Last Modified: 01-30-2024 6.11:8.1.0 Doc ID: RM100000001H3XE
Model Year Start: 2019 Model: RAV4 Prod Date Range: [02/2019 - 08/2020]
Title: LIGHTING (EXT): LIGHTING SYSTEM (w/ AFS): U023587; Lost Communication with Cruise Control Front Distance Range Sensor Missing Message; 2019 - 2020 MY RAV4 RAV4 HV [02/2019 - 08/2020]

DTC

U023587

Lost Communication with Cruise Control Front Distance Range Sensor Missing Message

DESCRIPTION

DTC No.

Detection Item

DTC Detection Condition

Trouble Area

DTC Output from

Note

U023587

Lost Communication with Cruise Control Front Distance Range Sensor Missing Message

Detection condition:

  • Power switch on (IG)

Malfunction status:

  • A communication malfunction with the millimeter wave radar sensor assembly is detected

Malfunction duration:

  • 5 seconds or more
  • Local bus (Open or short)
  • Forward recognition camera
  • Millimeter wave radar sensor assembly

Front Recognition Camera (Front Lighting Control)

-

Pattern

DTC output part name

(Display on Techstream)

Suspected Area (Malfunction Status)

Forward Recognition Camera

(Front Recognition Camera(Front Light Control))

U023587

○: DTC is output

-: DTC is not output

Pattern 1

Local bus (Open or short)

Millimeter wave radar sensor assembly (Internal malfunction)

Forward recognition camera (Internal malfunction)

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

    Click here 2019 - 2021 MY RAV4 RAV4 HV [02/2019 - 12/2021]; 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.

    for Sequential Recognition: Click here 2019 - 2021 MY RAV4 RAV4 HV [02/2019 - 12/2021]; CRUISE CONTROL: FRONT CAMERA: ADJUSTMENT (SEQUENTIAL RECOGNITION)

    for One Time Recognition: Click here 2019 - 2021 MY RAV4 RAV4 HV [02/2019 - 12/2021]; CRUISE CONTROL: FRONT CAMERA: ADJUSTMENT (ONE TIME RECOGNITION)

  • After turning the power switch off, waiting time may be required before disconnecting the cable from the negative (-) battery terminal. Therefore, make sure to read the disconnecting the cable from the negative (-) battery terminal notices before proceeding with work.

    Click here 2019 - 2024 MY RAV4 RAV4 HV [11/2018 -        ]; INTRODUCTION: REPAIR INSTRUCTION: PRECAUTION

  • When disconnecting the cable from the negative (-) battery terminal while performing repairs, some systems need to be initialized after the cable is reconnected.

    Click here 2019 MY RAV4 RAV4 HV [02/2019 - 10/2019]; INTRODUCTION: REPAIR INSTRUCTION: INITIALIZATION 2020 MY RAV4 RAV4 HV [10/2019 - 06/2020]; INTRODUCTION: REPAIR INSTRUCTION: INITIALIZATION 2020 MY RAV4 RAV4 HV [06/2020 - 08/2020]; INTRODUCTION: REPAIR INSTRUCTION: INITIALIZATION

PROCEDURE

1.

CHECK CAN BUS WIRE (FORWARD RECOGNITION CAMERA MAIN WIRE)

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

(b) Disconnect the P8 forward recognition camera connector.

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

P8-6 (CANH) - P8-12 (CANL)

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

P8-6 (CANH) - G114-4 (CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

P8-12 (CANL) - G114-4 (CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

P8-6 (CANH) - G114-16 (BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

P8-12 (CANL) - G114-16 (BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

NG

GO TO STEP 5

OK

2.

CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY

(a) Temporarily replace the millimeter wave radar sensor assembly with a new one.

Click here 2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: REMOVAL

NEXT

3.

CLEAR DTC

(a) Connect the Techstream to the DLC3.

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

(c) Turn the Techstream on.

(d) Enter the following menus: Body Electrical / Front Recognition Camera (Front Lighting Control) / Clear DTCs.

(e) Clear the DTCs.

Body Electrical > Front Recognition Camera (Front Lighting Control) > Clear DTCs

NEXT

4.

CHECK FOR DTC

(a) Connect the Techstream to the DLC3.

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

(c) Wait 5 seconds or more.

(d) Turn the Techstream on.

(e) Enter the following menus: Body Electrical / Front Recognition Camera (Front Lighting Control) / Trouble Codes.

(f) Check for DTCs.

Body Electrical > Front Recognition Camera (Front Lighting Control) > Trouble Codes

OK:

DTC U023587 is not output.

OK

END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY IS DEFECTIVE)

NG

REPLACE FORWARD RECOGNITION CAMERA

5.

CHECK CAN BUS WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY MAIN WIRE)

(a) Disconnect the B9 millimeter wave radar sensor assembly connector.

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

B9-5 (CA1P) - B9-6 (CA1N)

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

B9-5 (CA1P) - G114-4 (CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

B9-6 (CA1N) - G114-4 (CG)

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

B9-5 (CA1P) - G114-16 (BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

B9-6 (CA1N) - G114-16 (BAT)

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

NG

REPAIR OR REPLACE CAN BUS MAIN WIRE OR CONNECTOR

OK

6.

CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY

(a) Temporarily replace the millimeter wave radar sensor assembly with a new one.

Click here 2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: REMOVAL

NEXT

7.

CLEAR DTC

(a) Connect the Techstream to the DLC3.

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

(c) Turn the Techstream on.

(d) Enter the following menus: Body Electrical / Front Recognition Camera (Front Lighting Control) / Clear DTCs.

(e) Clear the DTCs.

Body Electrical > Front Recognition Camera (Front Lighting Control) > Clear DTCs

NEXT

8.

CHECK FOR DTC

(a) Connect the Techstream to the DLC3.

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

(c) Wait 5 seconds or more.

(d) Turn the Techstream on.

(e) Enter the following menus: Body Electrical / Front Recognition Camera (Front Lighting Control) / Trouble Codes.

(f) Check for DTCs.

Body Electrical > Front Recognition Camera (Front Lighting Control) > Trouble Codes

OK:

DTC U023587 is not output.

OK

END (MILLIMETER WAVE RADAR SENSOR ASSEMBLY IS DEFECTIVE)

NG

REPLACE FORWARD RECOGNITION CAMERA