Last Modified: 01-30-2024 6.11:8.1.0 Doc ID: RM1000000021JCV
Model Year Start: 2022 Model: RAV4 Prod Date Range: [12/2021 - 10/2022]
Title: PRE-COLLISION: PRE-COLLISION SYSTEM: U023A87; Lost Communication with Image Processing Module "A" Missing Message; 2022 MY RAV4 RAV4 HV [12/2021 - 10/2022]

DTC

U023A87

Lost Communication with Image Processing Module "A" Missing Message

DESCRIPTION

The millimeter wave radar sensor assembly is connected to the forward recognition camera via the CAN communication line. If the millimeter wave radar sensor assembly receives signals indicating that its communication with the forward recognition camera is abnormal, the millimeter wave radar sensor assembly stores DTC U023A87.

DTC No.

Detection Item

DTC Detection Condition

Trouble Area

U023A87

Lost Communication with Image Processing Module "A" Missing Message

When the ignition switch is ON for 3 seconds or more, a forward recognition camera communication malfunction continues for approximately 3 seconds or more.

  • Forward recognition camera
  • Millimeter wave radar sensor assembly

Pattern

DTC output part name

(Display on Techstream)

Suspected Area (Malfunction Status)

Millimeter Wave Radar Sensor Assembly

Forward Recognition Camera

Pre-Collision System

Radar Cruise2

Lane Control

Forward Recognition Camera (Front Lighting Control)

U023A87

U023A87

U023587

U023587

○: DTC is output

-: DTC is not output

Pattern 1

Harness or connector (Open or short)

Millimeter wave radar sensor assembly (Internal malfunction)

Forward recognition camera (Internal malfunction)

Pattern 2

-

-

Millimeter wave radar sensor assembly (Internal malfunction)

Forward recognition camera (Internal malfunction)

HINT:

If the DTCs are output simultaneously, the inspection area can be narrowed down.

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 and a DTC may be stored.
  • When the millimeter wave radar sensor assembly has been replaced with a new one, it is necessary to perform millimeter wave radar sensor assembly beam axis alignment and to clear the vehicle control history. Before performing the Driving Adjustment, make sure to read Before Starting Driving Adjustment.

    HINT:

    Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment.

    Triangle Target: Click here 2022 - 2024 MY RAV4 RAV4 HV [12/2021 -        ]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: TARGET ADJUSTMENT(TRIANGLE TARGET)

    Flat Surface Target: Click here 2022 - 2024 MY RAV4 RAV4 HV [12/2021 -        ]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: TARGET ADJUSTMENT(FLAT SURFACE TARGET)

    Driving Adjustment: Click here 2022 - 2024 MY RAV4 RAV4 HV [12/2021 -        ]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: DRIVING 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 and a DTC may be stored.
  • When the forward recognition camera is replaced with a new one or the windshield glass is replaced or removed/installed, make sure to read Before Starting Adjustment, then perform optical axis alignment for the forward recognition camera and clear the vehicle control history for each system.

    HINT:

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

    One Time Recognition: Click here 2022 - 2024 MY RAV4 RAV4 HV [12/2021 -        ]; CRUISE CONTROL: FRONT CAMERA: TARGET ADJUSTMENT(ONE TIME RECOGNITION)

    Sequential Recognition: Click here 2022 - 2024 MY RAV4 RAV4 HV [12/2021 -        ]; CRUISE CONTROL: FRONT CAMERA: TARGET ADJUSTMENT(SEQUENTIAL RECOGNITION)

    Driving Adjustment: Click here 2022 - 2024 MY RAV4 RAV4 HV [12/2021 -        ]; CRUISE CONTROL: FRONT CAMERA: DRIVING ADJUSTMENT

  • After the ignition switch is turned off, there may be a waiting time before disconnecting the negative (-) auxiliary battery terminal.

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

HINT:

If there are communication malfunctions for systems other than the millimeter wave radar sensor assembly and forward recognition camera, refer to "HOW TO PROCEED WITH TROUBLESHOOTING" for the CAN Communication System.

Click here 2019 - 2024 MY RAV4 HV [02/2019 -        ]; NETWORKING: CAN COMMUNICATION SYSTEM (for HV Model): HOW TO PROCEED WITH TROUBLESHOOTING

PROCEDURE

1.

CHECK FOR DTC

(a) Read each DTC and check the diagnosis pattern using the table below.

Body Electrical > Pre-Collision System > Trouble Codes

Powertrain > Radar Cruise2 > Trouble Codes

Chassis > Lane Control > Trouble Codes

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

Pattern

DTC output part name

(Display on Techstream / Output DTC)

Radar Cruise2

Pre-Collision System

Lane Control

Forward Recognition Camera (Front Lighting Control)

Pattern 1

U023A87

U023A87

U023587

U023587

Pattern 2

U023A87

U023A87

-

-

Result

Proceed to

Pattern 1

A

Pattern 2

B

B

GO TO STEP 4

A

2.

CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

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

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

(c) 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) - Body ground

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

B9-6 (CA1N) - Body ground

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

B9-5 (CA1P) - +B

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

B9-6 (CA1N) - +B

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

NG

3.

CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA)

(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) - Body ground

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

P8-12 (CANL) - Body ground

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

P8-6 (CANH) - +B

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

P8-12 (CANL) - +B

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

REPAIR OR REPLACE CAN BUS SUB LINE OR CONNECTOR

4.

CHECK FORWARD RECOGNITION CAMERA

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

(b) Measure the waveform according to the table below.

Measurement Condition:

Tester Connection

Condition

Tool Setting

Specified Condition

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

Ignition switch ON

1 V/DIV., 100 μs./DIV.

Waveform generation

OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

NG

REPLACE FORWARD RECOGNITION CAMERA