Toyota Yaris: Pre-collision System / Vehicle Control History

Toyota Yaris XP210 (2020-2025) Reapir and Service Manual / Vehicle Interior / Pre-collision / Pre-collision System / Vehicle Control History

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) Read the Vehicle Control History (RoB) according to the display on the GTS.

Body Electrical > Pre-Collision System > Utility

Tester Display
Vehicle Control History (RoB)

Vehicle Control History (RoB)

Multi-information Display	Code	Tester Display	Description	Diagnostic Note
Pre-Collision System Malfunction Visit Your Dealer	X2000	Yaw Rate Sensor Malfunction	Recorded when a yaw rate sensor malfunction signal was received from the skid control ECU (brake actuator assembly).	Perform troubleshooting for the vehicle stability control system.
Pre-Collision System Malfunction Visit Your Dealer	X2001	Steering Angle Sensor Malfunction	Recorded when a steering sensor malfunction was detected.	Perform troubleshooting for the vehicle stability control system.
Pre-Collision System Malfunction Visit Your Dealer	X2002	Accelerator Sensor Malfunction	Recorded when an SFI system malfunction signal was received from the ECM.	Perform troubleshooting for the SFI system.
Pre-Collision System Malfunction Visit Your Dealer	X2003	Brake Control System Malfunction	Recorded when an electronically controlled brake system malfunction signal was received from the skid control ECU (brake actuator assembly).	Perform troubleshooting for the vehicle stability control system.
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. Triangle Target: Flat Surface Target: 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 power steering ECU assembly and the millimeter wave radar sensor assembly.	Perform troubleshooting for the power steering system.
Pre-Collision System Malfunction Visit Your Dealer	X2081	Power Steering Control System for Steering Assist Invalid	Recorded when steering assist control by the power steering ECU assembly was unavailable.	Perform troubleshooting for the power steering system.
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 power steering ECU assembly was detected.	Perform troubleshooting for the power steering system.
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 power steering ECU assembly and the forward recognition camera.	Perform troubleshooting for the power steering system.
Pre-Collision System Malfunction Visit Your Dealer	XF01B	ECU Security Key Not Registered	ECU security key update not performed

CLEAR VEHICLE CONTROL HISTORY (PRE-COLLISION SYSTEM)

(a) According to the display on the GTS, clear the Vehicle Control History (RoB).

NOTICE:

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

Body Electrical > Pre-Collision System > Utility

Tester Display
Vehicle Control History (RoB)

VEHICLE CONTROL HISTORY (AIRBAG SYSTEM)

(a) Part of the control history can be confirmed using the Vehicle Control History.

Click here

Diagnostic Trouble Code Chart

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Stop Light Relay Actuator Stuck (C142571)

DESCRIPTION The stop light switch and skid control ECU (brake actuator assembly) output stop light signals. If the skid control ECU (brake actuator assembly) detects a malfunction in circuits related to the stop light, it informs the millimeter wave radar sensor assembly via CAN communication, and DTC C142571 is stored...

Other information:

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