Last Modified: 08-21-2023 6.11:8.1.0 Doc ID: RM100000001YNYP
Model Year Start: 2022 Model: Avalon HV Prod Date Range: [08/2021 -           ]
Title: PRE-COLLISION: PRE-COLLISION SYSTEM: U023587; Lost Communication with Cruise Control Front Distance Range Sensor Missing Message; 2022 MY Avalon Avalon HV [08/2021 -        ]

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 2022 MY Avalon Avalon HV [08/2021 -        ]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: TARGET ADJUSTMENT(TRIANGLE TARGET)

    Flat Surface Target: Click here 2022 MY Avalon Avalon HV [08/2021 -        ]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: TARGET ADJUSTMENT(FLAT SURFACE TARGET)

    Driving Adjustment: Click here 2022 MY Avalon Avalon HV [08/2021 -        ]; 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 2022 MY Avalon Avalon HV [08/2021 -        ]; CRUISE CONTROL: FRONT CAMERA: TARGET ADJUSTMENT(ONE TIME RECOGNITION)

    Sequential Recognition: Click here 2022 MY Avalon Avalon HV [08/2021 -        ]; CRUISE CONTROL: FRONT CAMERA: TARGET ADJUSTMENT(SEQUENTIAL RECOGNITION)

    Driving Adjustment: Click here 2022 MY Avalon Avalon HV [08/2021 -        ]; CRUISE CONTROL: FRONT CAMERA: DRIVING ADJUSTMENT

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

    Click here 2022 MY Avalon Avalon HV [08/2021 -        ]; INTRODUCTION: REPAIR INSTRUCTION: INITIALIZATION

  • When disconnecting and reconnecting the auxiliary battery

    Click here 2022 MY Avalon Avalon HV [08/2021 -        ]; INTRODUCTION: REPAIR INSTRUCTION: INITIALIZATION

    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 2022 MY Avalon Avalon HV [08/2021 -        ]; 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

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:

Tester Connection

Condition

Specified Condition

P5-6 (CANH) - P5-12 (CANL)

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

P5-6 (CANH) - Body ground

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

P5-12 (CANL) - Body ground

P5-6 (CANH) - +B

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

P5-12 (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 (-) auxiliary battery terminal.

(b) Connect the forward recognition camera connector.

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

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

A37-5 (CA1P) - A37-6 (CA1N)

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

A37-5 (CA1P) - Body ground

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

A37-6 (CA1N) - Body ground

A37-5 (CA1P) - +B

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

A37-6 (CA1N) - +B
OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

4.

CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY

*a

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:

Tester Connection

Condition

Tool Setting

Specified Condition

P5-6 (CANH) - P5-12 (CANL)

Ignition switch ON

1V/DIV., 100μs./DIV.

Pulse generation
OK

REPLACE FORWARD RECOGNITION CAMERA

NG

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY