Last Modified: 01-30-2024 6.11:8.1.0 Doc ID: RM100000001R6FG
Model Year Start: 2021 Model: RAV4 HV Prod Date Range: [08/2020 - 12/2021]
Title: CRUISE CONTROL: DYNAMIC RADAR CRUISE CONTROL SYSTEM (for HV Model): VEHICLE CONTROL HISTORY; 2021 MY RAV4 HV [08/2020 - 12/2021]

VEHICLE CONTROL HISTORY

NOTICE:

Make sure to record any output Vehicle Control History codes before clearing them and checking the Vehicle Control History again.

CHECK VEHICLE CONTROL HISTORY (DYNAMIC RADAR CRUISE 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: Powertrain / Radar Cruise2 / Utility / Vehicle Control History (RoB).

Powertrain > Radar Cruise2 > Utility

Tester Display

Vehicle Control History (RoB)

(e) Read the Vehicle Control History (RoB) according to the display on the Techstream.

Vehicle Control History (RoB)

Multi-information Display

Code

Tester Display

Description

Diagnostic Note

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X2000

Yaw Rate Sensor Malfunction

The forward recognition camera received a yaw rate and acceleration sensor (airbag ECU assembly) malfunction signal from the skid control ECU (brake booster with master cylinder assembly).

Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.

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

Cruise Control Malfunction Visit Your Dealer

X2010

Front Recognition Camera System Malfunction

The forward recognition camera detected a front camera system malfunction.

Refer to How to Proceed with Troubleshooting in Front Camera System.

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

Cruise Control Malfunction Visit Your Dealer

X2011

Front Recognition Camera System Software Not Programmed

The forward recognition camera cannot store the vehicle information.

Refer to How to Proceed with Troubleshooting in Front Camera System.

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

Cruise Control Malfunction Visit Your Dealer

X2012

Front Recognition Camera Malfunction

The forward recognition camera detected an internal malfunction.

Refer to How to Proceed with Troubleshooting in Front Camera System.

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

Cruise Control Malfunction Visit Your Dealer

X2013

Front Recognition Camera Optical Axis Misalignment Malfunction

The forward recognition camera detected optical axis misalignment.

Refer to DTC C1AA800 in Front Camera System.

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

Cruise Control Malfunction Visit Your Dealer

X2014

Front Recognition Camera Optical Axis Not Adjusted

Forward recognition camera optical axis adjustment has not been performed.

If this code is output, perform forward recognition camera optical axis adjustment, clear the Vehicle Control History and then check that this code is not stored again.

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)

Radar Cruise Control Unavailable See Owner's Manual

X2015

Front Recognition Camera Dirt

History of forward recognition camera dirty malfunction signals output by the forward recognition camera

Refer to vehicle control history code X2015 in Front Camera System.

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

Radar Cruise Control Unavailable

X2016

Front Recognition Camera Outside Guaranteed Operating Temperature

System operation was temporarily suspended due to the forward recognition camera being excessively hot or cold.

Refer to vehicle control history code X2016 in Front Camera System.

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

Radar Cruise Control Unavailable

X2017

Front Recognition Camera Outside Guaranteed Operating Voltage

System operation was temporarily suspended due to the forward recognition camera power source voltage being excessively high or low.

Refer to vehicle control history code X2017 in Front Camera System.

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

Cruise Control Malfunction Visit Your Dealer

X201D

Front Recognition Camera System Software Malfunction

The forward recognition camera detected a specification information malfunction.

Refer to How to Proceed with Troubleshooting in Front Camera System.

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

Radar Cruise Control Unavailable

X201F

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

The forward recognition camera operation was suspended.

Refer to How to Proceed with Troubleshooting in Front Camera System.

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

Cruise Control Malfunction Visit Your Dealer

X2020

Front Radar Sensor Destination Malfunction

The forward recognition camera received a destination information malfunction signal from the millimeter wave radar sensor assembly.

Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.

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

Cruise Control Malfunction Visit Your Dealer

X2021

Front Radar Sensor Malfunction

The forward recognition camera received a malfunction signal from the millimeter wave radar sensor assembly.

Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.

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

Cruise Control Malfunction Visit Your Dealer

X2022

Front Radar Sensor Optical Axis Misalignment Malfunction

The forward recognition camera received a beam axis misalignment malfunction signal from the millimeter wave radar sensor assembly.

Perform beam axis adjustment for the millimeter wave radar sensor assembly.

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

Cruise Control Malfunction Visit Your Dealer

X2023

Front Radar Sensor Optical Axis Not Adjusted

The forward recognition camera received a beam axis unadjusted signal from the millimeter wave radar sensor assembly.

If this history is output, delete the vehicle control history after adjusting the beam 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

Radar Cruise Control Unavailable See Owner's Manual

X2026

Front Radar Sensor Dirt

The forward recognition camera received a millimeter wave radar sensor assembly dirty malfunction signal from the millimeter wave radar sensor assembly.

Refer to vehicle control history code X2026 in Front Radar Sensor System.

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

Radar Cruise Control Unavailable

X2027

Front Radar Sensor Outside Guaranteed Operating Temperature

The forward recognition camera received a temperature malfunction signal from the millimeter wave radar sensor assembly.

Refer to vehicle control history code X2027 in Front Radar Sensor System.

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

Radar Cruise Control Unavailable

X2028

Front Radar Sensor Outside Guaranteed Operating Voltage

The forward recognition camera received a voltage malfunction signal from the millimeter wave radar sensor assembly.

Refer to vehicle control history code X2028 in Front Radar Sensor System.

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

Radar Cruise Control Unavailable

X2029

Front Radar Sensor Temporary Unavailable (Optical Axis Misalignment)

The forward recognition camera received a beam axis misalignment signal from the millimeter wave radar sensor assembly.

Perform beam axis adjustment for the millimeter wave radar sensor assembly.

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

Radar Cruise Control Unavailable

X20AE

Radar Cruise Control Invalidation for Undetectable Vehicle Traveling Directly Ahead

The forward recognition camera stores a cancellation history of control of vehicle speed when the dynamic radar cruise control system temporarily could not detect the preceding vehicle due to environmental influence such as bad weather.

  1. If this code is output, check for dynamic radar cruise control system DTCs or vehicle control history for other vehicle control systems.

    Check for DTCs: 2019 - 2021 MY RAV4 HV [02/2019 - 12/2021]; CRUISE CONTROL: DYNAMIC RADAR CRUISE CONTROL SYSTEM (for HV Model): DTC CHECK / CLEAR

    Vehicle Control History:

    2021 MY RAV4 HV [08/2020 - 12/2021]; CRUISE CONTROL: DYNAMIC RADAR CRUISE CONTROL SYSTEM (for HV Model): VEHICLE CONTROL HISTORY

  2. If DTCs for the dynamic radar cruise control system or vehicle control history for other vehicle control systems are output, refer to the respective troubleshooting procedures.

    Diagnostic Trouble Code Chart:

    Vehicle Control History:

    2021 MY RAV4 HV [08/2020 - 12/2021]; CRUISE CONTROL: DYNAMIC RADAR CRUISE CONTROL SYSTEM (for HV Model): VEHICLE CONTROL HISTORY

  3. If DTCs for the dynamic radar cruise control system or vehicle control history for other vehicle control systems are not output, this code may have been stored due to environmental influence such as bad weather causing the system to cancel control of vehicle speed.

CLEAR VEHICLE CONTROL HISTORY (DYNAMIC RADAR CRUISE 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: Powertrain / Radar Cruise2 / Utility / Vehicle Control History (RoB)

Powertrain > Radar Cruise2 > Utility

Tester Display

Vehicle Control History (RoB)

(e) According to the display on the Techstream, clear the Vehicle Control History (RoB).

NOTICE:

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

CHECK VEHICLE CONTROL HISTORY (AIRBAG SYSTEM)

HINT:

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