LTA Malfunction Visit Your Dealer

X2000

Yaw Rate Sensor Malfunction

for Gasoline Model:

History of yaw rate sensor (airbag ECU assembly) malfunction signals output by the skid control ECU (brake actuator assembly)

for HV Model:

History of yaw rate sensor (airbag ECU assembly) malfunction signals output by the No. 2 skid control ECU (brake actuator assembly)

Perform troubleshooting for the electronically controlled brake system.

for Gasoline Model:

for HV Model:

LTA Malfunction Visit Your Dealer

X2001

Steering Angle Sensor Malfunction

The forward recognition camera received a steering sensor malfunction signal from the steering sensor

Perform troubleshooting for the electronically controlled brake system.

for Gasoline Model:

for HV Model:

LTA Unavailable

X2003

Brake Control System Malfunction

for Gasoline Model:

History of brake system malfunction signals output by the skid control ECU (brake actuator assembly)

for HV Model:

History of brake system malfunction signals output by the No. 2 skid control ECU (brake actuator assembly)

Perform troubleshooting for the electronically controlled brake system.

for Gasoline Model:

for HV Model:

LTA Malfunction Visit Your Dealer

X2004

Speed Sensor Malfunction

for Gasoline Model:

History of speed sensor malfunction signals output by the skid control ECU (brake actuator assembly)

for HV Model:

History of speed sensor malfunction signals output by the No. 2 skid control ECU (brake actuator assembly)

Perform troubleshooting for the electronically controlled brake system.

for Gasoline Model:

for HV Model:

LTA Unavailable

X2008

Steering Assist Request Invalid

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

Refer to How to Proceed with Troubleshooting for the power steering system.

for Type A:

for Type B:

LTA Malfunction Visit Your Dealer

X2011

Front Recognition Camera System Software Not Programmed

History of vehicle specification unconfirmed judgment by the forward recognition camera

Refer to How to Proceed with Troubleshooting for the front camera system.

LTA Malfunction Visit Your Dealer

X2012

Front Recognition Camera Malfunction

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

Refer to How to Proceed with Troubleshooting for the front camera system.

LTA Malfunction Visit Your Dealer

X2013

Front Recognition Camera Optical Axis Misalignment Malfunction

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

HINT:

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

One time recognition:

Sequential recognition:

Driving Adjustment:

LTA Malfunction Visit Your Dealer

X2014

Front Recognition Camera Optical Axis Not Adjusted

History of forward recognition camera axis not adjusted judgment by the 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 axis alignment can be performed by using either One Time Recognition, Sequential Recognition or Driving Adjustment.

One time recognition:

Sequential recognition:

Driving Adjustment:

No Message*

(LTA indicator light (yellow) illuminates)

X2015

Front Recognition Camera Dirt

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

Refer to How to Proceed with Troubleshooting for the front camera system.

No Message*

(LTA indicator light (yellow) illuminates)

X2016

Front Recognition Camera Outside Guaranteed Operating Temperature

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

Refer to How to Proceed with Troubleshooting for the front camera system.

No Message*

(LTA indicator light (yellow) illuminates)

X2017

Front Recognition Camera Outside Guaranteed Operating Voltage

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

Refer to How to Proceed with Troubleshooting for the front camera system.

LTA Malfunction Visit Your Dealer

X201D

Front Recognition Camera System Software Malfunction

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

Refer to How to Proceed with Troubleshooting for the front camera system.

LTA Malfunction Visit Your Dealer

X2020

Front Radar Sensor Destination Malfunction

History of received millimeter wave radar sensor assembly destination malfunctions

Refer to How to Proceed with Troubleshooting for the front radar sensor system.

LTA Malfunction Visit Your Dealer

X2021

Front Radar Sensor Malfunction

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

Refer to How to Proceed with Troubleshooting for the front radar sensor system.

LTA Malfunction Visit Your Dealer

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

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:

Flat Surface Target:

Driving Adjustment:

LTA Malfunction Visit Your Dealer

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 this DTC is output, clear the vehicle control history after performing millimeter wave radar sensor assembly adjustment and check that no DTC is output.

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:

Flat Surface Target:

Driving Adjustment:

LTA Unavailable

X2026

Front Radar Sensor Dirt

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

Refer to How to Proceed with Troubleshooting for the front radar sensor system.

LTA Unavailable

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

Refer to How to Proceed with Troubleshooting for the front radar sensor system.

LTA Unavailable

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

Refer to How to Proceed with Troubleshooting for the front radar sensor system.

LTA Malfunction Visit Your Dealer

X202A

Front Radar Sensor Destination Not Programmed

A destination undefined signal was received from the millimeter wave radar sensor assembly

Refer to How to Proceed with Troubleshooting for the front radar sensor system.

LTA Malfunction Visit Your Dealer

X204A

Acceleration Sensor Malfunction

for Gasoline Model:

History of acceleration sensor malfunction signals output by the skid control ECU (brake actuator assembly)

for HV Model:

History of acceleration sensor malfunction signals output by the No. 2 skid control ECU (brake actuator assembly)

Perform troubleshooting for the electronically controlled brake system.

for Gasoline Model:

for HV Model:

LTA Malfunction Visit Your Dealer

X2073

Communication Error from Lane Control Module to Power Steering Control System

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

Refer to How to Proceed with Troubleshooting for the power steering system.

for Type A:

for Type B:

LTA Malfunction Visit Your Dealer

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

Refer to How to Proceed with Troubleshooting for the power steering system.

for Type A:

for Type B:

LTA Malfunction Visit Your Dealer

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

Refer to How to Proceed with Troubleshooting for the power steering system.

for Type A:

for Type B:

LTA Malfunction Visit Your Dealer

X2084

Meter Speed Tolerance Malfunction

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

Refer to How to Proceed with Troubleshooting for the meter / gauge system.