Last Modified: 05-13-2024 6.11:8.1.0 Doc ID: RM100000001LBN2
Model Year Start: 2020 Model: GR Corolla Prod Date Range: [09/2019 - 09/2022]
Title: CRUISE CONTROL: LANE CONTROL SYSTEM (for Gasoline Model): VEHICLE CONTROL HISTORY; 2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [09/2019 - 09/2022]

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 (LANE CONTROL SYSTEM)

(a) Connect the Techstream to the DLC3.

(b) Turn the engine switch on (IG).

(c) Turn the Techstream on.

(d) Enter the following menus: Chassis / Lane Control / Utility / Vehicle Control History (RoB).

Chassis > Lane Control > Utility

Tester Display

Vehicle Control History (RoB)

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

Vehicle Control History (RoB)

Multi-information Display

Code

Tester Display

Description

Diagnostic Note

*1: The pre-collision system outputs requests for "Front Camera Unavailable" or "Front Camera Unavailable See Owner's Manual" to be displayed on the multi-information display in the combination meter assembly.

*2: w/ Lane Centering Function

*3: w/o Lane Centering Function

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

X2000

Yaw Rate Sensor Malfunction

The forward recognition camera received a yaw rate sensor malfunction signal from the skid control ECU (brake actuator assembly).

Perform troubleshooting for the electronically controlled brake system.

w/ Electric Parking Brake System: 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: 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

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

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.

w/ Electric Parking Brake System: 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: 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

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

X2003

Brake Control System Malfunction

The forward recognition camera received an electronically controlled brake system malfunction signal from the skid control ECU (brake actuator assembly).

Perform troubleshooting for the electronically controlled brake system.

w/ Electric Parking Brake System: 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: 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

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

X2004

Speed Sensor Malfunction

The forward recognition camera received a vehicle speed sensor malfunction signal from the skid control ECU (brake actuator assembly).

Perform troubleshooting for the electronically controlled brake system.

w/ Electric Parking Brake System: 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: 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

LTA Unavailable*2

LDA Unavailable*3

X2008

Steering Assist Request Invalid

The forward recognition camera received a power steering ECU low voltage malfunction signal from the power steering ECU (power steering ECU with motor assembly).

Perform troubleshooting for the power steering system.

2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [09/2019 - 09/2022]; POWER ASSIST SYSTEMS: POWER STEERING SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

X2011

Front Recognition Camera System Software Not Programmed

Forward recognition camera cannot store the vehicle information.

Perform troubleshooting for the front camera system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT CAMERA SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

X2012

Front Recognition Camera Malfunction

The forward recognition camera detected an internal malfunction.

Perform troubleshooting for the front camera system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT CAMERA SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

X2013

Front Recognition Camera Optical Axis Misalignment Malfunction

The forward recognition camera detected optical axis misalignment.

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)

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

X2014

Front Recognition Camera Optical Axis Not Adjusted

Forward recognition camera optical axis adjustment has not been performed.

If this Vehicle Control History 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: 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)

No Message*1

(LTA indicator light (yellow) illuminates)*2

(LDA indicator light (yellow) illuminates)*3

X2015

Front Recognition Camera Dirt

System operation was temporarily suspended due to forward recognition camera not being able to detect objects.

Perform troubleshooting for the front camera system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT CAMERA SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

No Message*1

(LTA indicator light (yellow) illuminates)*2

(LDA indicator light (yellow) illuminates)*3

X2016

Front Recognition Camera Outside Guaranteed Operating Temperature

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

Perform troubleshooting for the front camera system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT CAMERA SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

LTA Unavailable*2

LDA Unavailable*3

X2017

Front Recognition Camera Outside Guaranteed Operating Voltage

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

Perform troubleshooting for the front camera system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT CAMERA SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

X201D

Front Recognition Camera System Software Malfunction

The forward recognition camera detected specification information malfunction.

Perform troubleshooting for the front camera system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT CAMERA SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

No Message*1

(LTA indicator light (yellow) illuminates)*2

(LDA indicator light (yellow) illuminates)*3

X201F

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

The forward recognition camera operation was suspended.

Perform troubleshooting for the front camera system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT CAMERA SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

X2020

Front Radar Sensor Destination Malfunction

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

Perform troubleshooting for the front radar sensor system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

X2021

Front Radar Sensor Malfunction

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

Perform troubleshooting for the front radar sensor system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

X2022

Front Radar Sensor Optical Axis Misalignment Malfunction

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

Perform millimeter wave radar sensor assembly beam axis adjustment.

2020 - 2022 MY Corolla Corolla Hatchback Corolla HV GR Corolla [03/2019 - 09/2022]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: ADJUSTMENT

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

X2023

Front Radar Sensor Optical Axis Not Adjusted

The forward recognition camera received beam axis not adjusted signal from the millimeter wave radar sensor assembly.

If this Vehicle Control History code is output, perform millimeter wave radar sensor assembly beam axis adjustment, clear the Vehicle Control History and then check that this code is not stored again.

2020 - 2022 MY Corolla Corolla Hatchback Corolla HV GR Corolla [03/2019 - 09/2022]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: ADJUSTMENT

LTA Unavailable*2

LDA Unavailable*3

X2026

Front Radar Sensor Dirt

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

Perform troubleshooting for the front radar sensor system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

LTA Unavailable*2

LDA Unavailable*3

X2027

Front Radar Sensor Outside Guaranteed Operating Temperature

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

Perform troubleshooting for the front radar sensor system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

LTA Unavailable*2

LDA Unavailable*3

X2028

Front Radar Sensor Outside Guaranteed Operating Voltage

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

Perform troubleshooting for the front radar sensor system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; CRUISE CONTROL: FRONT RADAR SENSOR SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

X204A

Acceleration Sensor Malfunction

The forward recognition camera received an acceleration sensor malfunction signal from the skid control ECU (brake actuator assembly).

Perform troubleshooting for the electronically controlled brake system.

w/ Electric Parking Brake System: 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: 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

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

X2073

Communication Error from Lane Control Module to Power Steering Control System

Communication malfunction occurred between the forward recognition camera and power steering ECU (power steering ECU with motor assembly).

Perform troubleshooting for the power steering system.

2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [09/2019 - 09/2022]; POWER ASSIST SYSTEMS: POWER STEERING SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

X2081

Power Steering Control System for Steering Assist Invalid

The forward recognition camera received a power steering system steering assist unavailable signal from the power steering ECU (power steering ECU with motor assembly).

Perform troubleshooting for the power steering system.

2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [09/2019 - 09/2022]; POWER ASSIST SYSTEMS: POWER STEERING SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

X2082

Power Steering Control System for Steering Assist Steering Angle Malfunction

The forward recognition camera received a power steering system steering assist angle malfunction signal from the power steering ECU (power steering ECU with motor assembly).

Perform troubleshooting for the power steering system.

2020 - 2022 MY Corolla Corolla Hatchback GR Corolla [09/2019 - 09/2022]; POWER ASSIST SYSTEMS: POWER STEERING SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

LTA Malfunction Visit Your Dealer*2

LDA Malfunction Visit Your Dealer*3

X2084

Meter Speed Tolerance Malfunction

The forward recognition camera received a vehicle speed tolerance malfunction signal from the combination meter assembly.

Perform troubleshooting for the meter / gauge system.

2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; METER / GAUGE / DISPLAY: METER / GAUGE SYSTEM (for Gasoline Model): HOW TO PROCEED WITH TROUBLESHOOTING

CLEAR VEHICLE CONTROL HISTORY (LANE CONTROL SYSTEM)

NOTICE:

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

(a) Connect the Techstream to the DLC3.

(b) Turn the engine switch on (IG).

(c) Turn the Techstream on.

(d) Enter the following menus: Chassis / Lane Control / Utility / Vehicle Control History (RoB).

Chassis > Lane Control > Utility

Tester Display

Vehicle Control History (RoB)

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

VEHICLE CONTROL HISTORY (SRS AIRBAG SYSTEM)

(a) Part of the control history can be confirmed using the Vehicle Control History.

for TMC Made Gasoline Model: Click here 2019 - 2022 MY Corolla Corolla Hatchback GR Corolla [06/2018 - 09/2022]; SUPPLEMENTAL RESTRAINT SYSTEMS: AIRBAG SYSTEM (for TMC Made Gasoline Model): VEHICLE CONTROL HISTORY

for TMMMS Made: Click here 2020 - 2023 MY Corolla Corolla Hatchback Corolla HV GR Corolla [03/2019 - 11/2022]; SUPPLEMENTAL RESTRAINT SYSTEMS: AIRBAG SYSTEM (for TMMMS Made): VEHICLE CONTROL HISTORY