CRUISE CONTROL: LANE DEPARTURE ALERT SYSTEM(w/ Steering Control): C1AA6; Yaw Rate Sensor Zero Point Malfunction; 2018 - 2020 MY Sienna [11/2017

Last Modified: 04-05-2023	6.11:8.1.0	Doc ID: RM1000000018K3Q
Model Year Start: 2018	Model: Sienna	Prod Date Range: [11/2017 - ]
Title: CRUISE CONTROL: LANE DEPARTURE ALERT SYSTEM(w/ Steering Control): C1AA6; Yaw Rate Sensor Zero Point Malfunction; 2018 - 2020 MY Sienna [11/2017 - ]

DTC

C1AA6

Yaw Rate Sensor Zero Point Malfunction

DESCRIPTION

The skid control ECU (brake actuator assembly) receives vehicle stability signals from the yaw rate sensor. If the skid control ECU (brake actuator assembly) detects a yaw rate sensor zero point malfunction signal, it informs the forward recognition camera via CAN communication, and DTC C1AA6 is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1AA6	Yaw Rate Sensor Zero Point Malfunction	When all of the following conditions are met: 2 seconds after the ignition switch is turned to ON The vehicle speed is 1 km/h or 1 mph or more. A signal from the skid control ECU (brake actuator assembly) indicating a malfunction in the yaw rate sensor zero point is detected by the forward recognition camera for 5 seconds or more.	Vehicle stability control system Skid control ECU (Brake actuator assembly) Forward recognition camera

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. As a result, a DTC may be stored.
If the forward recognition camera has been replaced with a new one, be sure to perform forward recognition camera adjustment.
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The lane departure alert system uses the CAN communication system. First, confirm that there are no malfunctions in the CAN communication system. Refer to How to Proceed with Troubleshooting.
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PROCEDURE

1.	CHECK FOR DTCs (VEHICLE STABILITY CONTROL SYSTEM)

HINT:

If DTC C1AA6 is stored, the vehicle stability control system may be malfunctioning. Check for DTCs related to the vehicle stability control system first.

(a) Check for DTCs.

Click here

Result	Proceed to
Vehicle stability control system DTCs are not output	A
Vehicle stability control system DTCs are output	B

GO TO VEHICLE STABILITY CONTROL SYSTEM

2.	CHECK FOR DTCs (LANE DEPARTURE ALERT SYSTEM)

(a) Clear the DTCs.

Click here

(b) Perform the following procedure.

HINT:

If the following procedure is not performed, the previously output DTC cannot be detected.

Turn the ignition switch to ON and wait 2 seconds or more.
Drive the vehicle at a speed of 1 km/h or 1 mph or more for 5 seconds or more.

Click here

Result	Proceed to
DTC C1AA6 is not output	A
DTC C1AA6 is output	B

USE SIMULATION METHOD TO CHECK

3.	REPLACE FORWARD RECOGNITION CAMERA

(a) Replace the forward recognition camera.

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(b) Perform forward recognition camera adjustment.

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4.	CHECK FOR DTCs (LANE DEPARTURE ALERT SYSTEM)

(a) Clear the DTCs.

Click here

(b) Perform the following procedure.

HINT:

If the following procedure is not performed, the previously output DTC cannot be detected.

Turn the ignition switch to ON and wait 2 seconds or more.
Drive the vehicle at a speed of 1 km/h or 1 mph or more for 5 seconds or more.

Click here

Result	Proceed to
DTC C1AA6 is not output	A
DTC C1AA6 is output	B

END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)

REPLACE SKID CONTROL ECU (BRAKE ACTUATOR ASSEMBLY)