DESCRIPTION
DTC U1002 is stored when the millimeter wave radar sensor assembly cannot receive
signals from the forward recognition camera.
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DTC No.
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Detection Item
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DTC Detection Condition
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Trouble Area
|
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U1002
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Lost Communication with Gateway Module
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After the ignition switch is turned to ON, communication between the
millimeter wave radar sensor assembly and forward recognition camera is
abnormal for 1 second or more.
|
- CAN bus line or connector
- Forward recognition camera
- Millimeter wave radar sensor assembly
- Millimeter wave radar wire
|
WIRING DIAGRAM
CAUTION / NOTICE / HINT
NOTICE:
- Inspect the fuses for circuits related to this system before performing
the following inspection procedure.
- Before measuring the resistance of the CAN bus, turn the ignition switch
off and leave the vehicle for 1 minute or more without operating the key or
any switches, or opening or closing the doors. After that, disconnect the cable
from the negative (-) battery terminal and leave the vehicle for 1 minute or
more before measuring the resistance.
- After turning the ignition switch off, waiting time may be required before
disconnecting the cable from the negative (-) battery terminal. Therefore, make
sure to read the disconnecting the cable from the negative (-) battery terminal
notices before proceeding with work.
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- 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. As a result, a DTC may be stored.
- If the forward recognition camera has been replaced with a new one, be sure
to perform forward recognition camera adjustment.
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- 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. As a result,
a DTC may be stored.
- If the millimeter wave radar sensor assembly has been replaced, be sure
to perform millimeter wave radar sensor assembly adjustment.
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HINT:
- Before disconnecting related connectors for inspection, push in on each
connector body to check that the connector is not loose or disconnected.
- When a connector is disconnected, check that the terminals and connector
body are not cracked, deformed or corroded.
PROCEDURE
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1.
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CHECK CAN BUS LINE (MALFUNCTION CONFIRMATION)
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(a) Turn the ignition switch off.
(b) Disconnect the cable from the negative (-) battery terminal.
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(c) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
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Tester Connection
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Condition
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Specified Condition
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Result
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d1-5 (CA1P) - d1-6 (CA1N)
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Cable disconnected from negative (-) battery terminal
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54 to 69 Ω
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Below 54 Ω:
Short circuit between CAN bus lines
|
|
70 Ω or more:
Open circuit in a CAN bus line
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d1-5 (CA1P) - d1-1 (SGND)
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Cable disconnected from negative (-) battery terminal
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200 Ω or higher
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Below 200 Ω:
Ground short
|
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d1-6 (CA1N) - d1-1 (SGND)
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Cable disconnected from negative (-) battery terminal
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200 Ω or higher
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Below 200 Ω:
Ground short
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d1-5 (CA1P) - d1-8 (IGB)
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Cable disconnected from negative (-) battery terminal
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6 kΩ or higher
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Below 6 kΩ:
+B short
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d1-6 (CA1N) - d1-8 (IGB)
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Cable disconnected from negative (-) battery terminal
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6 kΩ or higher
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Below 6 kΩ:
+B short
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|
|
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*a
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Component with harness connected
(Millimeter Wave Radar Sensor Assembly)
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|
|
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Result
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Proceed to
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OK
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A
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NG (Open circuit in CAN bus line)
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B
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NG (Short circuit between CAN bus lines)
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C
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NG (Short to +B or ground)
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D
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| B |
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GO TO STEP 3
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| C |
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GO TO STEP 6
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| D |
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GO TO STEP 9
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| A |
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2.
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CHECK FOR DTCs (PRE-COLLISION SYSTEM)
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(a) Clear the DTCs.
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(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.
Click here
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Result
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Proceed to
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DTC U1002 is not output
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A
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DTC U1002 is output
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B
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| A |
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USE SIMULATION METHOD TO CHECK
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| B |
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REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY
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3.
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CHECK FOR OPEN IN CAN BUS LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY
- FORWARD RECOGNITION CAMERA)
|
(a) Disconnect the W9 forward recognition camera connector.
(b) Disconnect the d1 millimeter wave radar sensor assembly connector.
(c) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
|
Tester Connection
|
Condition
|
Specified Condition
|
|
W9-6 (CANH) - d1-5 (CA1P)
|
Cable disconnected from negative (-) battery terminal
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Below 1 Ω
|
|
W9-12 (CANL) - d1-6 (CA1N)
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Cable disconnected from negative (-) battery terminal
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Below 1 Ω
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(d) Connect the d1 millimeter wave radar sensor assembly connector.
(e) Connect the W9 forward recognition camera connector.
| NG |
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GO TO STEP 5
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| OK |
|
|
|
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4.
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CHECK FOR OPEN IN CAN BUS LINES (FORWARD RECOGNITION CAMERA)
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(a) Disconnect the W9 forward recognition camera connector.
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|
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*a
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Front view of wire harness connector
(to Forward Recognition Camera)
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|
|
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
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Tester Connection
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Condition
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Specified Condition
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W9-6 (CANH) - W9-12 (CANL)
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Cable disconnected from negative (-) battery terminal
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108 to 132 Ω
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(c) Connect the W9 forward recognition camera connector.
| OK |
|
REPLACE FORWARD RECOGNITION CAMERA
|
| NG |
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REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY
|
|
5.
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CHECK MILLIMETER WAVE RADAR WIRE
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(a) Disconnect the d1 millimeter wave radar sensor assembly connector.
(b) Disconnect the Ad1 millimeter wave radar wire connector.
(c) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
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Tester Connection
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Condition
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Specified Condition
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Ad1-5 - d1-5 (CA1P)
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Always
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Below 1 Ω
|
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Ad1-6 - d1-6 (CA1N)
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Always
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Below 1 Ω
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(d) Connect the d1 millimeter wave radar assembly connector.
(e) Connect the Ad1 millimeter wave radar sensor wire connector.
| OK |
|
REPAIR OR REPLACE CAN BUS LINE OR CONNECTOR (MILLIMETER WAVE RADAR SENSOR
ASSEMBLY - FORWARD RECOGNITION CAMERA)
|
| NG |
|
REPAIR MILLIMETER WAVE RADAR WIRE
|
|
6.
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CHECK FOR SHORT BETWEEN CAN BUS LINES (FORWARD RECOGNITION CAMERA)
|
|
(a) Disconnect the W9 forward recognition camera connector.
|
|
|
|
*a
|
Front view of wire harness connector
(to Forward Recognition Camera)
|
|
|
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
|
Tester Connection
|
Condition
|
Specified Condition
|
|
W9-6 (CANH) - W9-12 (CANL)
|
Cable disconnected from negative (-) battery terminal
|
108 to 132 Ω
|
(c) Connect the W9 forward recognition camera connector.
| OK |
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REPLACE FORWARD RECOGNITION CAMERA
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| NG |
|
|
|
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7.
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CHECK FOR SHORT BETWEEN CAN BUS LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)
|
|
(a) Disconnect the d1 millimeter wave radar sensor assembly connector.
|
|
|
*a
|
Front view of wire harness connector
(to Millimeter Wave Radar Sensor Assembly)
|
|
|
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
|
Tester Connection
|
Condition
|
Specified Condition
|
|
d1-5 (CA1P) - d1-6 (CA1N)
|
Cable disconnected from negative (-) battery terminal
|
108 to 132 Ω
|
(c) Connect the d1 millimeter wave radar sensor assembly connector.
| OK |
|
REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY
|
| NG |
|
|
|
|
8.
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CHECK MILLIMETER WAVE RADAR WIRE
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(a) Disconnect the Ad1 millimeter wave radar wire connector.
|
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
|
Tester Connection
|
Condition
|
Specified Condition
|
|
Ad1-5 - Ad1-6
|
Cable disconnected from negative (-) battery terminal
|
108 to 132 Ω
|
|
|
|
*a
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Front view of wire harness connector
(to Millimeter Wave Radar Wire)
|
|
|
(c) Connect the Ad1 millimeter wave radar sensor wire connector.
| OK |
|
REPAIR MILLIMETER WAVE RADAR WIRE
|
| NG |
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REPAIR OR REPLACE CAN BUS LINE OR CONNECTOR (MILLIMETER WAVE RADAR WIRE
- FORWARD RECOGNITION CAMERA)
|
|
9.
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CHECK FOR SHORT IN CAN BUS LINE (FORWARD RECOGNITION CAMERA)
|
(a) Disconnect the W9 forward recognition camera connector.
|
*1
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DLC3
|
-
|
-
|
|
*a
|
Front view of wire harness connector
(to Forward Recognition Camera)
|
-
|
-
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(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
|
Tester Connection
|
Condition
|
Specified Condition
|
|
W9-6 (CANH) - J17-4 (CG)
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Cable disconnected from negative (-) battery terminal
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200 Ω or higher
|
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W9-12 (CANL) - J17-4 (CG)
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Cable disconnected from negative (-) battery terminal
|
200 Ω or higher
|
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W9-6 (CANH) - J17-16 (BAT)
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Cable disconnected from negative (-) battery terminal
|
6 kΩ or higher
|
|
W9-12 (CANL) - J17-16 (BAT)
|
Cable disconnected from negative (-) battery terminal
|
6 kΩ or higher
|
(c) Connect the W9 forward recognition camera connector.
| OK |
|
REPLACE FORWARD RECOGNITION CAMERA
|
| NG |
|
|
|
|
10.
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CHECK FOR SHORT IN CAN BUS LINE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)
|
(a) Disconnect the d1 millimeter wave radar sensor assembly connector.
|
*1
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DLC3
|
-
|
-
|
|
*a
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Front view of wire harness connector
(to Millimeter Wave Radar Sensor Assembly)
|
-
|
-
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(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
|
Tester Connection
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Condition
|
Specified Condition
|
|
d1-5 (CA1P) - J17-4 (CG)
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Cable disconnected from negative (-) battery terminal
|
200 Ω or higher
|
|
d1-6 (CA1N) - J17-4 (CG)
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Cable disconnected from negative (-) battery terminal
|
200 Ω or higher
|
|
d1-5 (CA1P) - J17-16 (BAT)
|
Cable disconnected from negative (-) battery terminal
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6 kΩ or higher
|
|
d1-6 (CA1N) - J17-16 (BAT)
|
Cable disconnected from negative (-) battery terminal
|
6 kΩ or higher
|
(c) Connect the d1 millimeter wave radar sensor assembly connector.
| OK |
|
REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY
|
| NG |
|
|
|
|
11.
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CHECK FOR SHORT IN CAN BUS LINE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)
|
(a) Disconnect the Ad1 millimeter wave radar wire connector.
|
*1
|
DLC3
|
-
|
-
|
|
*a
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Front view of wire harness connector
(to Millimeter Wave Radar Wire)
|
-
|
-
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(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance:
|
Tester Connection
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Condition
|
Specified Condition
|
|
Ad1-5 - J17-4 (CG)
|
Cable disconnected from negative (-) battery terminal
|
200 Ω or higher
|
|
Ad1-6 - J17-4 (CG)
|
Cable disconnected from negative (-) battery terminal
|
200 Ω or higher
|
|
Ad1-5 - J17-16 (BAT)
|
Cable disconnected from negative (-) battery terminal
|
6 kΩ or higher
|
|
Ad1-6 - J17-16 (BAT)
|
Cable disconnected from negative (-) battery terminal
|
6 kΩ or higher
|
(c) Connect the Ad1 millimeter wave radar wire connector.
| OK |
|
REPAIR MILLIMETER WAVE RADAR WIRE
|
| NG |
|
REPAIR OR REPLACE CAN BUS LINE OR CONNECTOR (MILLIMETER WAVE RADAR WIRE
- FORWARD RECOGNITION CAMERA)
|
| 
