Last Modified: 01-30-2024 6.11:8.1.0 Doc ID: RM1000000021JCO
Model Year Start: 2022 Model: RAV4 Prod Date Range: [12/2021 - 10/2022]
Title: PRE-COLLISION: PRE-COLLISION SYSTEM: FAIL-SAFE CHART; 2022 MY RAV4 RAV4 HV [12/2021 - 10/2022]

FAIL-SAFE CHART

FAIL-SAFE FUNCTION

(a) When a malfunction occurs in the pre-collision system, a message will be displayed on the multi-information display and the pre-collision system will be disabled depending on the malfunction.

Warning Message

Cause

DTC/RoB

Conditions to Return to Normal

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

C142571

for HV Model:

  • The system stops receiving stop light drive relay malfunction signals from the brake actuator assembly (No. 2 skid control ECU) after turning the ignition switch from off to ON

for Gasoline Model:

  • The system stops receiving stop light drive relay malfunction signals from the brake actuator assembly (skid control ECU) after turning the ignition switch from off to ON

U010087

Communication with ECM is restored to normal

U012587

Communication with the yaw rate and acceleration sensor (airbag ECU assembly) is restored to normal

U012687

Communication with steering sensor is restored to normal

U012987

for HV Model:

  • Communication with the brake actuator assembly (No. 2 skid control ECU) is restored to normal

for Gasoline Model:

  • Communication with the brake actuator assembly (skid control ECU) is restored to normal

U015587

Communication with the combination meter assembly returns to normal

U023587

for HV Model:

  • When entering test mode, the brake actuator assembly (No. 2 skid control ECU) has determined that the pre-collision system is installed in the vehicle.

for Gasoline Model:

  • When entering test mode, the brake actuator assembly (skid control ECU) has determined that the pre-collision system is installed in the vehicle.

U023A87

Communication with the forward recognition camera returns to normal.

U029387

Communication with the hybrid vehicle control ECU assembly is returns to normal

U030051

for HV Model:

  • Approximately 3 seconds or more elapse after the millimeter wave radar sensor assembly judges the vehicle information sent from the hybrid vehicle control ECU assembly

for Gasoline Model:

  • Approximately 3 seconds or more elapse after the millimeter wave radar sensor assembly judges the vehicle information sent from the ECM

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

U030057

for HV Model:

  • The vehicle information from the hybrid vehicle control ECU assembly and the information stored by the millimeter wave radar sensor assembly match

for Gasoline Model:

  • The vehicle information from the ECM and the information stored by the millimeter wave radar sensor assembly match

U041881

for HV Model:

  • The system stops receiving brake control system malfunction signals from the brake actuator assembly (No. 2 skid control ECU) after turning the ignition switch from off to ON

for Gasoline Model:

  • The system stops receiving brake control system malfunction signals from the brake actuator assembly (skid control ECU) after turning the ignition switch from off to ON

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

X2000

for HV Model:

  • The system stops receiving yaw rate sensor malfunction signals from the brake actuator assembly (No. 2 skid control ECU) or yaw rate and acceleration sensor (airbag ECU assembly) after turning the ignition switch from off to ON

for Gasoline Model:

  • The system stops receiving yaw rate sensor malfunction signals from the brake actuator assembly (skid control ECU) or yaw rate and acceleration sensor (airbag ECU assembly) after turning the ignition switch from off to ON

X2001

The ignition switch is turned to ON after a signal indicating a malfunction of the steering sensor is no longer received from the steering angle sensor.

X2002

for HV Model:

  • An hybrid control system malfunction signal is no longer received from the hybrid vehicle control ECU assembly

for Gasoline Model:

  • An SFI system malfunction signal is no longer received from the ECM

X2003

for HV Model:

  • A signal indicating an vehicle stability control system malfunction is no longer received from the brake actuator assembly (No. 2 skid control ECU)

for Gasoline Model:

  • A signal indicating an vehicle stability control system malfunction is no longer received from the brake actuator assembly (skid control ECU)

X2012

The ignition switch is turned to ON after it is determined that the forward recognition camera is no longer malfunctioning.

X2013

The ignition switch is turned to ON after it is determined that the optical axis of the forward recognition camera is no longer misaligned.

X2014

It is determined that the forward recognition camera optical axis is calibrated.

X2018

The ignition switch is turned to ON after it is determined that the heater of the forward recognition camera is no longer malfunctioning.

X2020

The system stops receiving destination malfunction signals from the millimeter wave radar sensor assembly.

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

X2021

The ignition switch is turned to ON after a signal from the millimeter wave radar sensor assembly indicating a malfunction is no longer received.

X2022

The ignition switch is turned to ON after a signal from the millimeter wave radar sensor assembly indicating beam axis misalignment is no longer received.

X2023

A signal from the millimeter wave radar sensor assembly indicating that beam axis has not been calibrated is no longer received.

X202A

The destination not programmed signal is no longer received from the millimeter wave radar sensor assembly.

X203E

The signal indicating communication malfunction with the power steering ECU assembly is no longer received.

X2074

The signal from the power steering ECU assembly indicating communication malfunction with the millimeter wave radar sensor assembly is no longer received.

X2081

After the ignition switch is turned from off to ON, the signal indicating power steering system steering assist unavailable is no longer received from the power steering ECU assembly.

X2082

After the ignition switch is turned from off to ON, the signal indicating steering assist angle malfunction is no longer received from the power steering ECU assembly.

"Pre-Collision System Unavailable" is displayed

Millimeter wave radar sensor assembly axis is misaligned

X2024

Millimeter wave radar sensor beam axis adjustment is completed and beam axis learning is completed

"Pre-Collision System Unavailable Clean Sensor" is displayed

Foreign matter attached to millimeter wave radar sensor assembly

X2026

Millimeter wave radar sensor assembly is cleaned

"Pre-Collision System Unavailable" is displayed

Millimeter wave radar sensor assembly temperature malfunction

X2027

Millimeter wave radar sensor temperature returns to normal

Millimeter wave radar sensor assembly low voltage malfunction

X2028

Millimeter wave radar sensor voltage returns to normal

Front Radar Sensor Temporary Unavailable (Radio Wave Interference)

X202B

The vehicle is moved to a location without radio frequency interference.

"Front Camera Unavailable See Owner's Manual" is displayed
  • Windshield glass is dirty or fogged up
  • Forward recognition camera is dirty or fogged up

X2015

Forward recognition camera or area of windshield glass in front of forward recognition camera is cleaned or defogged

"Front Camera Unavailable" is displayed

Forward recognition camera temperature outside of operational range

X2016

Forward recognition camera temperature returns to normal

Outside of forward recognition camera guaranteed operating voltage

X2017

Forward recognition camera voltage returns to normal