Toyota Yaris: Lane Tracing Assist System / Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message (U023587)

Toyota Yaris XP210 (2020-2022) Reapir and Service Manual / Engine & Hybrid System / Cruise Control / Lane Tracing Assist System / Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message (U023587)

DESCRIPTION

The forward recognition camera and millimeter wave radar sensor assembly communicate via CAN communication. If there is an error in the communication with the millimeter wave radar sensor assembly, the forward recognition camera stores DTC U023587.

DTC No.

Detection Item

DTC Detection Condition

Trouble Area

U023587

Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message

When the ignition switch is ON for 3 seconds or more, a communication data malfunction between the forward recognition camera and the millimeter wave radar sensor assembly continues for approximately 2 seconds or more.

  • Wire harness and connector
  • Forward Recognition Camera
  • Millimeter Wave Radar Sensor Assembly

Pattern

DTC output part name

(Display on GTS)

Suspected Area

(Malfunction Status)

Forward Recognition Camera

Millimeter Wave Radar Sensor Assembly

Lane Control

Forward Recognition Camera (Front Lighting Control)

Pre-Collision System

Radar Cruise2

U023587

U023587

U023A87

U023A87

○: DTC is output

-: DTC is not output

Pattern1

Harness or connector (Open or short)

Forward recognition camera (Internal malfunction)

Millimeter wave radar sensor assembly (Internal malfunction)

Pattern2

-

-

Forward recognition camera (Internal malfunction)

Millimeter wave radar sensor assembly (Internal malfunction)

HINT:

If the DTCs are output simultaneously, the inspection area can be narrowed down.

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

  • When replacing the forward recognition camera, always replace it with a new one. If a forward recognition camera which was installed to another vehicle is used, the information stored in the forward recognition camera will not match the information from the vehicle and a DTC may be stored.
  • When the forward recognition camera is replaced with a new one or the windshield glass is replaced or removed/installed, make sure to read Before Starting Adjustment, then perform optical axis alignment for the forward recognition camera and clear the vehicle control history for each system.

    HINT:

    Forward recognition camera axis alignment can be performed by using either One Time Recognition, Sequential Recognition or Driving Adjustment.

    One Time Recognition: Click here

    Sequential Recognition: Click here

    Driving Adjustment: Click here

  • When replacing the millimeter wave radar sensor assembly, always replace it with a new one. If a millimeter wave radar sensor assembly which was installed to another vehicle is used, the information stored in the millimeter wave radar sensor assembly will not match the information from the vehicle and a DTC may be stored.
  • When the millimeter wave radar sensor assembly has been replaced with a new one, it is necessary to perform millimeter wave radar sensor assembly beam axis alignment and to clear the vehicle control history. Before performing the Driving Adjustment, make sure to read Before Starting Driving Adjustment.

    HINT:

    Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment.

    Triangle Target: Click here

    Flat Surface Target: Click here

    Driving Adjustment: Click here

  • After the ignition switch is turned off, there may be a waiting time before disconnecting the negative (-) auxiliary battery terminal.

    Click here

    HINT:

    When disconnecting and reconnecting the battery, there is an automatic learning function that completes learning when the respective system is used.

    Click here

HINT:

If there are communication malfunctions for systems other than the forward recognition camera and millimeter wave radar sensor assembly, refer to "HOW TO PROCEED WITH TROUBLESHOOTING" for the CAN Communication System.

Click here

PROCEDURE

1.

CHECK FOR DTC

(a) Read each DTC and check the diagnosis pattern using the table below.

Chassis > Lane Control > Trouble Codes Body Electrical > Front Recognition Camera (Front Lighting Control) > Trouble Codes Body Electrical > Pre-Collision System > Trouble Codes Powertrain > Radar Cruise2 > Trouble Codes

Pattern

DTC output part name

(Display on GTS / Output DTC)

Lane Control

Forward Recognition Camera (Front Lighting Control)

Pre-Collision System

Radar Cruise2

Pattern 1

U023587

U023587

U023A87

U023A87

Pattern 2

U023587

U023587

-

-

Result

Proceed to

Pattern 1

A

Pattern 2

B

B

GO TO STEP 4

A

2.

CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA)

(a) Disconnect the cable from the negative (-) auxiliary battery terminal.

(b) Disconnect the V10 forward recognition camera connector.

(c) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Tester Connection

Condition

Specified Condition

V10-6 (CANH) - V10-12 (CANL)

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

V10-6 (CANH) - Body ground

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

V10-12 (CANL) - Body ground

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

V10-6 (CANH) - +B

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

V10-12 (CANL) - +B

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

3.

CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

(a) Disconnect the cable from the negative (-) auxiliary battery terminal.

(b) Disconnect the B8 millimeter wave radar sensor assembly connector.

(c) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Tester Connection

Condition

Specified Condition

B8-5 (CA1P) - B8-6 (CA1N)

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

B8-5 (CA1P) - Body ground

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

B8-6 (CA1N) - Body ground

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

B8-5 (CA1P) - +B

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

B8-6 (CA1N) - +B

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

NG

REPAIR OR REPLACE CAN BUS SUB LINE OR CONNECTOR

4.

CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY

(a) Disconnect the V10 forward recognition camera connector.

(b) Using an oscilloscope, check the waveform.

Measurement Condition:

Tester Connection

Condition

Tool Setting

Specified Condition

V10-6 (CANH) - V10-12 (CANL)

Ignition switch ON

1V/DIV., 100μs./DIV.

Waveform generation

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

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