| Last Modified: 05-13-2024 | 6.11:8.1.0 | Doc ID: RM1000000027Y4K |
| Model Year Start: 2023 | Model: GR Corolla | Prod Date Range: [11/2022 - ] |
| Title: ADVANCED DRIVER ASSISTANCE SYSTEM: FRONT CAMERA SYSTEM: U023587; Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message; 2023 - 2025 MY Corolla Corolla Hatchback Corolla HV GR Corolla [11/2022 - ] | ||
|
DTC |
U023587 |
Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message |
DESCRIPTION
The forward recognition camera communicates with the millimeter wave radar sensor assembly via CAN communication line. If communication with the millimeter wave radar sensor assembly stops, the forward recognition camera stores DTC U023587.
|
DTC No. |
Detection Item |
DTC Detection Condition |
Trouble Area |
DTC Output from |
Priority |
|---|---|---|---|---|---|
|
U023587 |
Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message |
When a communication error between forward recognition camera and millimeter wave radar sensor assembly is detected |
|
Front Recognition Camera |
A |
HINT:
If the DTCs are output simultaneously, the inspection area can be narrowed down.
|
Pattern |
DTC output part name (Display on GTS) |
Suspected Area (Malfunction Status) |
|
|---|---|---|---|
|
Forward Recognition Camera |
Millimeter Wave Radar Sensor Assembly |
||
|
Front Recognition Camera |
Front Radar Sensor |
||
|
U023587 |
U010487 |
||
|
○: DTC is output
-: DTC is not output |
|||
|
Pattern 1 |
○ |
○ |
Connector (Poor connector) |
|
Harness or connector (Open or short) |
|||
|
Millimeter wave radar sensor assembly (Internal malfunction) |
|||
|
Forward recognition camera (Internal malfunction) |
|||
|
Pattern 2 |
○ |
- |
Connector (Poor connector) |
|
Harness or connector (Open or short) |
|||
|
Millimeter wave radar sensor assembly (Internal malfunction) |
|||
|
Forward recognition camera (Internal malfunction) |
|||
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
![2023 - 2025 MY Corolla Corolla Hatchback Corolla HV GR Corolla [11/2022 - ]; ADVANCED DRIVER ASSISTANCE SYSTEM: MILLIMETER WAVE RADAR SENSOR: TARGET ADJUSTMENT(TRIANGLE TARGET)](/t3Portal/stylegraphics/info.gif)
Flat Surface Target: Click here
Driving Adjustment: Click here
- 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 has been replaced with a new one, make sure to clear all stored vehicle control history of each system and the forward recognition camera beam axis alignment data.
HINT:
Forward recognition camera beam axis alignment can be performed by using "One Time Recognition", "Driving Adjustment" or "Camera Axis Adjustment Value Write".
One Time Recognition: Click here
Driving Adjustment: Click here
Camera Axis Adjustment Value Write: Click here
-
If the forward recognition camera has been replaced with a new one, make sure to perform Software Version Confirmation.
Click here
-
After the ignition switch is turned off, there may be a waiting time before disconnecting the negative (-) auxiliary battery terminal.
Click here
HINT:
When disconnecting and reconnecting the auxiliary battery, there is an automatic learning function that completes learning when the respective system is used.
Click here
PROCEDURE
|
1. |
CHECK FOR DTCs |
(a) Read each DTC and check the diagnosis pattern using the table below.
Chassis > Front Recognition Camera > Trouble Codes
Body Electrical > Front Radar Sensor > Trouble Codes
|
Pattern |
DTC output part name (Display on GTS) |
|
|---|---|---|
|
Front Recognition Camera |
Front Radar Sensor |
|
|
Pattern 1 |
U023587 |
U010487 |
|
Pattern 2 |
U023587 |
- |
|
Result |
Proceed to |
|---|---|
|
Pattern 1 |
A |
|
Pattern 2 |
B |
| B |
|
|
|
2. |
CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA) |
Pre-procedure1
(a) Disconnect the cable from the negative (-) auxiliary battery terminal.
(b) Disconnect the T21 forward recognition camera connector.
Procedure1
(c) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
|
Tester Connection |
Condition |
Specified Condition |
|---|---|---|
|
T21-12 (CANH) - T21-11 (CANL) |
Cable disconnected from negative (-) auxiliary battery terminal |
108 to 132 Ω |
|
T21-12 (CANH) - Body ground |
Cable disconnected from negative (-) auxiliary battery terminal |
200 Ω or higher |
|
T21-11 (CANL) - Body ground |
Cable disconnected from negative (-) auxiliary battery terminal |
|
|
T21-12 (CANH) - +B |
Cable disconnected from negative (-) auxiliary battery terminal |
6 kΩ or higher |
|
T21-11 (CANL) - +B |
Cable disconnected from negative (-) auxiliary battery terminal |
Post-procedure1
(d) None.
| OK |
|
|
|
3. |
CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY) |
Pre-procedure1
(a) Connect the T21 forward recognition camera connector.
(b) Disconnect the A128 millimeter wave radar sensor assembly connector.
Procedure1
(c) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
|
Tester Connection |
Condition |
Specified Condition |
|---|---|---|
|
A128-8 (CA1P) - A128-7 (CA1N) |
Cable disconnected from negative (-) auxiliary battery terminal |
108 to 132 Ω |
|
A128-8 (CA1P) - Body ground |
Cable disconnected from negative (-) auxiliary battery terminal |
200 Ω or higher |
|
A128-7 (CA1N) - Body ground |
Cable disconnected from negative (-) auxiliary battery terminal |
|
|
A128-8 (CA1P) - +B |
Cable disconnected from negative (-) auxiliary battery terminal |
6 kΩ or higher |
|
A128-7 (CA1N) - +B |
Cable disconnected from negative (-) auxiliary battery terminal |
Post-procedure1
(d) None.
| OK |
|
REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY NOTICE: Before replacing the millimeter wave radar sensor assembly, make sure to turn the ignition switch from off to ON and check for DTCs. |
| NG |
|
REPAIR OR REPLACE HARNESS OR CONNECTOR |
|
4. |
CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY |
Pre-procedure1
(a) Disconnect the T21 forward recognition camera connector.
Procedure1
(b) Using an oscilloscope, check the waveform.
OK:
|
Tester Connection |
Condition |
Tool Setting |
Specified Condition |
|---|---|---|---|
|
T21-12 (CANH) - T21-11 (CANL) |
Ignition switch ON |
1V/DIV., 100μs./DIV. |
Pulse generation |
Post-procedure1
| OK |
|
| NG |
|
REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY NOTICE: Before replacing the millimeter wave radar sensor assembly, make sure to turn the ignition switch from off to ON and check for DTCs. |
|
|