CRUISE CONTROL: LANE TRACING ASSIST SYSTEM: VEHICLE CONTROL HISTORY; 2021 - 2024 MY Camry [10/2020

Last Modified: 11-20-2023	6.11:8.1.0	Doc ID: RM100000001SH6W
Model Year Start: 2021	Model: Camry	Prod Date Range: [10/2020 - ]
Title: CRUISE CONTROL: LANE TRACING ASSIST SYSTEM: VEHICLE CONTROL HISTORY; 2021 - 2024 MY Camry [10/2020 - ]

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 (LANE TRACING ASSIST SYSTEM)

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

Chassis > Lane Control > Utility

Tester Display
Vehicle Control History (RoB)

Vehicle Control History Item

Multi-information Display	Code	Tester Display	Measurement Item	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 Out of Temperature Range Unavailable Wait until Normal Temperature", "Front Camera Unavailable See Owner's Manual" or "Front Camera Low Visibility 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 in Vehicle Stability Control System. w/ Electric Parking Brake System: w/o Electric Parking Brake System:
LTA Malfunction Visit Your Dealer	X2001	Steering Angle Sensor Malfunction	History of steering sensor malfunction signals output by the skid control ECU (brake actuator assembly)	Refer to How to Proceed with Troubleshooting in Vehicle Stability Control System. w/ Electric Parking Brake System: w/o Electric Parking Brake System:
LTA Malfunction Visit Your Dealer	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 in Vehicle Stability Control System. w/ Electric Parking Brake System: w/o Electric Parking Brake 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 in Vehicle Stability Control System. w/ Electric Parking Brake System: w/o Electric Parking Brake System:
LTA Unavailable	X2008	Steering Assist Request Invalid	History of power steering ECU (rack and pinion power steering gear assembly) low voltage malfunction signals output by the power steering system	Refer to How to Proceed with Troubleshooting in 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 in 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 in 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: Sequential Recognition: Driving Adjustment:
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: Sequential Recognition: Driving Adjustment:
Not displayed*1 (LTA indicator light (yellow) turns on)	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 in Front Camera System.
Not displayed*1 (LTA indicator light (yellow) turns on)	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 in Front Camera System.
Not displayed*1 (LTA indicator light (yellow) turns on)	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 in 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 in Front Camera System.
LTA Unavailable	X201F	Front Recognition Camera Temporary Unavailable (Front Recognition Camera Recognition Stop)	History of forward recognition camera vehicle information malfunctions	Refer to How to Proceed with Troubleshooting in 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 in 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 in 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	Adjust 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: Flat Surface Target: Driving Adjustment:
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 Vehicle Control History 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 stored 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:
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 in 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 in 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 in Front Radar Sensor System.
LTA Malfunction Visit Your Dealer	X204A	G Sensor Malfunction	History of G sensor malfunction signals output by the skid control ECU (brake actuator assembly)	Refer to How to Proceed with Troubleshooting in Vehicle Stability Control System. w/ Electric Parking Brake System: w/o Electric Parking Brake 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 (rack and pinion power steering gear assembly) (forward recognition camera → power steering ECU (rack and pinion power steering gear assembly))	Refer to How to Proceed with Troubleshooting in 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 in 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 in 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 in Meter / Gauge System.

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 Techstream, clear the Vehicle Control History (RoB).

Chassis > Lane Control > Utility

Tester Display
Vehicle Control History (RoB)

CHECK VEHICLE CONTROL HISTORY (AIRBAG SYSTEM)

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

Click here