| Last Modified: 11-20-2023 | 6.11:8.1.0 | Doc ID: RM100000001RX3V |
| Model Year Start: 2021 | Model: Camry HV | 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 HV [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 power switch on (IG), a communication malfunction between the millimeter wave radar sensor assembly continues for approximately 2 seconds or more. |
|
|
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 HV [10/2020 - ]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: TARGET ADJUSTMENT(TRIANGLE TARGET)](/t3Portal/stylegraphics/info.gif)
Flat Surface Target: Click here
Driving Adjustment: Click here
- 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
Sequential Recognition: Click here
Driving Adjustment: Click here
-
After the power switch is turned off, there may be a waiting time before disconnecting the negative (-) auxiliary battery terminal.
Click here
-
When disconnecting and reconnecting the auxiliary battery
Click here
HINT:
When disconnecting and reconnecting the auxiliary battery, there is an automatic learning function that completes learning when the respective system is used.
Click here
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 |
|
|
|
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 (-) auxiliary 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 (-) auxiliary battery terminal |
108 to 132 Ω |
|
V6-6 (CANH) - Body ground |
Cable disconnected from negative (-) auxiliary battery terminal |
200 Ω or higher |
|
V6-12 (CANL) - Body ground |
||
|
V6-6 (CANH) - +B |
Cable disconnected from negative (-) auxiliary 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 (-) auxiliary battery terminal |
108 to 132 Ω |
|
V21-6 (CANH) - Body ground |
Cable disconnected from negative (-) auxiliary battery terminal |
200 Ω or higher |
|
V21-12 (CANL) - Body ground |
||
|
V21-6 (CANH) - +B |
Cable disconnected from negative (-) auxiliary battery terminal |
6 kΩ or higher |
|
V21-12 (CANL) - +B |
| OK |
|
|
|
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 (-) auxiliary 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 (-) auxiliary battery terminal |
108 to 132 Ω |
|
A30-5 (CA1P) - Body ground |
Cable disconnected from negative (-) auxiliary battery terminal |
200 Ω or higher |
|
A30-6 (CA1N) - Body ground |
||
|
A30-5 (CA1P) - +B |
Cable disconnected from negative (-) auxiliary battery terminal |
6 kΩ or higher |
|
A30-6 (CA1N) - +B |
| OK |
|
| 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) |
Power switch on (IG) |
1V/DIV., 100μs./DIV. |
Pulse generation |
From Nov. 2021 Production
|
Tester Connection |
Condition |
Tool Setting |
Specified Condition |
|---|---|---|---|
|
V21-6 (CANH) - V21-12 (CANL) |
Power switch on (IG) |
1V/DIV., 100μs./DIV. |
Pulse generation |
| OK |
|
| NG |
|
|
|