Last Modified: 01-30-2024 6.11:8.1.0 Doc ID: RM100000001FOLJ
Model Year Start: 2019 Model: RAV4 Prod Date Range: [11/2018 - 12/2021]
Title: PRE-COLLISION: PRE-COLLISION SYSTEM: FAIL-SAFE CHART; 2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]

FAIL-SAFE CHART

FAIL-SAFE FUNCTION

(a) When a malfunction occurs in the pre-collision system, a message will be displayed on the multi-information display and the pre-collision system will be disabled depending on the malfunction.

Warning Message

Cause

DTC/RoB

Conditions to Return to Normal

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

C142571

for HV Model:

  • The system stops receiving stop light drive relay malfunction signals from the brake booster with master cylinder assembly (skid control ECU) after turning the ignition switch from off to ON

for Gasoline Model:

  • The system stops receiving stop light drive relay malfunction signals from the brake actuator assembly (skid control ECU) after turning the ignition switch from off to ON

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

U010087

Communication with ECM is restored to normal

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

U012587

Communication with the airbag ECU assembly is restored to normal

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

U012687

Communication with steering sensor is restored to normal

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

U012987

for HV Model:

  • Communication with the brake booster with master cylinder assembly (skid control ECU) is restored to normal

for Gasoline Model:

  • Communication with the brake actuator assembly (skid control ECU) is restored to normal

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

U023587

Communication with the millimeter wave radar sensor assembly is restored to normal

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

U023A87

for HV Model:

  • Communication with the brake booster with master cylinder assembly (skid control ECU) is restored to normal

for Gasoline Model:

  • Communication with the brake actuator assembly (skid control ECU) is restored to normal

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

U029387

Communication with the hybrid control ECU is restored to normal

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

U030051

for HV Model:

  • Approximately 3 seconds or more elapse after the forward recognition camera judges the vehicle information sent from the hybrid vehicle control ECU

for Gasoline Model:

  • Approximately 3 seconds or more elapse after the forward recognition camera judges the vehicle information sent from the ECM

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

U030057

for HV Model:

  • The vehicle information from the hybrid vehicle control ECU and the information stored by the forward recognition camera match

for Gasoline Model:

  • The vehicle information from the ECM and the information stored by the forward recognition camera match

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

U041881

for HV Model:

  • The system stops receiving brake control system malfunction signals from the brake booster with master cylinder assembly (skid control ECU) after turning the ignition switch from off to ON

for Gasoline Model:

  • The system stops receiving brake control system malfunction signals from the brake actuator assembly (skid control ECU) after turning the ignition switch from off to ON

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

X2000

for HV Model:

  • The system stops receiving yaw rate sensor malfunction signals from the brake booster with master cylinder assembly (skid control ECU) or airbag ECU assembly after turning the ignition switch from off to ON

for Gasoline Model:

  • The system stops receiving yaw rate sensor malfunction signals from the brake actuator assembly (skid control ECU) or airbag ECU assembly after turning the ignition switch from off to ON

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

X2001

The system stops receiving steering angle sensor malfunction signals from the steering sensor after the ignition switch is turned from off to ON

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

X2002

for HV Model:

  • The system stops receiving hybrid vehicle control system malfunction signals from the hybrid vehicle control ECU

for Gasoline Model:

  • The system stops receiving SFI system malfunction signals from the ECM

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

X2003

for HV Model:

  • The system stops receiving electronically controlled brake system malfunction signals from the brake booster with master cylinder assembly (skid control ECU)

for Gasoline Model:

  • The system stops receiving electronically controlled brake system malfunction signals from the brake actuator assembly (skid control ECU)

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

X2011

The forward recognition camera is no longer able to detect destination unconfirmed malfunctions

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

X2012

The system is no longer able to detect forward recognition camera malfunctions after turning the ignition switch from off to ON

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

X2013

The forward recognition camera is no longer able to detect camera axis misaligned malfunctions after turning the ignition switch from off to ON

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

X2014

The forward recognition camera is no longer able to detect axis not adjusted malfunctions

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

X2018

The forward recognition camera is no longer able to detect hot-wire heater malfunctions after turning the ignition switch from off to ON

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

X201D

The forward recognition camera is no longer able to detect destination malfunction signals

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

X2020

The system stops receiving destination malfunction signals from the millimeter wave radar sensor assembly

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

X2021

The system stops receiving malfunction signals from the millimeter wave radar sensor after turning the ignition switch from off to ON

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

X2022

The system stops receiving axis misalignment signals from the millimeter wave radar sensor after turning the ignition switch from off to ON

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

X2023

The system stops receiving beam axis not adjusted signals from the millimeter wave radar sensor assembly

"Pre-Collision System Malfunction Visit Your Dealer" is displayed

Pre-collision system malfunction

X2070

The system stops receiving forward recognition camera communication malfunction signals output from the millimeter wave radar sensor assembly

"Pre-Collision System Unavailable" is displayed

Millimeter wave radar sensor assembly axis is misaligned

X2024

Millimeter wave radar sensor beam axis adjustment is completed and beam axis learning is completed

"Pre-Collision System Unavailable" is displayed

Millimeter wave radar sensor assembly axis is misaligned

X2025

Millimeter wave radar sensor beam axis adjustment is completed and beam axis learning is completed

"Pre-Collision System Unavailable Clean Sensor" is displayed

Foreign matter attached to millimeter wave radar sensor assembly

X2026

Millimeter wave radar sensor assembly is cleaned

"Pre-Collision System Unavailable" is displayed

Millimeter wave radar sensor assembly temperature malfunction

X2027

Millimeter wave radar sensor temperature returns to normal

"Pre-Collision System Unavailable" is displayed

Millimeter wave radar sensor assembly low voltage malfunction

X2028

Millimeter wave radar sensor voltage returns to normal

"Front Camera Unavailable See Owner's Manual" is displayed
  • Windshield glass is dirty or fogged up
  • Forward recognition camera is dirty or fogged up

X2015

Forward recognition camera or area of windshield glass in front of forward recognition camera is cleaned

"Front Camera Unavailable" is displayed

Forward recognition camera temperature outside of operational range

X2016

Forward recognition camera temperature returns to normal

"Front Camera Unavailable" is displayed

Outside of forward recognition camera guaranteed operating voltage

X2017

Forward recognition camera voltage returns to normal

"Front Camera Unavailable" is displayed

Forward recognition camera is temporarily unavailable (forward recognition camera recognition stopped)

X201F

After forward recognition camera returns to normal