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: 2021 - 2024 MY Camry [10/2020 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: VEHICLE STABILITY CONTROL SYSTEM (w/ Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

w/o Electric Parking Brake System: 2021 - 2024 MY Camry [10/2020 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: VEHICLE STABILITY CONTROL SYSTEM (w/o Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

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: 2021 - 2024 MY Camry [10/2020 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: VEHICLE STABILITY CONTROL SYSTEM (w/ Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

w/o Electric Parking Brake System: 2021 - 2024 MY Camry [10/2020 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: VEHICLE STABILITY CONTROL SYSTEM (w/o Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

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: 2021 - 2024 MY Camry [10/2020 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: VEHICLE STABILITY CONTROL SYSTEM (w/ Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

w/o Electric Parking Brake System: 2021 - 2024 MY Camry [10/2020 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: VEHICLE STABILITY CONTROL SYSTEM (w/o Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

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: 2021 - 2024 MY Camry [10/2020 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: VEHICLE STABILITY CONTROL SYSTEM (w/ Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

w/o Electric Parking Brake System: 2021 - 2024 MY Camry [10/2020 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: VEHICLE STABILITY CONTROL SYSTEM (w/o Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

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.

2018 - 2024 MY Camry [03/2017 -        ]; POWER ASSIST SYSTEMS: POWER STEERING SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

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.

2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT CAMERA SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

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.

2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT CAMERA SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

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: 2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT CAMERA: TARGET ADJUSTMENT(ONE TIME RECOGNITION)

Sequential Recognition: 2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT CAMERA: TARGET ADJUSTMENT(SEQUENTIAL RECOGNITION)

Driving Adjustment: 2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT CAMERA: 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: 2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT CAMERA: TARGET ADJUSTMENT(ONE TIME RECOGNITION)

Sequential Recognition: 2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT CAMERA: TARGET ADJUSTMENT(SEQUENTIAL RECOGNITION)

Driving Adjustment: 2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT CAMERA: 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.

2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT CAMERA SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

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.

2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT CAMERA SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

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.

2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT CAMERA SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

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.

2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT CAMERA SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

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.

2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT CAMERA SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

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.

2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

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.

2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

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: 2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: TARGET ADJUSTMENT(TRIANGLE TARGET)

Flat Surface Target: 2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: TARGET ADJUSTMENT(FLAT SURFACE TARGET)

Driving Adjustment: 2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: 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: 2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: TARGET ADJUSTMENT(TRIANGLE TARGET)

Flat Surface Target: 2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: TARGET ADJUSTMENT(FLAT SURFACE TARGET)

Driving Adjustment: 2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: 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.

2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

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.

2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

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.

2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

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: 2021 - 2024 MY Camry [10/2020 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: VEHICLE STABILITY CONTROL SYSTEM (w/ Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

w/o Electric Parking Brake System: 2021 - 2024 MY Camry [10/2020 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: VEHICLE STABILITY CONTROL SYSTEM (w/o Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

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.

2018 - 2024 MY Camry [03/2017 -        ]; POWER ASSIST SYSTEMS: POWER STEERING SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

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.

2018 - 2024 MY Camry [03/2017 -        ]; POWER ASSIST SYSTEMS: POWER STEERING SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

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.

2018 - 2024 MY Camry [03/2017 -        ]; POWER ASSIST SYSTEMS: POWER STEERING SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

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.

2018 - 2024 MY Camry [03/2017 -        ]; METER / GAUGE / DISPLAY: METER / GAUGE SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

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 2021 - 2024 MY Camry [10/2020 -        ]; SUPPLEMENTAL RESTRAINT SYSTEMS: AIRBAG SYSTEM: VEHICLE CONTROL HISTORY