Camera Dirt	History of forward recognition camera dirty malfunction signals output by the forward recognition camera	Refer to RoB X2015 in Front Camera System
X2016	Front Recognition Camera Outside Guaranteed Operating Temperature	History of forward recognition camera temperature malfunction signals output by the forward recognition camera	Refer to RoB X2016 in Front Camera System
X2017	Front Recognition Camera Outside Guaranteed Operating Voltage	History of forward recognition camera voltage malfunction signals output by the forward recognition camera	Refer to RoB X2017 in Front Camera System
X201D	Front Recognition Camera System Software Malfunction	History of vehicle specification information unmatch signals between the main body ECU (multiplex network body ECU) and forward recognition camera output by the forward recognition camera
X2020	Front Radar Sensor Destination Malfunction	History of destination malfunction signals between the millimeter wave radar sensor assembly and forward recognition camera output by the forward recognition camera
X2021	Front Radar Sensor Malfunction	History of front radar sensor malfunction signals output by the
X2022	Front Radar Sensor Optical Axis Misalignment Malfunction	History of front radar sensor axis misalignment malfunction signals output by the
X2023	Front Radar Sensor Optical Axis Not Adjusted	History of front radar sensor unadjusted malfunction signals output by the
X2026	Front Radar Sensor Dirt	History of front radar sensor dirty malfunction signals output by the	Refer to RoB X2026 in Front Radar Sensor System
X2027	Front Radar Sensor Outside Guaranteed Operating Temperature	History of front radar sensor temperature malfunction signals output by the	Refer to RoB X2027 in Front Radar Sensor System
X2028	Front Radar Sensor Outside Guaranteed Operating Voltage	History of front radar sensor voltage malfunction signals output by the	Refer to RoB X2028 in Front Radar Sensor System
X204C	Zero Point Calibration of Yaw Rate Sensor Undone	for HV Model: History of yaw rate sensor zero point calibration incomplete signals output by the brake booster with master cylinder assembly (skid control ECU) for Gasoline Model: History of yaw rate sensor zero point calibration incomplete signals output by the brake actuator assembly (skid control ECU)	for HV Model: for Gasoline Model:
X204D	Front Lighting Control System Inoperative Condition by Front Recognition Camera High Temperature	History of bad high temperature condition signals output by the forward recognition camera	-
X204E	Front Lighting Control System Inoperative Condition by Front Recognition Camera Adverse Environment	History of bad weather signals output by the forward recognition camera	Perform the following inspections If the wipers were operated at high speed (high mode). If the vehicle was driven in bad weather. If the windshield glass in front of the camera is dirty. Cause: When dirt or foreign matter is adhered to the area around forward recognition camera. Measures: Clean the inside of the windshield glass if it is dirty. For the front recognition camera cleaning procedure, click here
X2072	Communication Error from Front Radar Sensor to Driving Support Control Module	History of communication error with front radar sensor output by the forward recognition camera

CLEAR THE VEHICLE CONTROL HISTORY

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

(d) Enter the following menus: Body Electrical / Front Recognition Camera (Front Lighting Control) / Utility / Vehicle Control History (RoB).

Body Electrical > Front Recognition Camera (Front Lighting Control) > Utility

Tester Display
Vehicle Control History (RoB)

NOTICE:

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

VEHICLE CONTROL HISTORY

Body Electrical > Front Recognition Camera (Front Lighting Control) > Utility

for HV Model:

for Gasoline Model:

for HV Model:

for Gasoline Model:

for HV Model:

for Gasoline Model:

Cause:

Measures:

Body Electrical > Front Recognition Camera (Front Lighting Control) > Utility