Toyota Yaris: Dynamic Radar Cruise Control System / Vehicle Control History

Toyota Yaris XP210 (2020-2022) Reapir and Service Manual / Engine & Hybrid System / Cruise Control / Dynamic Radar Cruise Control System / Vehicle Control History

VEHICLE CONTROL HISTORY

NOTICE:

Make sure to record any output Vehicle Control History codes before clearing them and checking the Vehicle Control History again.

CHECK VEHICLE CONTROL HISTORY (DYNAMIC RADAR CRUISE CONTROL SYSTEM)

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

Powertrain > Radar Cruise2 > Utility

Tester Display

Vehicle Control History (RoB)

Vehicle Control History (RoB)

Multi-information Display

Code

Tester Display

Description

Diagnostic Note

Cruise Control Malfunction Visit Your Dealer

X2000

Yaw Rate Sensor Malfunction

A yaw rate sensor malfunction signal was received from the skid control ECU (brake actuator assembly).

Refer to How to Proceed with Troubleshooting in Vehicle Stability Control System.

Cruise Control Malfunction Visit Your Dealer

X2012

Front Recognition Camera Malfunction

A hardware malfunction was detected in the forward recognition camera.

Refer to How to Proceed with Troubleshooting in Front Camera System.

Cruise Control Malfunction Visit Your Dealer

X2013

Front Recognition Camera Optical Axis Misalignment Malfunction

Optical axis misalignment of the forward recognition camera was detected.

Refer to DTC C1AA800 in Front Camera System.

Cruise Control Malfunction Visit Your Dealer

X2014

Front Recognition Camera Optical Axis Not Adjusted

Forward recognition camera optical axis adjustment has not been performed.

If this 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: Click here

Sequential Recognition: Click here

Driving Adjustment: Click here

Radar Cruise Control Unavailable See Owner's Manual

X2015

Front Recognition Camera Dirt

System operation was temporarily suspended due to the forward recognition camera not being able to detect objects.

Refer to vehicle control history code X2015 in Front Camera System.

Radar Cruise Control Unavailable

X2016

Front Recognition Camera Outside Guaranteed Operating Temperature

System operation was temporarily suspended due to the forward recognition camera being excessively hot or cold.

Refer to vehicle control history code X2016 in Front Camera System.

Radar Cruise Control Unavailable

X2017

Front Recognition Camera Outside Guaranteed Operating Voltage

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 in Front Camera System.

Cruise Control Malfunction Visit Your Dealer

X2020

Front Radar Sensor Destination Malfunction

A destination not programmed signal was received from the millimeter wave radar sensor assembly.

Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.

Cruise Control Malfunction Visit Your Dealer

X2021

Front Radar Sensor Malfunction

A hardware malfunction was detected in the millimeter wave radar sensor assembly.

Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.

Cruise Control Malfunction Visit Your Dealer

X2022

Front Radar Sensor Optical Axis Misalignment Malfunction

Optical axis misalignment of the millimeter wave radar sensor assembly was detected.

Refer to DTC C1A1100 in Front Radar Sensor System.

Cruise Control Malfunction Visit Your Dealer

X2023

Front Radar Sensor Optical Axis Not Adjusted

It was detected that millimeter wave radar sensor assembly beam axis alignment had not been performed.

If this history is output, delete the vehicle control history after adjusting the beam axis and check that the history 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: Click here

Flat Surface Target: Click here

Driving Adjustment: Click here

Radar Cruise Control Unavailable

X2024

Front Radar Sensor Temporary Unavailable (Vertical Direction Optical Axis Misalignment)

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 in Front Radar Sensor System.

Radar Cruise Control Unavailable See Owner's Manual

X2026

Front Radar Sensor Dirt

The forward recognition camera received a millimeter wave radar sensor assembly dirty malfunction signal from the millimeter wave radar sensor assembly.

Refer to vehicle control history code X2026 in Front Radar Sensor System.

Radar Cruise Control Unavailable

X2027

Front Radar Sensor Outside Guaranteed Operating Temperature

The forward recognition camera received a temperature malfunction signal from the millimeter wave radar sensor assembly.

Refer to vehicle control history code X2027 in Front Radar Sensor System.

Radar Cruise Control Unavailable

X2028

Front Radar Sensor Outside Guaranteed Operating Voltage

The forward recognition camera received a voltage malfunction signal from the millimeter wave radar sensor assembly.

Refer to vehicle control history code X2028 in Front Radar Sensor System.

Cruise Control Malfunction Visit Your Dealer

X202A

Front Radar Sensor Destination Not Programmed

It was detected that the millimeter wave radar sensor assembly destination information had not been programmed.

Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.

Radar Cruise Control Unavailable

X202B

Front Radar Sensor Temporary Unavailable (Radio Wave Interference)

System operation was temporarily suspended due to radio frequency interference with the millimeter wave radar sensor assembly.

Refer to vehicle control history code X202B in Front Radar Sensor System.

Cruise Control Malfunction Visit Your Dealer

X202E

Front Radar Sensor Engine Type Information Not Programmed

An engine type information not programmed signal was received from the millimeter wave radar sensor assembly.

Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.

Cruise Control Malfunction Visit Your Dealer

X202F

Front Radar Sensor Engine Type Information Malfunction

An engine type information abnormal signal was received from the millimeter wave radar sensor assembly.

Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.

Radar Cruise Control Unavailable

X20AE

Radar Cruise Control Invalidation for Undetectable Vehicle Traveling Directly Ahead

The forward recognition camera stores a cancellation history of control of vehicle speed when the dynamic cruise control system temporarily could not detect the preceding vehicle due to environmental influence such as bad weather.

  1. If this code is output, check for dynamic radar cruise control system DTCs or vehicle control history for other vehicle control systems.

    Check for DTCs:

    Vehicle Control History: Refer to VEHICLE CONTROL HISTORY

  2. If DTCs for the dynamic radar cruise control system or vehicle control history for other vehicle control systems are output, refer to the respective troubleshooting procedures.

    Diagnostic Trouble Code Chart:

    Vehicle Control History: Refer to VEHICLE CONTROL HISTORY

  3. If DTCs for the dynamic radar cruise control system or vehicle control history for other vehicle control systems are not output, this code may have been stored due to environmental influence such as bad weather causing the system to cancel control of vehicle speed.

Cruise Control Malfunction Visit Your Dealer

XF01B

ECU Security Key Not Registered

ECU security key has not been registered.

CLEAR VEHICLE CONTROL HISTORY (DYNAMIC RADAR CRUISE CONTROL SYSTEM)

NOTICE:

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

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

Powertrain > Radar Cruise2 > Utility

Tester Display

Vehicle Control History (RoB)

CHECK VEHICLE CONTROL HISTORY (AIRBAG SYSTEM)

HINT:

Part of the control history can be confirmed using the vehicle control history.

Click here

    Diagnostic Trouble Code Chart

    D..

    Brake Switch "A" Circuit Open (P057113)

    DESCRIPTION When the brakes are applied by the dynamic radar cruise control system, the skid control ECU (brake actuator assembly) operates the stop light switch assembly (stop light control relay) to illuminate the stop lights...

    Other information:

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