PRE-COLLISION: PRE-COLLISION SYSTEM: U023A87; Lost Communication with Image Processing Module "A"; 2019 - 2021 MY RAV4 RAV4 HV [11/2018

Last Modified: 01-30-2024	6.11:8.1.0	Doc ID: RM100000001FOLQ
Model Year Start: 2019	Model: RAV4	Prod Date Range: [11/2018 - 12/2021]
Title: PRE-COLLISION: PRE-COLLISION SYSTEM: U023A87; Lost Communication with Image Processing Module "A"; 2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]

DTC

U023A87

Lost Communication with Image Processing Module "A"

DESCRIPTION

for HV Model:

The forward recognition camera is connected to the brake booster with master cylinder assembly (skid control ECU) via the CAN communication line. When the brake booster with master cylinder assembly (skid control ECU) receives a forward recognition camera communication malfunction signal, the forward recognition camera outputs U023A87.

for Gasoline Model:

The forward recognition camera is connected to the brake actuator assembly (skid control ECU) via the CAN communication line. When the brake actuator assembly (skid control ECU) receives a forward recognition camera communication malfunction signal, the forward recognition camera outputs U023A87.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
U023A87	Lost Communication with Image Processing Module "A"	for HV Model: Once 2 seconds elapse after turning the ignition switch to ON, the brake booster with master cylinder assembly (skid control ECU) receives a forward recognition camera communication malfunction signal from the brake booster with master cylinder assembly (skid control ECU) for approximately 3 seconds or more. for Gasoline Model: Once 2 seconds elapse after turning the ignition switch to ON, the brake actuator assembly (skid control ECU) receives a forward recognition camera communication malfunction signal from the brake actuator assembly (skid control ECU) for approximately 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 it will not match the information from the vehicle and 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.
HINT:

Forward recognition camera adjustment can be performed by using either "One Time Recognition" or "Sequential Recognition".

One Time Recognition:

Click here

Sequential Recognition:

Click here

PROCEDURE

1.	CHECK ELECTRONICALLY CONTROLLED BRAKE SYSTEM

(a) Check the DTCs.

for HV Model:

Click here

Chassis > ABS/VSC/TRAC > Trouble Codes

for Gasoline Model:

Click here

Chassis > Brake/EPB > Trouble Codes

HINT:

If U023A87 is output in the pre-collision system, electronically controlled brake system DTCs may also have been output. Check the electronically controlled brake system first.

OK:

Electronically controlled brake system DTCs are not output.

Result	Proceed to
OK (for Gasoline Model)	A
OK (for HV Model)	B
NG	C

GO TO STEP 4

GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM

for HV Model:

Click here

for Gasoline Model:

Click here

2.	TEST MODE INSPECTION (ELECTRONICALLY CONTROLLED BRAKE SYSTEM)

HINT:

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

(a) Procedure to Enter Test Mode (Signal Check)

(1) Turn the ignition switch off.

(2) Apply the parking brake.

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

(4) Connect the Techstream to the DLC3.

(5) Turn the ignition switch to ON.

(6) Check that the steering wheel is centered.

(7) Turn the Techstream on.

(8) Switch the brake actuator assembly (skid control ECU) to Dealer Mode (Signal Check) using the Techstream. Enter the following menus: Chassis / Brake/EPB / Utility / Signal Check.

Chassis > Brake/EPB > Utility

Tester Display
Signal Check

HINT:

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

(b) End of Dealer Mode (Signal Check)

(1) Turn the ignition switch off.

(2) Disconnect the Techstream.

3.	CHECK FOR DTC

(a) Clear the DTCs.

Click here

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.

Click here

Body Electrical > Pre-Collision System > Trouble Codes

OK:

DTC U023A87 is not output.

END

REPLACE FORWARD RECOGNITION CAMERA

4.	TEST MODE INSPECTION (ELECTRONICALLY CONTROLLED BRAKE SYSTEM)

HINT:

When entering test mode, the brake booster with master cylinder assembly (skid control ECU) 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 ignition switch to ON.

(2) Check that the steering wheel is centered.

(3) Check that the parking brake is released.

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

(5) Turn the ignition switch off.

(6) Connect the Techstream to the DLC3.

(7) Turn the ignition switch to ON.

(8) Turn the Techstream on.

(9) Switch the brake booster with master cylinder assembly (skid control ECU) 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

(10) Check that the ABS warning, brake warning / yellow (minor malfunction) and slip indicator lights come on for several seconds and then blink in the Test Mode pattern.

HINT:

If the ABS warning, brake warning / yellow (minor malfunction) and slip indicator lights do not blink, inspect the ABS warning, brake warning / yellow (minor malfunction) and slip indicator light circuits.
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.

GO TO STEP 3