Last Modified: 05-13-2024 6.11:8.1.0 Doc ID: RM100000001HBMS
Model Year Start: 2020 Model: GR Corolla Prod Date Range: [01/2019 - 09/2022]
Title: PRE-COLLISION: PRE-COLLISION SYSTEM (for Gasoline Model): U023A87; Lost Communication with Image Processing Module "A" Missing Message; 2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [01/2019 - 09/2022]

DTC

U023A87

Lost Communication with Image Processing Module "A" Missing Message

DESCRIPTION

The forward recognition camera communicates with the skid control ECU (brake actuator assembly) via CAN communication.

If a communication error is detected between the skid control ECU (brake actuator assembly) and forward recognition camera, the forward recognition camera stores this DTC.

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 2 seconds or more, a communication malfunction between the skid control ECU (brake actuator assembly) the forward recognition camera is detected for 3 seconds or more.
  • Electronically controlled brake system
  • Forward recognition camera

CAUTION / NOTICE / HINT

NOTICE:

  • 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.
  • If the forward recognition camera has been replaced with a new one, forward recognition camera adjustment must be performed.

    HINT:

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

    One Time Recognition: Click here 2020 - 2022 MY Corolla Corolla Hatchback Corolla HV GR Corolla [01/2019 - 09/2022]; CRUISE CONTROL: FRONT CAMERA: ADJUSTMENT (ONE TIME RECOGNITION)

    Sequential Recognition: Click here 2020 - 2022 MY Corolla Corolla Hatchback Corolla HV GR Corolla [01/2019 - 09/2022]; CRUISE CONTROL: FRONT CAMERA: ADJUSTMENT (SEQUENTIAL RECOGNITION)

PROCEDURE

1.

CHECK FOR DTCs

(a) Using the Techstream, check for electronically controlled brake system DTCs.

Chassis > Brake/EPB > Trouble Codes

HINT:

If DTC U023A87 and electronically controlled brake system DTCs are output, perform troubleshooting for the electronically controlled brake system first.

Result

Proceed to

Electronically controlled brake system DTCs are not output

A

Electronically controlled brake system DTCs are output

B
B

GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM

w/ Electric Parking Brake System: Click here 2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (for Gasoline Model with Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

w/o Electric Parking Brake System: Click here 2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [01/2019 - 09/2022]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (for Gasoline Model without Electric Parking Brake System): HOW TO PROCEED WITH TROUBLESHOOTING

A

2.

PERFORM DEALER MODE (SIGNAL CHECK) (ELECTRONICALLY CONTROLLED BRAKE SYSTEM)

HINT:

When entering Dealer Mode (Signal Check), the skid control ECU (brake actuator assembly) communicates with the forward recognition camera to judge whether the vehicle is equipped with the pre-collision system. Therefore, do not exit Dealer Mode (Signal Check) within 5 seconds of entering Dealer Mode (Signal Check).

(a) Procedure to enter Dealer Mode (Signal Check)

(1) Turn the ignition switch off.

(2) Apply the parking brake.

(3) Check that the shift lever is in P (for continuously variable transaxle).

(4) Check that the shift lever is in neutral (for manual transaxle).

(5) Connect the Techstream to the DLC3.

(6) Turn the ignition switch to ON.

(7) Check that the steering wheel is centered.

(8) Turn the Techstream on.

(9) Switch the skid control ECU (brake actuator assembly) to Dealer Mode (Signal Check) using the Techstream. Enter the following menus: Chassis / Brake/EPB / Utility / Signal Check.

Chassis > Brake/EPB > Utility

Tester Display

Signal Check

HINT:

Do not exit Dealer Mode (Signal Check) within 5 seconds of entering Dealer Mode (Signal Check). If Dealer Mode (Signal Check) is exited within 5 seconds of entering Dealer Mode (Signal Check), DTC U023A87 may be stored. If DTC U023A87 is output after exiting Dealer Mode (Signal Check), enter Dealer Mode (Signal Check) again, wait at least 5 seconds, then recheck for DTCs.

(b) Confirm the system has entered Dealer Mode (Signal Check).

(1) Confirm that the ABS warning light and slip indicator light indicate the Dealer Mode pattern (blinking at 0.25 second intervals).

HINT:

  • If the ABS warning light or slip indicator light remains illuminated or does not illuminate when Dealer Mode (Signal Check) is entered, a component or wire harness may be malfunctioning.
  • When entering Dealer Mode (Signal Check), if the parking brake is engaged, the parking brake indicator light (red) will illuminate, and if the parking brake is not engaged, the parking brake indicator light (red) will blink in the Dealer Mode pattern (blinking at 0.25 second intervals).

(c) End of Dealer Mode (Signal Check)

(1) Turn the ignition switch off.

(2) Disconnect the Techstream.

NEXT

3.

CHECK FOR DTCs

(a) Clear the DTCs.

Body Electrical > Pre-Collision System > Clear DTCs

(b) Make sure that the DTC detection conditions are met.

HINT:

If the detection conditions are not met, the system cannot detect the malfunction.

(c) Check for DTCs.

Body Electrical > Pre-Collision System > Trouble Codes

Result

Proceed to

DTC U023A87 is not output

A

DTC U023A87 is output

B
A

END
B

REPLACE FORWARD RECOGNITION CAMERA