CRUISE CONTROL: LANE CONTROL SYSTEM: U010087,U010187,U012587,U012687,U012987,U013187,U015587,U029387; Lost Communication with ECM/PCM "A" Missing Message; 2022 - 2025 MY RAV4 RAV4 HV [12/2021

Last Modified: 05-08-2025	6.11:8.1.0	Doc ID: RM1000000021GWZ
Model Year Start: 2022	Model: RAV4	Prod Date Range: [12/2021 - ]
Title: CRUISE CONTROL: LANE CONTROL SYSTEM: U010087,U010187,U012587,U012687,U012987,U013187,U015587,U029387; Lost Communication with ECM/PCM "A" Missing Message; 2022 - 2025 MY RAV4 RAV4 HV [12/2021 - ]

DTC

U010087

Lost Communication with ECM/PCM "A" Missing Message

DTC

U010187

Lost Communication with TCM Missing Message

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

U013187

Lost Communication with Power Steering 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

DESCRIPTION

When a communication malfunction is detected between the forward recognition camera and an ECU or sensor, a DTC is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
U010087	Lost Communication with ECM/PCM "A" Missing Message	When the ignition switch is ON for 3 seconds or more, a communication malfunction between the forward recognition camera and the ECM continues for approximately 1 second or more.	CAN communication system
U010187	Lost Communication with TCM Missing Message	for Gasoline Model: When the ignition switch is ON for 3 seconds or more, a communication malfunction between the forward recognition camera and the ECM continues for approximately 8 seconds or more. for HV Model: When the ignition switch is ON for 3 seconds or more, a communication malfunction between the forward recognition camera and the hybrid vehicle control ECU assembly continues for approximately 8 seconds or more.	CAN communication system
U012587	Lost Communication with Multi-axis Acceleration Sensor Module Missing Message	When the vehicle speed is 1 km/h or more, a communication error between the forward recognition camera and yaw rate and acceleration sensor (airbag ECU assembly) continues for 5 seconds or more.	CAN communication system
U012687	Lost Communication with Steering Angle Sensor Module Missing Message	When the ignition switch is ON for 3 seconds or more, a communication malfunction between the forward recognition camera and the steering sensor continues for approximately 1 second or more.	CAN communication system
U012987	Lost Communication with Brake System Control Module Missing Message	for Gasoline Model: When the ignition switch is ON for 3 seconds or more, a communication malfunction between the forward recognition camera and the skid control ECU (brake actuator assembly) continues for approximately 1 second or more. for HV Model: When the ignition switch is ON for 3 seconds or more, a communication malfunction between the forward recognition camera and the No. 2 skid control ECU (brake actuator assembly) continues for approximately 1 second or more.	CAN communication system
U013187	Lost Communication with Power Steering Control Module Missing Message	When the ignition switch is ON for 3 seconds or more, a communication malfunction between the forward recognition camera and the rack and pinion power steering gear assembly (power steering ECU) continues for approximately 1 second or more.	CAN communication system
U015587	Lost Communication with Instrument Panel Cluster (IPC) Control Module Missing Message	When the ignition switch is ON for 3 seconds or more, a communication malfunction between the forward recognition camera and the combination meter assembly continues for 8 seconds or more.	CAN communication system
U029387	Lost Communication With Hybrid Powertrain Control Module Missing Message	When the ignition switch is ON for 3 seconds or more, a communication malfunction between the forward recognition camera and the hybrid vehicle control ECU assembly continues for approximately 2 seconds or more.	CAN communication system

PROCEDURE

CLEAR DTC

(a) Clear the DTCs.

Chassis > Lane Control > Clear DTCs

2.	CHECK FOR DTCs

(a) Make sure that the DTC detection conditions are met.

HINT:

If the detection conditions are not met, the system cannot detect the malfunction.

(b) Using the Techstream, check for DTCs.

Chassis > Lane Control > Trouble Codes

Result	Proceed to
DTC U010087, U010187, U012587, U012687, U012987, U013187, U015587 and U029387 are not output	A
DTC U010087, U010187, U012587, U012687, U012987, U013187, U015587 or U029387 is output	B

USE SIMULATION METHOD TO CHECK

GO TO CAN COMMUNICATION SYSTEM

for Gasoline Model: Click here

for HV Model: Click here