Toyota Corolla Cross Owners & Service Manuals

Toyota Corolla Cross: Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message (U023587)

Toyota Corolla Cross (2022-2024) Service Manual / ADAS & AD / Advanced Driver Assistance System / Front Camera System / Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message (U023587)

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

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

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

Harness or connector (Open or short)

Millimeter wave radar sensor assembly (Internal malfunction)

Forward recognition camera (Internal malfunction)

Pattern 2

-

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

    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

GO TO STEP 4

A

2.

CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA)

(a) Disconnect the cable from the negative (-) auxiliary battery terminal.

(b) Disconnect the T32 forward recognition camera connector.

(c) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Tester Connection

Condition

Specified Condition

T32-12 (CANH) - T32-11 (CANL)

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

T32-12 (CANH) - Body ground

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

T32-11 (CANL) - Body ground

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

T32-12 (CANH) - +B

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

T32-11 (CANL) - +B

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

3.

CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

(a) Connect the T32 forward recognition camera connector.

(b) Disconnect the A174 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

A174-8 (CA1P) - A174-7 (CA1N)

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

A174-8 (CA1P) - Body ground

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

A174-7 (CA1N) - Body ground

Cable disconnected from negative (-) auxiliary battery terminal

200 Ω or higher

A174-8 (CA1P) - +B

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

A174-7 (CA1N) - +B

Cable disconnected from negative (-) auxiliary battery terminal

6 kΩ or higher

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 CONNECTION OF CONNECTORS

(a) Check that the connectors are properly connected to the forward recognition camera and millimeter wave radar sensor assembly.

OK:

The connectors are properly connected

NG

REPAIR OR REPLACE CAN BUS HARNESS OR CONNECTOR

OK

5.

CLEAR DTC

(a) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs
NEXT

6.

CHECK FOR DTCs

(a) Turn the ignition switch off.

(b) Turn the ignition switch to ON.

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

HINT:

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

(d) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result

Proceed to

U023587 is not output

A

U023587 is output

B

A

END

B

7.

CHECK CAN WIRE (FORWARD RECOGNITION CAMERA)

(a) Disconnect the cable from the negative (-) auxiliary battery terminal.

(b) Disconnect the T32 forward recognition camera connector.

(c) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Tester Connection

Condition

Specified Condition

T32-12 (CANH) - T32-11 (CANL)

Cable disconnected from negative (-) auxiliary battery terminal

108 to 132 Ω

NG

REPAIR OR REPLACE CAN BUS HARNESS OR CONNECTOR

OK

8.

CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY

(a) Disconnect the T32 forward recognition camera connector.

(b) Using an oscilloscope, check the waveform.

OK:

Tester Connection

Condition

Tool Setting

Specified Condition

T32-12 (CANH) - T32-11 (CANL)

Ignition switch ON

1V/DIV., 100μs./DIV.

Pulse generation

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

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