Toyota Corolla Cross Owners & Service Manuals

Toyota Corolla Cross: Lost Communication with Cruise Control Module Missing Message (U010487)

Toyota Corolla Cross (2022-2024) Service Manual / ADAS & AD / Advanced Driver Assistance System / Front Radar Sensor System / Lost Communication with Cruise Control Module Missing Message (U010487)

DESCRIPTION

The millimeter wave radar sensor assembly communicates with the forward recognition camera via CAN communication.

If a communication error is detected between the forward recognition camera and millimeter wave radar sensor assembly, the millimeter wave radar sensor assembly stores this DTC.

DTC No.

Detection Item

DTC Detection Condition

Trouble Area

DTC Output from

U010487

Lost Communication with Cruise Control Module Missing Message

Detection condition:
  • Ignition switch ON
Malfunction status:
  • Communication malfunction with the forward recognition camera is detected
Malfunction duration:
  • 10 seconds or more
  • Front camera system
  • Harness or connector
  • Forward recognition camera
  • Millimeter wave radar sensor assembly

Front Radar Sensor

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)

Millimeter Wave Radar Sensor Assembly

Forward Recognition Camera

Front Radar Sensor

Front Recognition Camera

U010487

U023587

○: 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 Radar Sensor

Front Recognition Camera

Pattern 1

U010487

U023587

Pattern 2

U010487

-

Result

Proceed to

Pattern 1

A

Pattern 2

B

A

GO TO FRONT CAMERA SYSTEM

B

2.

CHECK FORWARD RECOGNITION CAMERA

(a) Disconnect the A174 millimeter wave radar sensor assembly connector.

(b) Using an oscilloscope, check the waveform.

OK:

Tester Connection

Condition

Tool Setting

Specified Condition

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

Ignition switch ON

1V/DIV., 100μs./DIV.

Pulse generation

OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

NG

REPLACE FORWARD RECOGNITION CAMERA

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