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X2000

Yaw Rate Sensor Malfunction

The forward recognition camera received a yaw rate sensor malfunction signal from the skid control ECU (brake booster with master cylinder assembly).

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

RSA Malfunction Visit Your Dealer

X2004

Speed Sensor Malfunction

The forward recognition camera received a vehicle speed sensor malfunction signal from the skid control ECU (brake booster with master cylinder assembly).

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

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X2011

Front Recognition Camera System Software Not Programmed

The forward recognition camera cannot store the vehicle information.

Refer to How to Proceed with Troubleshooting in Front Camera System.

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X2012

Front Recognition Camera Malfunction

The forward recognition camera detected an internal malfunction.

Refer to How to Proceed with Troubleshooting in Front Camera System.

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X2013

Front Recognition Camera Optical Axis Misalignment Malfunction

The forward recognition camera detected optical axis misalignment.

Refer to DTC C1AA800 in Front Camera System

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X2014

Front Recognition Camera Optical Axis Not Adjusted

Forward recognition camera optical axis adjustment has not been performed.

If this Vehicle Control History code is output, perform forward recognition camera optical axis adjustment, clear the Vehicle Control History and then check that this code is not stored again.

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:

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X2015

Front Recognition Camera Dirt

System operation was temporarily suspended due to the forward recognition camera not being able to detect objects.

Refer to Vehicle Control History code X2015 of Front Camera System.

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X2016

Front Recognition Camera Outside Guaranteed Operating Temperature

System operation was temporarily suspended due to the forward recognition camera being excessively hot or cold.

Refer to Vehicle Control History code X2016 of Front Camera System.

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X2017

Front Recognition Camera Outside Guaranteed Operating Voltage

System operation was temporarily suspended due to forward recognition camera power source voltage being excessively high or low.

Refer to Vehicle Control History code X2017 of Front Camera System.

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X201D

Front Recognition Camera System Software Malfunction

The forward recognition camera detected destination information malfunction.

Refer to How to Proceed with Troubleshooting in Front Camera System.

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X2020

Front Radar Sensor Destination Malfunction

The forward recognition camera received a destination information malfunction signal from the millimeter wave radar sensor assembly.

Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.

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X2021

Front Radar Sensor Malfunction

The forward recognition camera received a malfunction signal from the millimeter wave radar sensor assembly.

Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.

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X2022

Front Radar Sensor Optical Axis Misalignment Malfunction

The forward recognition camera received a beam axis misalignment malfunction signal from the millimeter wave radar sensor assembly.

Perform millimeter wave radar sensor assembly beam axis 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:

Flat Surface Target:

Driving Adjustment:

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X2023

Front Radar Sensor Optical Axis Not Adjusted

The forward recognition camera received a beam axis not adjusted signal from 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:

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X2026

Front Radar Sensor Dirt

The forward recognition camera received a dirty signal from the millimeter wave radar sensor assembly.

Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.

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X2027

Front Radar Sensor Outside Guaranteed Operating Temperature

The forward recognition camera received a temperature malfunction signal from the millimeter wave radar sensor assembly.

Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.

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X2028

Front Radar Sensor Outside Guaranteed Operating Voltage

The forward recognition camera received a voltage malfunction signal from the millimeter wave radar sensor assembly.

Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.

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X2076

Wiper Malfunction

The forward recognition camera received a wiper system malfunction signal from the main body ECU (multiplex network body ECU).

Refer to How to Proceed with Troubleshooting in Wiper and Washer System.

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X2077

Ambient Temperature Sensor Circuit

The forward recognition camera received an ambient temperature sensor malfunction signal from the air conditioning amplifier assembly.

Refer to How to Proceed with Troubleshooting in Air Conditioning System.

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X2084

Meter Speed Tolerance Malfunction

The forward recognition camera received a vehicle speed tolerance malfunction signal from the combination meter assembly.

Refer to How to Proceed with Troubleshooting in Meter / Gauge System.