Last Modified: 08-21-2023 6.11:8.1.0 Doc ID: RM100000001BE5U
Model Year Start: 2019 Model: Avalon HV Prod Date Range: [04/2018 - 08/2021]
Title: PRE-COLLISION: PRE-COLLISION SYSTEM (for HV Model): U1002; Lost Communication with Gateway Module; 2019 - 2021 MY Avalon HV [04/2018 - 08/2021]

DTC

U1002

Lost Communication with Gateway Module

DESCRIPTION

This DTC is stored when the driving support ECU assembly cannot receive signals from the forward recognition camera or millimeter wave radar sensor assembly.

DTC No.

Detection Item

DTC Detection Condition

Trouble Area

U1002

Lost Communication with Gateway Module

After the power switch is turned on, communication between the driving support ECU assembly and any of the following components is abnormal for 2 seconds or more

  • Forward recognition camera
  • Millimeter wave radar sensor assembly
  • CAN bus main line, CAN bus branch line or connector
  • Forward recognition camera
  • Millimeter wave radar sensor assembly
  • Driving support ECU assembly
  • No. 8 CAN junction connector

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

  • Before measuring the resistance of the CAN bus, turn the power switch off and leave the vehicle for 1 minute or more without operating the key or any switches, or opening or closing the doors. After that, disconnect the cable from the negative (-) auxiliary battery terminal and leave the vehicle for 1 minute or more before measuring the resistance.
  • After turning the power switch off, waiting time may be required before disconnecting the cable from the negative (-) auxiliary battery terminal. Therefore, make sure to read the disconnecting the cable from the negative (-) auxiliary battery terminal notices before proceeding with work.

    Click here 2019 - 2022 MY Avalon Avalon HV [04/2018 -        ]; INTRODUCTION: REPAIR INSTRUCTION: PRECAUTION

  • 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. As a result, a DTC may be stored.
  • When the millimeter wave radar sensor assembly is replaced with a new one, adjustment of the radar sensor beam axis must be performed.

    Click here 2019 - 2020 MY Avalon Avalon HV [04/2018 - 08/2020]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: ADJUSTMENT 2021 MY Avalon Avalon HV [08/2020 - 08/2021]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: 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.
  • If the forward recognition camera has been replaced with a new one, be sure to perform forward recognition camera adjustment.

    Click here 2019 - 2021 MY Avalon Avalon HV [04/2018 - 08/2021]; CRUISE CONTROL: FRONT CAMERA: ADJUSTMENT (SEQUENTIAL RECOGNITION)

HINT:

  • Operating the power switch, any other switches or a door triggers related ECU and sensor communication on the CAN. This communication will cause the resistance value to change.
  • Even after DTCs are cleared, if a DTC is stored again after driving the vehicle for a while, the malfunction may be occurring due to vibration of the vehicle. In such a case, wiggling the ECUs or wire harness while performing the inspection below may help determine the cause of the malfunction.

PROCEDURE

1.

CHECK CAN BUS LINE (MALFUNCTION CONFIRMATION)

(a) Turn the power switch off.

(b) Disconnect the cable from the negative (-) auxiliary battery terminal.

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

Result

G39-8 (CA1P) - G39-9 (CA1N)

Cable disconnected from negative (-) auxiliary battery terminal

54 to 69 Ω

Below 54 Ω:

Short circuit between bus lines

70 Ω or more:

Open circuit in a main bus line or driving support ECU assembly branch line

G39-8 (CA1P) - G39-28 (GND)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

Below 200 Ω:

Ground short

G39-9 (CA1N) - G39-28 (GND)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

Below 200 Ω:

Ground short

G39-8 (CA1P) - G39-7 (B)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

Below 6 kΩ:

+B short

G39-9 (CA1N) - G39-7 (B)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

Below 6 kΩ:

+B short

*a

Component with harness connected

(Driving Support ECU Assembly)

Result

Proceed to

OK

A

NG (Open circuit in main line or Driving support ECU assembly branch line)

B

NG (Short circuit between main lines)

C

NG (Short to +B or ground)

D

B

GO TO STEP 3

C

GO TO STEP 8

D

GO TO STEP 12

A

2.

CHECK FOR DTCs

(a) Clear the DTCs.

Body Electrical > Pre-Collision 2 > 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.

(c) Check for DTCs.

Body Electrical > Pre-Collision 2 > Trouble Codes

Result

Proceed to

DTC U1002 is not output

A

DTC U1002 is output

B

A

USE SIMULATION METHOD TO CHECK

B

REPLACE DRIVING SUPPORT ECU ASSEMBLY

3.

CHECK FOR OPEN IN CAN BUS BRANCH LINES (DRIVING SUPPORT ECU ASSEMBLY)

(a) Disconnect the G39 driving support ECU assembly connector.

*a

Front view of wire harness connector

(to Driving Support ECU Assembly)

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

G39-8 (CA1P) - G39-9 (CA1N)

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

HINT:

If the resistance is between 108 and 132 Ω, there may be an open in a CAN bus main line. If the value is 132 Ω or more, there may be an open in a CAN bus branch line between the No. 8 CAN junction connector and the driving support ECU assembly or a connector may be disconnected.

(c) Connect the G39 driving support ECU assembly connector.

NG

GO TO STEP 7

OK

4.

CHECK FOR OPEN IN CAN BUS MAIN LINES (NO. 8 CAN JUNCTION CONNECTOR)

(a) Disconnect the G92 No. 8 CAN junction connector.

*a

Front view of wire harness connector

(to No. 8 CAN Junction Connector)

*b

to Forward Recognition Camera

*c

to Millimeter Wave Radar Sensor Assembly

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

Connected to

G92-6 - G92-17

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

Forward Recognition Camera

G92-5 - G92-16

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

Millimeter Wave Radar Sensor Assembly

(c) Connect the G92 No. 8 CAN junction connector.

Result

Proceed to

OK

A

NG (Forward Recognition Camera Main Line)

B

NG (Millimeter Wave Radar Sensor Assembly Main Line)

C

A

REPLACE NO. 8 CAN JUNCTION CONNECTOR

C

GO TO STEP 6

B

5.

CHECK FOR OPEN IN CAN BUS MAIN LINES (FORWARD RECOGNITION CAMERA)

(a) Disconnect the O5 forward recognition camera connector.

*a

Front view of wire harness connector

(to Forward Recognition Camera)

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

O5-6 (CANH) - O5-12 (CANL)

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

(c) Connect the O5 forward recognition camera connector.

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 8 CAN JUNCTION CONNECTOR - FORWARD RECOGNITION CAMERA)

6.

CHECK FOR OPEN IN CAN BUS MAIN LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

(a) Disconnect the A25 millimeter wave radar sensor assembly connector.

*a

Front view of wire harness connector

(to Millimeter Wave Radar Sensor Assembly)

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

A25-5 (CA1P) - A25-6 (CA1N)

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

(c) Connect the A25 millimeter wave radar sensor assembly connector.

OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

NG

REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 8 CAN JUNCTION CONNECTOR - MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

7.

CHECK FOR OPEN IN CAN BUS BRANCH LINES (NO. 8 CAN JUNCTION CONNECTOR - DRIVING SUPPORT ECU ASSEMBLY)

(a) Disconnect the G39 driving support ECU assembly connector.

*a

Front view of wire harness connector

(to Driving Support ECU Assembly)

(b) Disconnect the G92 No. 8 CAN junction connector.

*a

Front view of wire harness connector

(to No. 8 CAN Junction Connector)

*b

to Driving Support ECU Assembly

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

G92-7 - G39-8 (CA1P)

Cable disconnected from negative (-) auxiliary battery terminal

Below 1 Ω

G92-18 - G39-9 (CA1N)

Cable disconnected from negative (-) auxiliary battery terminal

Below 1 Ω

(d) Connect the G92 No. 8 CAN junction connector.

(e) Connect the G39 driving support ECU assembly connector.

OK

REPLACE NO. 8 CAN JUNCTION CONNECTOR

NG

REPAIR OR REPLACE CAN BUS BRANCH WIRE (NO. 8 CAN JUNCTION CONNECTOR - DRIVING SUPPORT ECU ASSEMBLY)

8.

CHECK FOR SHORT BETWEEN CAN BUS LINES (FORWARD RECOGNITION CAMERA)

(a) Disconnect the O5 forward recognition camera connector.

*a

Front view of wire harness connector

(to Forward Recognition Camera)

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

O5-6 (CANH) - O5-12 (CANL)

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

(c) Connect the O5 forward recognition camera connector.

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

9.

CHECK FOR SHORT BETWEEN CAN BUS LINES (NO. 8 CAN JUNCTION CONNECTOR)

(a) Disconnect the G92 No. 8 CAN junction connector.

*a

Front view of wire harness connector

(to No. 8 CAN Junction Connector)

*b

to Forward Recognition Camera

*c

to Millimeter Wave Radar Sensor Assembly

*d

to Driving Support ECU Assembly

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

Connected to

G92-6 - G92-17

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

Forward Recognition Camera

G92-5 - G92-16

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

Millimeter Wave Radar Sensor Assembly

G92-7 - G92-18

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

Driving Support ECU Assembly

(c) Connect the G92 No. 8 CAN junction connector.

Result

Proceed to

OK

A

NG (Forward Recognition Camera Main Line)

B

NG (Millimeter Wave Radar Sensor Assembly Main Line)

C

NG (Driving Support ECU Assembly Branch Line)

D

A

REPLACE NO. 8 CAN JUNCTION CONNECTOR

B

REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 8 CAN JUNCTION CONNECTOR - FORWARD RECOGNITION CAMERA)

D

GO TO STEP 11

C

10.

CHECK FOR SHORT BETWEEN CAN BUS LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

(a) Disconnect the A25 millimeter wave radar sensor assembly connector.

*a

Front view of wire harness connector

(to Millimeter Wave Radar Sensor Assembly)

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

A25-5 (CA1P) - A25-6 (CA1N)

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

(c) Connect the A25 millimeter wave radar sensor assembly connector.

OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

NG

REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 8 CAN JUNCTION CONNECTOR - MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

11.

CHECK FOR SHORT BETWEEN CAN BUS LINES (DRIVING SUPPORT ECU ASSEMBLY)

(a) Disconnect the G39 driving support ECU assembly connector.

*a

Front view of wire harness connector

(to Driving Support ECU Assembly)

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

G39-8 (CA1P) - G39-9 (CA1N)

Cable disconnected from negative (-) auxiliary battery terminal

54 to 69 Ω

(c) Connect the G39 driving support ECU assembly connector.

OK

REPLACE DRIVING SUPPORT ECU ASSEMBLY

NG

REPAIR OR REPLACE CAN BUS BRANCH LINE OR CONNECTOR (NO. 8 CAN JUNCTION CONNECTOR - DRIVING SUPPORT ECU ASSEMBLY)

12.

CHECK FOR SHORT IN CAN BUS LINE (FORWARD RECOGNITION CAMERA)

(a) Disconnect the O5 forward recognition camera connector.

*1

DLC3

-

-

*a

Front view of wire harness connector

(to Forward Recognition Camera)

-

-

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

O5-6 (CANH) - G45-4 (CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

O5-12 (CANL) - G45-4 (CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

O5-6 (CANH) - G45-16 (BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

O5-12 (CANL) - G45-16 (BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

(c) Connect the O5 forward recognition camera connector.

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

13.

CHECK FOR SHORT IN CAN BUS LINE (NO. 8 CAN JUNCTION CONNECTOR)

(a) Disconnect the G92 No. 8 CAN junction connector.

*1

DLC3

-

-

*a

Front view of wire harness connector

(to No. 8 CAN Junction Connector)

*b

to Forward Recognition Camera

*c

to Millimeter Wave Radar Sensor Assembly

*d

to Driving Support ECU Assembly

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

Connected to

G92-6 - G45-4 (CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

Forward Recognition Camera

G92-17 - G45-4 (CG)

G92-6 - G45-16 (BAT)

6 kΩ or higher

G92-17 - G45-16 (BAT)

G92-5 - G45-4 (CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

Millimeter Wave Radar Sensor Assembly

G92-16 - G45-4 (CG)

G92-5 - G45-16 (BAT)

6 kΩ or higher

G92-16 - G45-16 (BAT)

G92-7 - G45-4 (CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

Driving Support ECU Assembly

G92-18 - G45-4 (CG)

G92-7 - G45-16 (BAT)

6 kΩ or higher

G92-18 - G45-16 (BAT)

(c) Connect the G92 No. 8 CAN junction connector.

Result

Proceed to

OK

A

NG (Forward Recognition Camera Main Line)

B

NG (Millimeter Wave Radar Sensor Assembly Main Line)

C

NG (Driving Support ECU Assembly Branch Line)

D

A

REPLACE NO. 8 CAN JUNCTION CONNECTOR

B

REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 8 CAN JUNCTION CONNECTOR - FORWARD RECOGNITION CAMERA)

D

GO TO STEP 15

C

14.

CHECK FOR SHORT IN CAN BUS LINE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

(a) Disconnect the A25 millimeter wave radar sensor assembly connector.

*1

DLC3

-

-

*a

Front view of wire harness connector

(to Millimeter Wave Radar Sensor Assembly)

-

-

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

A25-5 (CA1P) - G45-4 (CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

A25-6 (CA1N) - G45-4 (CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

A25-5 (CA1P) - G45-16 (BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

A25-6 (CA1N) - G45-16 (BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

(c) Connect the A25 millimeter wave radar sensor assembly connector.

OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

NG

REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 8 CAN JUNCTION CONNECTOR - MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

15.

CHECK FOR SHORT IN CAN BUS LINE (DRIVING SUPPORT ECU ASSEMBLY)

(a) Disconnect the G39 driving support ECU assembly connector.

*1

DLC3

-

-

*a

Front view of wire harness connector

(to Driving Support ECU Assembly)

-

-

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

G39-8 (CA1P) - G45-4 (CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

G39-9 (CA1N) - G45-4 (CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

G39-8 (CA1P) - G45-16 (BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

G39-9 (CA1N) - G45-16 (BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

(c) Connect the G39 driving support ECU assembly connector.

OK

REPLACE DRIVING SUPPORT ECU ASSEMBLY

NG

REPAIR OR REPLACE CAN BUS BRANCH LINE OR CONNECTOR (NO. 8 CAN JUNCTION CONNECTOR - DRIVING SUPPORT ECU ASSEMBLY)