Last Modified: 11-20-2023 6.11:8.1.0 Doc ID: RM100000001SH8I
Model Year Start: 2021 Model: Camry Prod Date Range: [10/2020 -           ]
Title: PRE-COLLISION: PRE-COLLISION SYSTEM: U023587; Lost Communication with Cruise Control Front Distance Range Sensor Missing Message; 2021 - 2024 MY Camry [10/2020 -        ]

DTC

U023587

Lost Communication with Cruise Control Front Distance Range Sensor Missing Message

DESCRIPTION

The forward recognition camera communicates with the millimeter wave radar sensor assembly via CAN communication. If a communication malfunction between the forward recognition camera and millimeter wave radar sensor assembly is detected, DTC U023587 is stored.

DTC No.

Detection Item

DTC Detection Condition

Trouble Area

U023587

Lost Communication with Cruise Control Front Distance Range Sensor Missing Message

Once 3 seconds elapse after turning the ignition switch to ON, a communication malfunction between the millimeter wave radar sensor assembly continues for approximately 2 seconds or more.

  • Harness or connector
  • Forward recognition camera
  • Millimeter wave radar sensor assembly

Pattern

DTC output part name

(Display on Techstream)

Suspected Area (Malfunction Status)

Forward Recognition Camera

Millimeter Wave Radar Sensor Assembly

Pre-Collision System

Lane Control

Forward Recognition Camera (Front Lighting Control)

Radar Cruise2

Front Radar Sensor

U023587

U023587

U023587

U023587

U010487

○: DTC is output

-: DTC is not output

Pattern 1

Harness or connector (Open or short)

Millimeter wave radar sensor assembly (Internal malfunction)

Forward recognition camera (Internal malfunction)

Pattern 2

-

Forward recognition camera (Internal malfunction)

Millimeter wave radar sensor assembly (Internal malfunction)

HINT:

If the DTCs are output simultaneously, the inspection area can be narrowed down.

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

  • When replacing the millimeter wave radar sensor assembly, always replace it with a new one. If a millimeter wave radar sensor assembly which was installed to another vehicle is used, the information stored in the millimeter wave radar sensor assembly will not match the information from the vehicle and a DTC may be stored.
  • When the millimeter wave radar sensor assembly has been replaced with a new one, it is necessary to perform millimeter wave radar sensor assembly beam axis alignment and to clear the vehicle control history. Before performing the Driving Adjustment, make sure to read Before Starting Driving Adjustment.

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

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

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

  • 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.
  • When the forward recognition camera is replaced with a new one or the windshield glass is replaced or removed/installed, make sure to read Before Starting Adjustment, then perform optical axis alignment for the forward recognition camera and clear the vehicle control history for each system.

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

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

    Driving Adjustment: Click here 2021 - 2024 MY Camry [10/2020 -        ]; CRUISE CONTROL: FRONT CAMERA: DRIVING ADJUSTMENT

  • After the ignition switch is turned off, there may be a waiting time before disconnecting the negative (-) battery terminal.

    Click here 2021 - 2022 MY Camry [10/2020 - 08/2022]; INTRODUCTION: REPAIR INSTRUCTION: INITIALIZATION 2023 - 2024 MY Camry [08/2022 -        ]; INTRODUCTION: REPAIR INSTRUCTION: INITIALIZATION

  • When disconnecting and reconnecting the battery

    Click here 2021 - 2022 MY Camry [10/2020 - 08/2022]; INTRODUCTION: REPAIR INSTRUCTION: INITIALIZATION 2023 - 2024 MY Camry [08/2022 -        ]; INTRODUCTION: REPAIR INSTRUCTION: INITIALIZATION

    HINT:

    When disconnecting and reconnecting the battery, there is an automatic learning function that completes learning when the respective system is used.

    Click here 2021 - 2022 MY Camry [10/2020 - 08/2022]; INTRODUCTION: REPAIR INSTRUCTION: INITIALIZATION 2023 - 2024 MY Camry [08/2022 -        ]; INTRODUCTION: REPAIR INSTRUCTION: INITIALIZATION

PROCEDURE

1.

CHECK FOR DTCs

(a) Read each DTC and check the diagnosis pattern using the table below.

Body Electrical > Pre-Collision System > Trouble Codes

Chassis > Lane Control > Trouble Codes

Body Electrical > Front Recognition Camera (Front Lighting Control) > Trouble Codes

Powertrain > Radar Cruise2 > Trouble Codes

Body Electrical > Front Radar Sensor > Trouble Codes

Pattern

DTC output part name

(Display on Techstream)

Pre-Collision System

Lane Control

Forward Recognition Camera (Front Lighting Control)

Radar Cruise2

Front Radar Sensor

Pattern 1

U023587

U023587

U023587

U023587

U010487

Pattern 2

U023587

U023587

U023587

U023587

-

Result

Proceed to

Pattern 1

A

Pattern 2

B

B

GO TO STEP 4

A

2.

CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA)

*A

Before Nov. 2021 Production

*B

From Nov. 2021 Production

*a

Front view of wire harness connector

(to Forward Recognition Camera)

(a) Disconnect the cable from the negative (-) battery terminal.

(b) Disconnect the forward recognition camera connector.

(c) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Before Nov. 2021 Production

Tester Connection

Condition

Specified Condition

V6-6 (CANH) - V6-12 (CANL)

Cable disconnected from negative (-) battery terminal

108 to 132 Ω

V6-6 (CANH) - Body ground

Cable disconnected from negative (-) battery terminal

200 Ω or higher

V6-12 (CANL) - Body ground

V6-6 (CANH) - +B

Cable disconnected from negative (-) battery terminal

6 kΩ or higher

V6-12 (CANL) - +B

From Nov. 2021 Production

Tester Connection

Condition

Specified Condition

V21-6 (CANH) - V21-12 (CANL)

Cable disconnected from negative (-) battery terminal

108 to 132 Ω

V21-6 (CANH) - Body ground

Cable disconnected from negative (-) battery terminal

200 Ω or higher

V21-12 (CANL) - Body ground

V21-6 (CANH) - +B

Cable disconnected from negative (-) battery terminal

6 kΩ or higher

V21-12 (CANL) - +B

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

3.

CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

*a

Front view of wire harness connector

(to Millimeter Wave Radar Sensor Assembly)

(a) Disconnect the cable from the negative (-) battery terminal.

(b) Disconnect the millimeter wave radar sensor assembly connector.

(c) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Tester Connection

Condition

Specified Condition

A30-5 (CA1P) - A30-6 (CA1N)

Cable disconnected from negative (-) battery terminal

108 to 132 Ω

A30-5 (CA1P) - Body ground

Cable disconnected from negative (-) battery terminal

200 Ω or higher

A30-6 (CA1N) - Body ground

A30-5 (CA1P) - +B

Cable disconnected from negative (-) battery terminal

6 kΩ or higher

A30-6 (CA1N) - +B

OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

4.

CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY

*A

Before Nov. 2021 Production

*B

From Nov. 2021 Production

*a

Front view of wire harness connector

(to Forward Recognition Camera)

(a) Disconnect the forward recognition camera connector.

(b) Using an oscilloscope, check the waveform.

OK:

Before Nov. 2021 Production

Tester Connection

Condition

Tool Setting

Specified Condition

V6-6 (CANH) - V6-12 (CANL)

Ignition switch ON

1V/DIV., 100μs./DIV.

Pulse generation

From Nov. 2021 Production

Tester Connection

Condition

Tool Setting

Specified Condition

V21-6 (CANH) - V21-12 (CANL)

Ignition switch ON

1V/DIV., 100μs./DIV.

Pulse generation

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY