PRE-COLLISION: PRE-COLLISION SYSTEM: U023A87; Lost Communication with Image Processing Module "A" Missing Message; 2021 - 2024 MY Camry HV [10/2020

Last Modified: 11-20-2023	6.11:8.1.0	Doc ID: RM100000001RX3W
Model Year Start: 2021	Model: Camry HV	Prod Date Range: [10/2020 - ]
Title: PRE-COLLISION: PRE-COLLISION SYSTEM: U023A87; Lost Communication with Image Processing Module "A" Missing Message; 2021 - 2024 MY Camry HV [10/2020 - ]

DTC

U023A87

Lost Communication with Image Processing Module "A" Missing Message

DESCRIPTION

The forward recognition camera communicates with the skid control ECU (brake booster with master cylinder assembly) via CAN communication.

If a communication error is detected between the skid control ECU (brake booster with master cylinder assembly) and forward recognition camera, the forward recognition camera stores this DTC.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
U023A87	Lost Communication with Image Processing Module "A" Missing Message	When the power switch is on (IG) for 2 seconds or more, a communication malfunction between the skid control ECU (brake booster with master cylinder assembly) and the forward recognition camera is detected for 3 seconds or more.	Electronically controlled brake system Forward recognition camera

CAUTION / NOTICE / HINT

NOTICE:

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

PROCEDURE

1.	CHECK FOR DTCs (ABS/VSC/TRAC)

(a) Using the Techstream, check for electronically controlled brake system DTCs.

Chassis > ABS/VSC/TRAC > Trouble Codes

HINT:

If DTC U023A87 and electronically controlled brake system DTCs are output, perform troubleshooting for the electronically controlled brake system first.

Result	Proceed to
Electronically controlled brake system DTCs are not output	A
Electronically controlled brake system DTCs are output	B

GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM

2.	PERFORM TEST MODE (ELECTRONICALLY CONTROLLED BRAKE SYSTEM)

HINT:

When entering Test Mode, the skid control ECU (brake booster with master cylinder assembly) communicates with the forward recognition camera to judge whether the vehicle is equipped with the pre-collision system. Therefore, do not exit Test Mode within 5 seconds of entering Test Mode.

(a) Procedure to enter Test Mode

(1) Turn the power switch off.

(2) Check that the steering wheel is centered.

(3) Check that the shift lever is in P.

(4) Connect the Techstream to the DLC3.

(5) Turn the power switch on (IG).

(6) Turn the Techstream on.

(7) Switch the skid control ECU (brake booster with master cylinder assembly) to Test Mode using the Techstream. Enter the following menus: Chassis / ABS/VSC/TRAC / Utility / Signal Check.

Chassis > ABS/VSC/TRAC > Utility

Tester Display
Signal Check

HINT:

Do not exit Test Mode within 5 seconds of entering Test Mode. If Test Mode is exited within 5 seconds of entering Test Mode, DTC U023A87 may be stored. If DTC U023A87 is output after exiting Test Mode, enter Test Mode again, wait at least 5 seconds, then recheck for DTCs.

(b) Confirm the system has entered Test Mode.

(1) Confirm that the ABS warning light, brake system warning light (yellow indicator) and slip indicator light indicate the Test Mode pattern (blinking at 0.25 second intervals).

HINT:

When in Test Mode, "Traction Control Turned Off" is displayed on the multi-information display.
When entering Test Mode, if the parking brake is engaged, the parking brake indicator light (red) will illuminate, and if the parking brake is not engaged, the parking brake indicator light (red) will blink in the Test Mode pattern (blinking at 0.25 second intervals).

(1) Turn the power switch off.

(2) Disconnect the Techstream.

3.	CHECK FOR DTCs

(a) Clear the DTCs.

Body Electrical > Pre-Collision System > Clear DTCs

(b) Make sure that the DTC detection conditions are met.

HINT:

If the detection conditions are not met, the system cannot detect the malfunction.

Body Electrical > Pre-Collision System > Trouble Codes

Result	Proceed to
DTC U023A87 is not output	A
DTC U023A87 is output	B

END

REPLACE FORWARD RECOGNITION CAMERA