PRE-COLLISION: PRE-COLLISION SYSTEM: VEHICLE CONTROL HISTORY; 2023 - 2025 MY RAV4 RAV4 HV [10/2022

Last Modified: 05-08-2025	6.11:8.1.0	Doc ID: RM1000000026QZ4
Model Year Start: 2023	Model: RAV4	Prod Date Range: [10/2022 - ]
Title: PRE-COLLISION: PRE-COLLISION SYSTEM: VEHICLE CONTROL HISTORY; 2023 - 2025 MY RAV4 RAV4 HV [10/2022 - ]

VEHICLE CONTROL HISTORY

NOTICE:

Repairing or replacing related parts may cause Vehicle Control History (RoB) codes to be stored.
Make sure to record any output Vehicle Control History codes before clearing them and checking the Vehicle Control History 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)

(e) According to the display on the Techstream, read the 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	Recorded when the millimeter wave radar sensor assembly received a malfunction signal of yaw rate and acceleration sensor (airbag ECU assembly) output from yaw rate and acceleration sensor (airbag ECU assembly).	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 millimeter wave radar sensor assembly 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 millimeter wave radar sensor assembly received a malfunction signal of accelerator sensor output from hybrid vehicle control ECU assembly. for Gasoline Model: Recorded when millimeter wave radar sensor assembly 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 millimeter wave radar sensor assembly received a malfunction signal of brake control system output from brake actuator assembly (No. 2 skid control ECU). for Gasoline Model: Recorded when millimeter wave radar sensor assembly 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	X2012	Front Recognition Camera Malfunction	Recorded when the forward recognition camera judged that it had a hardware malfunction.	Perform troubleshooting for the front camera system.
Pre-Collision System Malfunction Visit Your Dealer	X2013	Front Recognition Camera Optical Axis Misalignment Malfunction	Recorded when the forward recognition camera judged that its optical axis was misaligned.	Refer to DTC C1AA800 in Front Camera System
Pre-Collision System Malfunction Visit Your Dealer	X2014	Front Recognition Camera Optical Axis Not Adjusted	Recorded when the forward recognition camera optical axis alignment has not been performed.	If this Vehicle Control History code is output, perform forward recognition camera optical axis adjustment, clear the Vehicle Control History and then check that this code is not stored again. HINT: Forward recognition camera axis alignment can be performed by using either One Time Recognition, Sequential Recognition or Driving Adjustment. One Time Recognition: Sequential Recognition: Driving Adjustment:
Front Camera Low Visibility Unavailable See Owner's Manual	X2015	Front Recognition Camera Dirt	Recorded when system operation was temporarily suspended due to the forward recognition camera not being able to see ahead of the vehicle while driving.	Refer to Vehicle Control History code X2015 of Front Camera System.
Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature	X2016	Front Recognition Camera Outside Guaranteed Operating Temperature	Recorded when system operation was temporarily suspended due to the forward recognition camera being excessively hot or cold.	Refer to Vehicle Control History code X2016 of Front Camera System.
Front Camera Unavailable See Owner's Manual	X2017	Front Recognition Camera Outside Guaranteed Operating Voltage	Recorded when system operation was temporarily suspended due to the forward recognition camera power source voltage being excessively high or low.	Refer to Vehicle Control History code X2017 of Front Camera System.
Pre-Collision System Malfunction Visit Your Dealer	X2018	Front Recognition Camera Heater Malfunction	Recorded when a malfunction in the forward recognition camera heater was detected.	Perform troubleshooting for the front camera system.
Pre-Collision System Malfunction Visit Your Dealer	X2020	Front Radar Sensor Destination Malfunction	Recorded when a destination malfunction was detected in the millimeter wave radar sensor assembly.	Perform troubleshooting for the front radar sensor system.
Pre-Collision System Malfunction Visit Your Dealer	X2021	Front Radar Sensor Malfunction	Recorded when a hardware malfunction was detected in the millimeter wave radar sensor assembly.	Perform troubleshooting for the front radar sensor system.
Pre-Collision System Malfunction Visit Your Dealer	X2022	Front Radar Sensor Optical Axis Misalignment Malfunction	Recorded when beam axis misalignment of the millimeter wave radar sensor assembly was detected.	Refer to DTC C1A1100 in front radar sensor system.
Pre-Collision System Malfunction Visit Your Dealer	X2023	Front Radar Sensor Optical Axis Not Adjusted	Recorded when it was detected that millimeter wave radar sensor assembly beam axis alignment had not been performed.	If this code is output, perform millimeter wave radar sensor assembly beam axis adjustment, clear the Vehicle Control History and then check that this code is not output again. HINT: Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment. One Time Recognition: Sequential Recognition: Driving Adjustment:
Pre-Collision System Radar In Self Calibration Unavailable See Owner's Manual	X2024	Front Radar Sensor Temporary Unavailable (Vertical Direction Optical Axis Misalignment)	Recorded when system operation was temporarily suspended due to vertical misalignment of the millimeter wave radar sensor assembly beam axis.	Refer to Vehicle Control History code X2024 of front radar sensor System.
Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor	X2026	Front Radar Sensor Dirt	Recorded when system operation was temporarily suspended due to the millimeter wave radar sensor assembly not being able to detect objects while driving.	Refer to Vehicle Control History code X2026 of front radar sensor system.
Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual	X2027	Front Radar Sensor Outside Guaranteed Operating Temperature	Recorded when a sensor temperature abnormality determination was made due to excessively high or low temperatures.	Refer to Vehicle Control History code X2027 of front radar sensor system.
Pre-Collision System Unavailable See Owner's Manual	X2028	Front Radar Sensor Outside Guaranteed Operating Voltage	Recorded when a sensor voltage abnormality determination was made due to excessively high or low voltages.	Refer to Vehicle Control History code X2028 of front radar sensor system.
Pre-Collision System Malfunction Visit Your Dealer	X2074	Communication Error from Pre-Collision System to Power Steering Control System	Recorded when a communication malfunction was detected between the rack and pinion power steering gear assembly (power steering ECU) and the millimeter wave radar sensor assembly.	Perform troubleshooting for the power steering system. for Type A: for Type B:
Pre-Collision System Malfunction Visit Your Dealer	X2081	Power Steering Control System for Steering Assist Invalid	Recorded when steering assist control by the rack and pinion power steering gear assembly (power steering ECU) was unavailable.	Perform troubleshooting for the power steering system. for Type A: for Type B:
Pre-Collision System Malfunction Visit Your Dealer	X2082	Power Steering Control System for Steering Assist Steering Angle Malfunction	Recorded when a steering assist angle malfunction from the rack and pinion power steering gear assembly (power steering ECU) was detected.	Perform troubleshooting for the power steering system. for Type A: for Type B:
Pre-Collision System Malfunction Visit Your Dealer	X202A	Front Radar Sensor Destination Not Programmed	Recorded when it was detected that the millimeter wave radar sensor assembly destination information had not been programmed.	Perform troubleshooting for the front radar sensor system.
Pre-Collision System Unavailable See Owner's Manual	X202B	Front Radar Sensor Temporary Unavailable (Radio Wave Interference)	Recorded when system operation was temporarily suspended due to nearby radar systems causing radio frequency interference with the millimeter wave radar sensor assembly.	Refer to Vehicle Control History code X202B of front radar sensor system.
Pre-Collision System Malfunction Visit Your Dealer	X203E	Communication Error from Power Steering Control System to Front Recognition Camera System	Recorded when a communication malfunction was detected between the rack and pinion power steering gear assembly (power steering ECU) and the forward recognition camera.	Perform troubleshooting for the power steering system. for Type A: for Type B:

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).

Body Electrical > Pre-Collision System > Utility

Tester Display
Vehicle Control History (RoB)

(e) According to the display on the Techstream, clear the Vehicle Control History (RoB).

NOTICE:

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

VEHICLE CONTROL HISTORY (SRS AIRBAG)

HINT:

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

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:

Body Electrical > Pre-Collision System > Utility