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

  • Harness or connector
  • Forward recognition camera
  • Millimeter wave radar sensor assembly

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)

    Flat Surface 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(FLAT SURFACE TARGET)

    Driving Adjustment: Click here 2023 - 2025 MY Corolla Corolla Hatchback Corolla HV GR Corolla [11/2022 -        ]; ADVANCED DRIVER ASSISTANCE SYSTEM: 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 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 2023 - 2025 MY Corolla Corolla Hatchback Corolla HV GR Corolla [11/2022 -        ]; ADVANCED DRIVER ASSISTANCE SYSTEM: FRONT CAMERA: TARGET ADJUSTMENT(ONE TIME RECOGNITION)

    Driving Adjustment: Click here 2023 - 2025 MY Corolla Corolla Hatchback Corolla HV GR Corolla [11/2022 -        ]; ADVANCED DRIVER ASSISTANCE SYSTEM: FRONT CAMERA: DRIVING ADJUSTMENT

    Camera Axis Adjustment Value Write: Click here 2023 - 2025 MY Corolla Corolla Hatchback Corolla HV GR Corolla [11/2022 -        ]; ADVANCED DRIVER ASSISTANCE SYSTEM: FRONT CAMERA: CAMERA AXIS ADJUSTMENT VALUE WRITE

  • If the forward recognition camera has been replaced with a new one, make sure to perform Software Version Confirmation.

    Click here 2023 - 2025 MY Corolla Corolla Hatchback Corolla HV GR Corolla [11/2022 -        ]; ADVANCED DRIVER ASSISTANCE SYSTEM: UTILITY: SOFTWARE VERSION CONFIRMATION

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

    Click here 2023 - 2025 MY Corolla Corolla Hatchback Corolla HV GR Corolla [11/2022 -        ]; SETUP: WHEN DISCONNECTING OR RECONNECTING BATTERY TERMINAL: AUTOMATIC LEARNING CHART

    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 2023 - 2025 MY Corolla Corolla Hatchback Corolla HV GR Corolla [11/2022 -        ]; SETUP: WHEN DISCONNECTING OR RECONNECTING BATTERY TERMINAL: AUTOMATIC LEARNING CHART

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

GO TO STEP 4

A

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

REPLACE FORWARD RECOGNITION CAMERA

NG

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

REPLACE FORWARD RECOGNITION CAMERA

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.