Toyota Yaris: Lane Tracing Assist System / Vehicle Control History

Toyota Yaris XP210 (2020-2024) 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...

Other information:

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