Last Modified: 01-30-2024 6.11:8.1.0 Doc ID: RM100000001R69N
Model Year Start: 2021 Model: RAV4 Prod Date Range: [08/2020 - 12/2021]
Title: PRE-COLLISION: PRE-COLLISION SYSTEM: VEHICLE CONTROL HISTORY; 2021 MY RAV4 RAV4 HV [08/2020 - 12/2021]

VEHICLE CONTROL HISTORY

NOTICE:

When checking the vehicle control history, make sure to record the output histories. Then, remove the histories and recheck the output histories again.

CHECK VEHICLE CONTROL HISTORY (PRE-COLLISION 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: Body Electrical / Pre-Collision System / Utility / Vehicle Control History (RoB).

Body Electrical > Pre-Collision System > Utility

Tester Display

Vehicle Control History (RoB)

Vehicle Control History (RoB)

Multi-information Display

Code

Tester Display

Measurement Item

Diagnostic Note

Pre-Collision System Malfunction Visit Your Dealer

X2000

Yaw Rate Sensor Malfunction

for HV Model:

  • Recorded when forward recognition camera received a malfunction signal of airbag ECU assembly output from airbag ECU assembly or brake booster with master cylinder assembly (skid control ECU).

for Gasoline Model:

  • Recorded when forward recognition camera received a malfunction signal of airbag ECU assembly output from airbag ECU assembly or brake actuator assembly (skid control ECU).

for HV Model:

  • Electronically controlled brake system (HOW TO PROCEED WITH TROUBLESHOOTING)

    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

for Gasoline Model:

  • Electronically controlled brake system (HOW TO PROCEED WITH TROUBLESHOOTING)

    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

Pre-Collision System Malfunction Visit Your Dealer

X2001

Steering Angle Sensor Malfunction

Recorded when forward recognition camera received a malfunction signal of steering sensor output from steering sensor.

for HV Model:

  • Electronically controlled brake system (HOW TO PROCEED WITH TROUBLESHOOTING)

    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

for Gasoline Model:

  • Electronically controlled brake system (HOW TO PROCEED WITH TROUBLESHOOTING)

    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

Pre-Collision System Malfunction Visit Your Dealer

X2002

Accelerator Sensor Malfunction

for HV Model:

  • Recorded when forward recognition camera received a malfunction signal of accelerator sensor output from hybrid vehicle control ECU.

for Gasoline Model:

  • Recorded when forward recognition camera received a malfunction signal of accelerator sensor output from ECM.

for HV Model:

  • Hybrid control system (for AWD with NICKEL METAL HYDRIDE BATTERY) (HOW TO PROCEED WITH TROUBLESHOOTING)

    2019 - 2024 MY RAV4 HV [02/2019 -        ]; HYBRID / BATTERY CONTROL: HYBRID CONTROL SYSTEM (for AWD with NICKEL METAL HYDRIDE BATTERY): HOW TO PROCEED WITH TROUBLESHOOTING

  • Hybrid control system (for LITHIUM-ION BATTERY) (HOW TO PROCEED WITH TROUBLESHOOTING)

    2020 - 2024 MY RAV4 HV [06/2020 -        ]; HYBRID / BATTERY CONTROL: HYBRID CONTROL SYSTEM (for LITHIUM-ION BATTERY): HOW TO PROCEED WITH TROUBLESHOOTING

for Gasoline Model:

  • SFI system (HOW TO PROCEED WITH TROUBLESHOOTING)

    2021 - 2024 MY RAV4 RAV4 HV [08/2020 -        ]; A25A-FKS (ENGINE CONTROL): SFI SYSTEM: HOW TO PROCEED WITH TROUBLESHOOTING

Pre-Collision System Malfunction Visit Your Dealer

X2003

Brake Control System Malfunction

for HV Model:

  • Recorded when forward recognition camera received a malfunction signal of brake control system output from brake booster with master cylinder assembly (skid control ECU).

for Gasoline Model:

  • Recorded when forward recognition camera received a malfunction signal of brake control system output from brake actuator assembly (skid control ECU).

for HV Model:

  • Electronically controlled brake system (HOW TO PROCEED WITH TROUBLESHOOTING)

    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

for Gasoline Model:

  • Electronically controlled brake system (HOW TO PROCEED WITH TROUBLESHOOTING)

    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

Pre-Collision System Malfunction Visit Your Dealer

X2011

Front Recognition Camera System Software Not Programmed

Recorded when forward recognition camera received an information undefined signal output from forward recognition camera.

Front camera system (HOW TO PROCEED WITH TROUBLESHOOTING)

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

Pre-Collision System Malfunction Visit Your Dealer

X2012

Front Recognition Camera Malfunction

Recorded when forward recognition camera received a malfunction signal of forward recognition camera output from forward recognition camera.

Front camera system (HOW TO PROCEED WITH TROUBLESHOOTING)

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

Pre-Collision System Malfunction Visit Your Dealer

X2013

Front Recognition Camera Optical Axis Misalignment Malfunction

Recorded when forward recognition camera received an optical axis misalignment malfunction signal of forward recognition camera output from forward recognition camera.

Front camera system (C1AA800)

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT CAMERA SYSTEM: C1AA800; Front Recognition Camera Optical Axis Misalignment Malfunction

Pre-Collision System Malfunction Visit Your Dealer

X2014

Front Recognition Camera Optical Axis Not Adjusted

Recorded when forward recognition camera received an optical axis unadjusted signal of forward recognition camera output from forward recognition camera.

If this DTC is output, clear the history after performing axis adjustment and check that no DTC is output.

HINT:

Forward recognition camera adjustment can be performed by using 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)

Front Camera Unavailable SeeOwner's Manual

X2015

Front Recognition Camera Dirt

Recorded when forward recognition camera received a dirt signal of forward recognition camera output from forward recognition camera.

Refer to X2015 in the front camera system vehicle control history.

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT CAMERA SYSTEM: VEHICLE CONTROL HISTORY

Front Camera Unavailable

X2016

Front Recognition Camera Outside Guaranteed Operating Temperature

Recorded when forward recognition camera received an outside guaranteed operating temperature signal of forward recognition camera output from forward recognition camera.

Refer to X2016 in the front camera system vehicle control history.

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT CAMERA SYSTEM: VEHICLE CONTROL HISTORY

Front Camera Unavailable

X2017

Front Recognition Camera Outside Guaranteed Operating Voltage

Recorded when forward recognition camera received an outside guaranteed operating voltage signal of forward recognition camera output from forward recognition camera.

Refer to X2017 in the front camera system vehicle control history.

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT CAMERA SYSTEM: VEHICLE CONTROL HISTORY

Pre-Collision System Malfunction Visit Your Dealer

X2018

Front Recognition Camera Heater Malfunction

Recorded when forward recognition camera received a camera heater malfunction signal output from forward recognition camera.

Front camera system (HOW TO PROCEED WITH TROUBLESHOOTING)

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

Pre-Collision System Malfunction Visit Your Dealer

X201D

Front Recognition Camera System Software Malfunction

Recorded when forward recognition camera received system software malfunction signal of forward recognition camera output from forward recognition camera.

Front camera system (HOW TO PROCEED WITH TROUBLESHOOTING)

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

Front Camera Unavailable

X201F

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

Recorded when forward recognition camera received a recognition stop signal of forward recognition camera output from forward recognition camera.

Front camera system (HOW TO PROCEED WITH TROUBLESHOOTING)

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

Cause:

  • The forward recognition camera temporary recognition stops.

Pre-Collision System Malfunction Visit Your Dealer

X2020

Front Radar Sensor Destination Malfunction

Recorded when forward recognition camera received a destination malfunction signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.

Front radar sensor system (HOW TO PROCEED WITH TROUBLESHOOTING)

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

Pre-Collision System Malfunction Visit Your Dealer

X2021

Front Radar Sensor Malfunction

Recorded when forward recognition camera received a malfunction signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.

Front radar sensor system (HOW TO PROCEED WITH TROUBLESHOOTING)

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

Pre-Collision System Malfunction Visit Your Dealer

X2022

Front Radar Sensor Optical Axis Misalignment Malfunction

Recorded when forward recognition camera received an optical axis misalignment malfunction signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.

Front radar sensor system (C1A1100)

2019 - 2021 MY RAV4 RAV4 HV [11/2018 - 12/2021]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM: C1A1100; Front Radar Sensor Optical Axis Misalignment Malfunction

Pre-Collision System Malfunction Visit Your Dealer

X2023

Front Radar Sensor Optical Axis Not Adjusted

Recorded when forward recognition camera received an optical axis unadjusted signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.

If this DTC is output, clear the history after performing axis adjustment and check that no DTC is output.

Pre-Collision System Unavailable

X2024

Front Radar Sensor Temporary Unavailable (Vertical Direction Optical Axis Misalignment)

Recorded when forward recognition camera received a vertical direction optical axis misalignment signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.

Refer to X2024 in the front radar sensor system vehicle control history.

2021 MY RAV4 RAV4 HV [08/2020 - 12/2021]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM: VEHICLE CONTROL HISTORY

HINT:

  • The vehicle control history may be stored even when "Pre-Collision System Unavailable" is not displayed on the multi-information display. When this occurs, the vehicle control history can be erased by completing drive learning.

Pre-Collision System Unavailable

X2025

Front Radar Sensor Temporary Unavailable (Horizontal Direction Optical Axis Misalignment)

Recorded when forward recognition camera received a horizontal direction optical axis misalignment signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.

Refer to X2025 in the front radar sensor system vehicle control history.

2021 MY RAV4 RAV4 HV [08/2020 - 12/2021]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM: VEHICLE CONTROL HISTORY

HINT:

  • The vehicle control history may be stored even when "Pre-Collision System Unavailable" is not displayed on the multi-information display. When this occurs, the vehicle control history can be erased by completing drive learning.

Pre-Collision System Unavailable Clean Sensor

X2026

Front Radar Sensor Dirt

Recorded when forward recognition camera received a dirt malfunction signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.

Refer to X2026 in the front radar system vehicle control history.

2021 MY RAV4 RAV4 HV [08/2020 - 12/2021]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM: VEHICLE CONTROL HISTORY

Pre-Collision System Unavailable

X2027

Front Radar Sensor Outside Guaranteed Operating Temperature

Recorded when forward recognition camera received an outside guaranteed operation temperature signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.

Refer to X2027 in the front radar sensor system vehicle control history.

2021 MY RAV4 RAV4 HV [08/2020 - 12/2021]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM: VEHICLE CONTROL HISTORY

Pre-Collision System Unavailable

X2028

Front Radar Sensor Outside Guaranteed Operating Voltage

Recorded when forward recognition camera received an outside guaranteed operating voltage signal of millimeter wave radar sensor assembly output from millimeter wave radar sensor assembly.

Refer to X2028 in the front radar sensor system vehicle control history.

2021 MY RAV4 RAV4 HV [08/2020 - 12/2021]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM: VEHICLE CONTROL HISTORY

Pre-Collision System Malfunction Visit Your Dealer

X2070

Communication Error from Pre-Collision System to Front Radar Sensor

Recorded when forward recognition camera received a communication error signal from forward recognition camera to millimeter wave radar sensor assembly.

Front radar sensor system (HOW TO PROCEED WITH TROUBLESHOOTING)

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

CLEAR VEHICLE CONTROL HISTORY (PRE-COLLISION 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: Body Electrical / Pre-Collision System / Utility / Vehicle Control History (RoB).

NOTICE:

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

Body Electrical > Pre-Collision System > Utility

Tester Display

Vehicle Control History (RoB)

CHECK VEHICLE CONTROL HISTORY (SRS AIRBAG)

HINT:

A part of the control history can be confirmed using the vehicle control history.

Click here 2021 - 2024 MY RAV4 RAV4 HV [08/2020 -        ]; SUPPLEMENTAL RESTRAINT SYSTEMS: AIRBAG SYSTEM: VEHICLE CONTROL HISTORY