Last Modified: 01-30-2024 6.11:8.1.0 Doc ID: RM100000001HF3W
Model Year Start: 2019 Model: RAV4 Prod Date Range: [02/2019 - 08/2020]
Title: CRUISE CONTROL: LANE CONTROL SYSTEM: VEHICLE CONTROL HISTORY; 2019 - 2020 MY RAV4 RAV4 HV [02/2019 - 08/2020]

VEHICLE CONTROL HISTORY

NOTICE:

When checking the vehicle control history, first record the output codes and after clearing the history, check the output history again.

CHECK VEHICLE CONTROL HISTORY (LANE CONTROL SYSTEM)

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

(c) Turn the Techstream on.

(d) Enter the following menus: Chassis / Lane Control / Utility / Vehicle Control History (RoB).

Chassis > Lane Control > Utility

Tester Display

Vehicle Control History (RoB)

Vehicle Control History (RoB)

Multi-information Display

Code

Tester Display

Measurement Item

Diagnostic Note

*: The lane control system does not output multi-information display requests to the combination meter. Instead, the pre-collision system outputs "Front Camera Unavailable" and "Front Camera Unavailable See Owner's Manual" display requests.

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X2000

Yaw Rate Sensor Malfunction

for HV Model:

  • History of airbag ECU assembly malfunction signals output by the brake booster with master cylinder assembly (skid control ECU)

for Gasoline Model:

  • History of airbag ECU assembly malfunction signals output by the brake actuator assembly (skid control ECU)
  • Electronically controlled brake system (w/ Vacuum Brake Booster): 2019 - 2024 MY RAV4 RAV4 HV [11/2018 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/ Vacuum Brake Booster): HOW TO PROCEED WITH TROUBLESHOOTING
  • Electronically controlled brake system (w/o Vacuum Brake Booster): 2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): HOW TO PROCEED WITH TROUBLESHOOTING

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X2001

Steering Angle Sensor Malfunction

for HV Model:

  • History of steering sensor malfunction signals output by the brake booster with master cylinder assembly (skid control ECU)

for Gasoline Model:

  • History of steering sensor malfunction signals output by the brake actuator assembly (skid control ECU)
  • Electronically controlled brake system (w/ Vacuum Brake Booster): 2019 - 2024 MY RAV4 RAV4 HV [11/2018 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/ Vacuum Brake Booster): HOW TO PROCEED WITH TROUBLESHOOTING
  • Electronically controlled brake system (w/o Vacuum Brake Booster): 2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): HOW TO PROCEED WITH TROUBLESHOOTING

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X2003

Brake Control System Malfunction

for HV Model:

  • History of brake system malfunction signals output by the brake booster with master cylinder assembly (skid control ECU)

for Gasoline Model:

  • History of brake system malfunction signals output by the brake actuator assembly (skid control ECU)
  • Electronically controlled brake system (w/ Vacuum Brake Booster): 2019 - 2024 MY RAV4 RAV4 HV [11/2018 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/ Vacuum Brake Booster): HOW TO PROCEED WITH TROUBLESHOOTING
  • Electronically controlled brake system (w/o Vacuum Brake Booster): 2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): HOW TO PROCEED WITH TROUBLESHOOTING

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X2004

Speed Sensor Malfunction

for HV Model:

  • History of vehicle speed sensor malfunction signals output by the brake booster with master cylinder assembly (skid control ECU)

for Gasoline Model:

  • History of vehicle speed sensor malfunction signals output by the brake actuator assembly (skid control ECU)
  • Electronically controlled brake system (w/ Vacuum Brake Booster): 2019 - 2024 MY RAV4 RAV4 HV [11/2018 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/ Vacuum Brake Booster): HOW TO PROCEED WITH TROUBLESHOOTING
  • Electronically controlled brake system (w/o Vacuum Brake Booster): 2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): HOW TO PROCEED WITH TROUBLESHOOTING

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

LTA Unavailable (w/ Lane Centering Function)

X2008

Steering Assist Request Invalid

History of power steering ECU (rack and pinion power steering gear assembly) low voltage malfunction signals output by the power steering system

  • for Type A:

    2019 - 2022 MY RAV4 RAV4 HV [02/2019 - 10/2022]; POWER ASSIST SYSTEMS: POWER STEERING SYSTEM (for Type A): HOW TO PROCEED WITH TROUBLESHOOTING

  • for Type B:

    2019 - 2024 MY RAV4 RAV4 HV [02/2019 -        ]; POWER ASSIST SYSTEMS: POWER STEERING SYSTEM (for Type B): HOW TO PROCEED WITH TROUBLESHOOTING

LDA Unavailable (w/o Lane Centering Function)

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X2011

Front Recognition Camera System Software Not Programmed

History of vehicle specification unconfirmed judgment by the forward recognition camera

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT CAMERA SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X2012

Front Recognition Camera Malfunction

History of forward recognition camera hardware damage judgment by the forward recognition camera

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT CAMERA SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X2013

Front Recognition Camera Optical Axis Misalignment Malfunction

History of forward recognition camera axis misaligned judgment by the forward recognition camera

HINT:

Perform forward recognition camera axis alignment with either "One time recognition" or "Sequential recognition".

  • One time recognition: 2019 - 2021 MY RAV4 RAV4 HV [02/2019 - 12/2021]; CRUISE CONTROL: FRONT CAMERA: ADJUSTMENT (ONE TIME RECOGNITION)
  • Sequential recognition: 2019 - 2021 MY RAV4 RAV4 HV [02/2019 - 12/2021]; CRUISE CONTROL: FRONT CAMERA: ADJUSTMENT (SEQUENTIAL RECOGNITION)

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X2014

Front Recognition Camera Optical Axis Not Adjusted

History of forward recognition camera axis not adjusted judgment by the forward recognition camera

HINT:

Perform forward recognition camera axis alignment with either "One time recognition" or "Sequential recognition".

  • One time recognition: 2019 - 2021 MY RAV4 RAV4 HV [02/2019 - 12/2021]; CRUISE CONTROL: FRONT CAMERA: ADJUSTMENT (ONE TIME RECOGNITION)
  • Sequential recognition: 2019 - 2021 MY RAV4 RAV4 HV [02/2019 - 12/2021]; CRUISE CONTROL: FRONT CAMERA: ADJUSTMENT (SEQUENTIAL RECOGNITION)

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

-

(LTA indicator light (yellow) turns on)*

(w/ Lane Centering Function)

X2015

Front Recognition Camera Dirt

History of forward recognition camera dirty judgment judged by the forward recognition camera

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT CAMERA SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

-

(LDA indicator light (yellow) turns on)*

(w/o Lane Centering Function)

-

(LTA indicator light (yellow) turns on)*

(w/ Lane Centering Function)

X2016

Front Recognition Camera Outside Guaranteed Operating Temperature

History of forward recognition camera temperature malfunction judgment by the forward recognition camera

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT CAMERA SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

-

(LDA indicator light (yellow) turns on)*

(w/o Lane Centering Function)

LTA Unavailable (w/ Lane Centering Function)

X2017

Front Recognition Camera Outside Guaranteed Operating Voltage

History of forward recognition camera voltage malfunction judgment by the forward recognition camera

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT CAMERA SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

LDA Unavailable (w/o Lane Centering Function)

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X201D

Front Recognition Camera System Software Malfunction

History of forward recognition camera specification malfunction judgment by the forward recognition camera

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT CAMERA SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

-

(LTA indicator light (yellow) turns on)*

(w/ Lane Centering Function)

X201F

Front Recognition Camera Temporary Unavailable (Front Recognition Camera Recognition Stop)

History of forward recognition camera vehicle information malfunctions

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT CAMERA SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

-

(LDA indicator light (yellow) turns on)*

(w/o Lane Centering Function)

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X2020

Front Radar Sensor Destination Malfunction

History of received millimeter wave radar sensor assembly destination malfunctions

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X2021

Front Radar Sensor Malfunction

History of millimeter wave radar sensor assembly malfunction signals output by the millimeter wave radar sensor assembly

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X2022

Front Radar Sensor Optical Axis Misalignment Malfunction

History of millimeter wave radar sensor assembly axis misaligned malfunction signals output by the millimeter wave radar sensor assembly

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X2023

Front Radar Sensor Optical Axis Not Adjusted

History of millimeter wave radar sensor assembly axis not adjusted signals output by the millimeter wave radar sensor assembly

If the history output, delete the vehicle control histories after adjusting the optical axis, and check that the history is not output again.

2019 - 2021 MY RAV4 RAV4 HV [02/2019 - 12/2021]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: ADJUSTMENT

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

LTA Unavailable (w/ Lane Centering Function)

X2026

Front Radar Sensor Dirt

History of millimeter wave radar sensor assembly dirty malfunction signals output by the millimeter wave radar sensor assembly

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

LDA System Malfunction Visit Your Dealer (w/o Lane Centering Function)

LTA Unavailable (w/ Lane Centering Function)

X2027

Front Radar Sensor Outside Guaranteed Operating Temperature

History of millimeter wave radar sensor assembly temperature malfunction signals output by the millimeter wave radar sensor assembly

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

LDA Unavailable (w/o Lane Centering Function)

LTA Unavailable (w/ Lane Centering Function)

X2028

Front Radar Sensor Outside Guaranteed Operating Voltage

History of millimeter wave radar sensor assembly voltage malfunction signals output by the millimeter wave radar sensor assembly

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

LDA Unavailable (w/o Lane Centering Function)

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X204A

Acceleration Sensor Malfunction

for HV Model:

  • History of G sensor (yaw rate sensor) malfunction signals output by the brake booster with master cylinder assembly (skid control ECU)

for Gasoline Model:

  • History of G sensor (yaw rate sensor) malfunction signals output by the brake actuator assembly (skid control ECU)
  • Electronically controlled brake system (w/ Vacuum Brake Booster): 2019 - 2024 MY RAV4 RAV4 HV [11/2018 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/ Vacuum Brake Booster): HOW TO PROCEED WITH TROUBLESHOOTING
  • Electronically controlled brake system (w/o Vacuum Brake Booster): 2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): HOW TO PROCEED WITH TROUBLESHOOTING

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X2073

Communication Error from Lane Control Module to Power Steering Control System

History of communication malfunctions received from the power steering ECU (forward recognition camera → power steering ECU (rack and pinion power steering gear assembly))

  • for Type A:

    2019 - 2022 MY RAV4 RAV4 HV [02/2019 - 10/2022]; POWER ASSIST SYSTEMS: POWER STEERING SYSTEM (for Type A): HOW TO PROCEED WITH TROUBLESHOOTING

  • for Type B:

    2019 - 2024 MY RAV4 RAV4 HV [02/2019 -        ]; POWER ASSIST SYSTEMS: POWER STEERING SYSTEM (for Type B): HOW TO PROCEED WITH TROUBLESHOOTING

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X2081

Power Steering Control System for Steering Assist Invalid

History of steering assist power steering system unavailable malfunction signals output by the power steering system

  • for Type A:

    2019 - 2022 MY RAV4 RAV4 HV [02/2019 - 10/2022]; POWER ASSIST SYSTEMS: POWER STEERING SYSTEM (for Type A): HOW TO PROCEED WITH TROUBLESHOOTING

  • for Type B:

    2019 - 2024 MY RAV4 RAV4 HV [02/2019 -        ]; POWER ASSIST SYSTEMS: POWER STEERING SYSTEM (for Type B): HOW TO PROCEED WITH TROUBLESHOOTING

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X2082

Power Steering Control System for Steering Assist Steering Angle Malfunction

History of steering assist power steering system actual steering angle malfunction signals output by the power steering system

  • for Type A:

    2019 - 2022 MY RAV4 RAV4 HV [02/2019 - 10/2022]; POWER ASSIST SYSTEMS: POWER STEERING SYSTEM (for Type A): HOW TO PROCEED WITH TROUBLESHOOTING

  • for Type B:

    2019 - 2024 MY RAV4 RAV4 HV [02/2019 -        ]; POWER ASSIST SYSTEMS: POWER STEERING SYSTEM (for Type B): HOW TO PROCEED WITH TROUBLESHOOTING

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

LTA Malfunction Visit Your Dealer (w/ Lane Centering Function)

X2084

Meter Speed Tolerance Malfunction

History of meter speed tolerance malfunction signals output by the combination meter assembly

2019 - 2024 MY RAV4 RAV4 HV [11/2018 -        ]; METER / GAUGE / DISPLAY: METER / GAUGE SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

LDA Malfunction Visit Your Dealer (w/o Lane Centering Function)

CLEAR VEHICLE CONTROL HISTORY (LANE CONTROL SYSTEM)

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

(c) Enter the following menus: Chassis / Lane Control / Utility / Vehicle Control History (RoB).

NOTICE:

By performing this procedure, all stored Vehicle Control History items will be cleared.

Chassis > Lane Control > Utility

Tester Display

Vehicle Control History (RoB)

CHECK VEHICLE CONTROL HISTORY (SRS AIRBAG)

HINT:

Some of the control history can be checked from "Vehicle Control History".

  • w/ Occupant Classification System: 2019 - 2020 MY RAV4 RAV4 HV [02/2019 - 08/2020]; SUPPLEMENTAL RESTRAINT SYSTEMS: AIRBAG SYSTEM (w/ Occupant Classification System): VEHICLE CONTROL HISTORY
  • w/o Occupant Classification System: 2019 - 2020 MY RAV4 RAV4 HV [11/2018 - 08/2020]; SUPPLEMENTAL RESTRAINT SYSTEMS: AIRBAG SYSTEM (w/o Occupant Classification System): VEHICLE CONTROL HISTORY