Toyota Yaris: Lane Tracing Assist System / Vehicle Control History

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

VEHICLE CONTROL HISTORY

NOTICE:

When checking the vehicle control history, first record the output codes and after clearing the history, check the output history again.

CHECK VEHICLE CONTROL HISTORY (LANE TRACING ASSIST SYSTEM)

(a) According to the display on the GTS, check the vehicle control history.

Chassis > Lane Control > Utility

Tester Display

Vehicle Control History (RoB)

Vehicle Control History (RoB)

Multi-information Display

Code

Tester Display

Description

Diagnostic Note

*1: The lane tracing assist system does not output multi-information display requests to the combination meter assembly. Instead, the pre-collision system outputs "Front Camera Low Visibility Unavailable See Owner's Manual", "Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature" and "Front Camera Unavailable See Owner's Manual" display requests.

LTA Malfunction Visit Your Dealer

X2000

Yaw Rate Sensor Malfunction

History of yaw rate sensor malfunction signals output by the skid control ECU (brake actuator assembly)

Refer to How to Proceed with Troubleshooting for the vehicle stability control system.

LTA Malfunction Visit Your Dealer

X2001

Steering Angle Sensor Malfunction

The forward recognition camera received a steering sensor malfunction signal from the steering sensor.

Refer to How to Proceed with Troubleshooting for the vehicle stability control system.

LTA Unavailable

X2003

Brake Control System Malfunction

History of brake system malfunction signals output by the skid control ECU (brake actuator assembly)

Refer to How to Proceed with Troubleshooting for the vehicle stability control system.

LTA Malfunction Visit Your Dealer

X2004

Speed Sensor Malfunction

History of speed sensor malfunction signals output by the skid control ECU (brake actuator assembly)

Refer to How to Proceed with Troubleshooting for the vehicle stability control system.

LTA Unavailable

X2008

Steering Assist Request Invalid

History of power steering ECU assembly low voltage malfunction signals output by the power steering system

Refer to How to Proceed with Troubleshooting for the power steering system.

LTA Malfunction Visit Your Dealer

X2011

Front Recognition Camera System Software Not Programmed

History of vehicle specification unconfirmed judgment by the forward recognition camera

Refer to How to Proceed with Troubleshooting for the front camera system.

LTA Malfunction Visit Your Dealer

X2012

Front Recognition Camera Malfunction

History of forward recognition camera hardware damage judgment by the forward recognition camera

Refer to How to Proceed with Troubleshooting for the front camera system.

LTA Malfunction Visit Your Dealer

X2013

Front Recognition Camera Optical Axis Misalignment Malfunction

History of forward recognition camera axis misaligned judgment by the forward recognition camera

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

LTA Malfunction Visit Your Dealer

X2014

Front Recognition Camera Optical Axis Not Adjusted

History of forward recognition camera axis not adjusted judgment by the forward recognition camera

If this DTC is output, clear the history after performing axis adjustment and check that no DTC is output.

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

No Message*1

(LTA indicator light (yellow) illuminates)

X2015

Front Recognition Camera Dirt

History of forward recognition camera dirty judgment judged by the forward recognition camera

Refer to How to Proceed with Troubleshooting for the front camera system.

No Message*1

(LTA indicator light (yellow) illuminates)

X2016

Front Recognition Camera Outside Guaranteed Operating Temperature

History of forward recognition camera temperature malfunction judgment by the forward recognition camera

Refer to How to Proceed with Troubleshooting for the front camera system.

No Message*1

(LTA indicator light (yellow) illuminates)

X2017

Front Recognition Camera Outside Guaranteed Operating Voltage

History of forward recognition camera voltage malfunction judgment by the forward recognition camera

Refer to How to Proceed with Troubleshooting for the front camera system.

LTA Malfunction Visit Your Dealer

X201D

Front Recognition Camera System Software Malfunction

History of forward recognition camera specification malfunction judgment by the forward recognition camera

Refer to How to Proceed with Troubleshooting for the front camera system.

LTA Malfunction Visit Your Dealer

X2020

Front Radar Sensor Destination Malfunction

History of received millimeter wave radar sensor assembly destination malfunctions

Refer to How to Proceed with Troubleshooting for the front radar sensor system.

LTA Malfunction Visit Your Dealer

X2021

Front Radar Sensor Malfunction

History of millimeter wave radar sensor assembly malfunction signals output by the millimeter wave radar sensor assembly

Refer to How to Proceed with Troubleshooting for the front radar sensor system.

LTA Malfunction Visit Your Dealer

X2022

Front Radar Sensor Optical Axis Misalignment Malfunction

History of millimeter wave radar sensor assembly axis misaligned malfunction signals output by the millimeter wave radar sensor assembly

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

LTA Malfunction Visit Your Dealer

X2023

Front Radar Sensor Optical Axis Not Adjusted

History of millimeter wave radar sensor assembly axis not adjusted signals output by the millimeter wave radar sensor assembly

If this DTC is output, clear the vehicle control history after performing millimeter wave radar sensor assembly adjustment and check that no DTC is output.

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

LTA Unavailable

X2026

Front Radar Sensor Dirt

History of millimeter wave radar sensor assembly dirty signals output by the millimeter wave radar sensor assembly

Refer to How to Proceed with Troubleshooting for the front radar sensor system.

LTA Unavailable

X2027

Front Radar Sensor Outside Guaranteed Operating Temperature

History of millimeter wave radar sensor assembly temperature malfunction signals output by the millimeter wave radar sensor assembly

Refer to How to Proceed with Troubleshooting for the front radar sensor system.

LTA Unavailable

X2028

Front Radar Sensor Outside Guaranteed Operating Voltage

History of millimeter wave radar sensor assembly voltage malfunction signals output by the millimeter wave radar sensor assembly

Refer to How to Proceed with Troubleshooting for the front radar sensor system.

LTA Malfunction Visit Your Dealer

X202A

Front Radar Sensor Destination Not Programmed

A destination undefined signal was received from the millimeter wave radar sensor assembly

Refer to How to Proceed with Troubleshooting for the front radar sensor system.

LTA Malfunction Visit Your Dealer

X204A

Acceleration Sensor Malfunction

History of acceleration sensor malfunction signals output by the skid control ECU (brake actuator assembly)

Refer to How to Proceed with Troubleshooting for the vehicle stability control system.

LTA Malfunction Visit Your Dealer

X2073

Communication Error from Lane Control Module to Power Steering Control System

History of communication malfunctions received from the power steering ECU assembly (forward recognition camera → power steering ECU assembly)

Refer to How to Proceed with Troubleshooting for the power steering system.

LTA Malfunction Visit Your Dealer

X2081

Power Steering Control System for Steering Assist Invalid

History of steering assist power steering system unavailable malfunction signals output by the power steering system

Refer to How to Proceed with Troubleshooting for the power steering system.

LTA Malfunction Visit Your Dealer

X2082

Power Steering Control System for Steering Assist Steering Angle Malfunction

History of steering assist power steering system actual steering angle malfunction signals output by the power steering system

Refer to How to Proceed with Troubleshooting for the power steering system.

LTA Malfunction Visit Your Dealer

X2084

Meter Speed Tolerance Malfunction

History of meter speed tolerance malfunction signals output by the combination meter assembly

Refer to How to Proceed with Troubleshooting for the meter / gauge system.

LTA Unavailable

X2160

Communication Error by ECU Security Key Not Registered (Engine Control Module)

ECU security key has not been registered

LTA Unavailable

X2161

Communication Error by ECU Security Key Not Registered (Front Radar Sensor)

ECU security key has not been registered

LTA Unavailable

X2163

Communication Error by ECU Security Key Not Registered (TCM)

ECU security key has not been registered

LTA Malfunction Visit Your Dealer

XF01B

ECU Security Key Not Registered

ECU security key has not been registered

CLEAR VEHICLE CONTROL HISTORY (LANE TRACING ASSIST SYSTEM)

NOTICE:

When the vehicle control history is cleared, all the stored history items are cleared.

(a) According to the display on the GTS, check the vehicle control history.

Chassis > Lane Control > Utility

Tester Display

Vehicle Control History (RoB)

VEHICLE CONTROL HISTORY (SRS AIRBAG SYSTEM)

HINT:

Some of the control history can be checked from "Vehicle Control History".

Click here

    Diagnostic Trouble Code Chart

    D..

    Lost Communication with ECM/PCM "A" Missing Message (U010087,U010187,U012687,U012987,U013187,U015587)

    DESCRIPTION When a communication malfunction is detected between the forward recognition camera and an ECU or sensor, a DTC is stored. DTC No. Detection Item DTC Detection Condition Trouble Area U010087 Lost Communication with ECM/PCM "A" Missing Message When the ignition switch is ON for 3 seconds or more, a communication malfunction between the forward recognition camera and the ECM continues for approximately 2 seconds or more...

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    Categories

    Supplemental Restraint System (SRS) Precautions

    The front and side supplemental restraint systems (SRS) include different types of air bags. Please verify the different types of air bags which are equipped on your vehicle by locating the “SRS AIRBAG” location indicators. These indicators are visible in the area where the air bags are installed.

    The air bags are installed in the following locations:

    The steering wheel hub (driver air bag) The front passenger dashboard (front passenger air bag) The outboard sides of the front seatbacks (side air bags) The front and rear window pillars, and the roof edge along both sides (curtain air bags)

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