Das-Driver Assistance System

CRUISE CONTROL & DRIVER ASSISTANCE
SECTION
DRIVER ASSISTANCE SYSTEM
DAS B
E
CONTENTS
ADAS CONTROL UNIT ADDITIONAL SERVICE WHEN REPLACING F
ADAS CONTROL UNIT .................................. 100
PRECAUTION .............................................. 14 Description ............................................................. 100
Work Procedure ..................................................... 100 G
PRECAUTIONS ..................................................14
Precaution for Supplemental Restraint System CONFIGURATION (ADAS CONTROL UNIT) . 101
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN- Description ............................................................. 101
SIONER" ................................................................. 14 H
Work Procedure ..................................................... 101
Precautions for Removing Battery Terminal ........... 14
Precautions For Harness Repair ............................. 15 DTC/CIRCUIT DIAGNOSIS ....................... 103
I
SYSTEM DESCRIPTION ............................. 16 C1A0A CONFIG UNFINISHED ....................... 103
DTC Logic .............................................................. 103
COMPONENT PARTS .......................................16 Diagnosis Procedure ............................................. 103
Component Parts Location ...................................... 16 J
ADAS Control Unit .................................................. 16 C1A00 CONTROL UNIT ................................. 104
DTC Logic .............................................................. 104
SYSTEM .............................................................17 Diagnosis Procedure ............................................. 104 K
System Description ................................................. 17
Circuit Diagram ....................................................... 23 C1A01 POWER SUPPLY CIRCUIT 1, C1A02
Fail-safe (ADAS Control Unit) ................................. 24 POWER SUPPLY CIRCUIT 2 ......................... 105
DTC Logic .............................................................. 105 L
DIAGNOSIS SYSTEM (ADAS CONTROL Diagnosis Procedure ............................................. 105
UNIT) ..................................................................26
On Board Diagnosis Function (With ICC) ............... 26 C1A03 VEHICLE SPEED SENSOR ................ 106 M
CONSULT Function (ICC/ADAS) ............................ 28 DTC Logic .............................................................. 106
Diagnosis Procedure ............................................. 106
ECU DIAGNOSIS INFORMATION .............. 43
C1A04 ABS/TCS/VDC SYSTEM .................... 108 N
ADAS CONTROL UNIT ......................................43 DTC Logic .............................................................. 108
Reference Value ..................................................... 43 Diagnosis Procedure ............................................. 108
Fail-safe (ADAS Control Unit) ................................. 50 DAS
DTC Inspection Priority Chart ................................. 51 C1A05 BRAKE SW/STOP LAMP SW ............ 109
DTC Index ............................................................... 53 DTC Logic .............................................................. 109
Diagnosis Procedure (VR30DDTT) ....................... 110
WIRING DIAGRAM ...................................... 56 Diagnosis Procedure (2.0 TURBO GASOLINE P
ENGINE) ................................................................ 113
DRIVER ASSISTANCE SYSTEMS ....................56 Component Inspection (Brake Pedal Position
Wiring Diagram ....................................................... 56 Switch) ................................................................... 116
Component Inspection (Stop Lamp Switch) .......... 116
BASIC INSPECTION ................................. 100
C1A06 OPERATION SW ................................ 117
Revision: November 2016 DAS-1 2016 Q50

DTC Logic ..............................................................117 C1A39 STEERING ANGLE SENSOR .............. 148
Diagnosis Procedure (VR30DDTT) .......................117 DTC Logic ............................................................. 148
Diagnosis Procedure (2.0 TURBO GASOLINE Diagnosis Procedure ............................................. 148
ENGINE) ................................................................119
Component Inspection (With ICC) .........................120 C1B00 CAMERA UNIT MALF .......................... 149
Component Inspection (Without ICC) ....................120 DTC Logic ............................................................. 149
C1A13 STOP LAMP RELAY ........................... 121
DTC Logic ..............................................................121 C1B01 CAM AIMING INCMP ........................... 150
Diagnosis Procedure (VR30DDTT) .......................122 DTC Logic ............................................................. 150
Diagnosis Procedure (2.0 TURBO GASOLINE Diagnosis Procedure ............................................. 150
ENGINE) ................................................................126
Component Inspection ...........................................131
C1B03 ABNRML TEMP DETECT .................... 151
DTC Logic ............................................................. 151
C1A14 ECM ..................................................... 132 Diagnosis Procedure ............................................. 151
DTC Logic ..............................................................132
Diagnosis Procedure .............................................132
C1B5D FEB OPE COUNT LIMIT ..................... 152
DTC Logic ............................................................. 152
C1A15 GEAR POSITION ................................. 134 Diagnosis Procedure ............................................. 152
Description .............................................................134
DTC Logic ..............................................................134
C1B53 SIDE RADAR RIGHT MALFUNCTION.. 153
DTC Logic ............................................................. 153
C1A24 NP RANGE .......................................... 136
DTC Logic ..............................................................136
C1B54 SIDE RADAR LEFT MALFUNCTION .. 154
DTC Logic ............................................................. 154
C1A26 ECD MODE MALFUNCTION .............. 138
DTC Logic ..............................................................138
C1B56 SONAR CIRCUIT ................................. 155
DTC Logic ............................................................. 155
C1A27 ECD POWER SUPPLY CIRCUIT ........ 140
DTC Logic ..............................................................140
C1B57 AVM CIRCUIT ...................................... 156
DTC Logic ............................................................. 156
C1A33 CAN TRANSMISSION ERROR ........... 142
DTC Logic ..............................................................142
C1B59 CCM ...................................................... 157
DTC Logic ............................................................. 157
C1A34 COMMAND ERROR ............................ 143
DTC Logic ..............................................................143
C1B82 DISTANCE SENSOR OFF-CENTER .. 158
Diagnosis Procedure .............................................143 DTC Logic ............................................................. 158
C1A35 ACCELERATOR PEDAL ACTUATOR. 144
DTC Logic ..............................................................144
C1B84 DISTANCE SENSOR ........................... 159
DTC Logic ............................................................. 159
C1A36 ACCELERATOR PEDAL ACTUATOR
C1B85 DISTANCE SENSOR ABNORMAL
CAN COMM ..................................................... 145
DTC Logic ..............................................................145
TEMP ................................................................ 160
DTC Logic ............................................................. 160
C1B86 DISTANCE SENSOR POWER SUP-
CAN 2 ............................................................... 146
DTC Logic ..............................................................146
PLY CIRCUIT .................................................... 161
Diagnosis Procedure .............................................146 DTC Logic ............................................................. 161
C1F01 ACCELERATOR PEDAL ACTUATOR.. 163
CAN 1 ............................................................... 147
DTC Logic ............................................................. 163
DTC Logic ..............................................................147

C1F02 ACCELERATOR PEDAL ACTUATOR.. 164 Diagnosis Procedure ............................................. 181
DTC Logic ............................................................. 164 A
Diagnosis Procedure ............................................. 164 U150E BCM CAN 3 ......................................... 182
DTC Logic .............................................................. 182
C1F05 ACCELERATOR PEDAL ACTUATOR Diagnosis Procedure ............................................. 182
B
POWER SUPPLY CIRCUIT ............................. 165
DTC Logic ............................................................. 165
U150F AV CAN 3 ............................................ 183
DTC Logic .............................................................. 183
Diagnosis Procedure ............................................. 183 C
U0121 VDC CAN 2 ........................................... 166
DTC Logic ............................................................. 166
U1500 CAM CAN 2 ......................................... 184
DTC Logic .............................................................. 184
Diagnosis Procedure ............................................. 166 D
U0126 STRG SEN CAN 1 ................................ 167
DTC Logic ............................................................. 167
U1501 CAM CAN 1 ......................................... 185
DTC Logic .............................................................. 185 E
U0235 ICC SENSOR CAN 1 ............................ 168
DTC Logic ............................................................. 168
U1502 ICC SENSOR CAN COMM CIRC ........ 186
DTC Logic .............................................................. 186 F
U0401 ECM CAN 1 ........................................... 169
DTC Logic ............................................................. 169
U1503 SIDE RDR L CAN 2 ............................. 187
G
Diagnosis Procedure ............................................. 169 DTC Logic .............................................................. 187
U0402 TCM CAN 1 ........................................... 171
DTC Logic ............................................................. 171
U1504 SIDE RDR L CAN 1 ............................. 188 H
U0415 VDC CAN 1 ........................................... 172 I
DTC Logic ............................................................. 172
U1505 SIDE RDR R CAN 2 ............................. 189
U0424 HVAC CAN CIRCUIT 1 ......................... 173 J
Description ............................................................ 173
U1506 SIDE RDR R CAN 1 ............................. 190
DTC Logic ............................................................. 173 DTC Logic .............................................................. 190
Diagnosis Procedure ............................................. 173 Diagnosis Procedure ............................................. 190 K
U0428 STRG SEN CAN 2 ................................ 174 U1507 LOST COMM(SIDE RDR R) ................ 191
DTC Logic ............................................................. 174 DTC Logic .............................................................. 191
Diagnosis Procedure ............................................. 191 L
U1000 CAN COMM CIRCUIT ........................... 175 U1508 LOST COMM(SIDE RDR L) ................ 192
DTC Logic .............................................................. 192
Description ............................................................ 175 M
DTC Logic ............................................................. 175
Diagnosis Procedure ............................................. 176 U1512 HVAC CAN 3 ....................................... 193
U1010 CONTROL UNIT (CAN) ........................ 177 DTC Logic .............................................................. 193 N
Description ............................................................ 177
DTC Logic ............................................................. 177 U1513 METER CAN 3 ..................................... 194
Diagnosis Procedure ............................................. 177 DTC Logic .............................................................. 194 DAS
U150B ECM CAN 3 .......................................... 178 Diagnosis Procedure ............................................. 194

DTC Logic ............................................................. 178 U1514 STRG SEN CAN 3 ............................... 195 P
U150C VDC CAN 3 .......................................... 180 Diagnosis Procedure ............................................. 195
DTC Logic ............................................................. 180 U1515 ICC SENSOR CAN 3 ........................... 196
U150D TCM CAN 3 .......................................... 181 Diagnosis Procedure ............................................. 196
DTC Logic ............................................................. 181 U1516 CAM CAN 3 ......................................... 197

DTC Logic ..............................................................197 REMOVAL AND INSTALLATION ............. 214
ADAS CONTROL UNIT .................................... 214
U1517 ACCELERATOR PEDAL ACTUATOR Removal and Installation ....................................... 214
CAN 3 ............................................................... 198 DRIVER ASSISTANCE SYSTEM
DTC Logic ..............................................................198
Diagnosis Procedure .............................................198 PRECAUTION ........................................... 215
U1518 SIDE RDR L CAN 3 .............................. 199 PRECAUTIONS ................................................ 215
DTC Logic ..............................................................199 Precaution for Supplemental Restraint System
Diagnosis Procedure .............................................199 (SRS) "AIR BAG" and "SEAT BELT PRE-TEN-
SIONER" ............................................................... 215
U1519 SIDE RDR R CAN 3 ............................. 200 Precautions for Removing Battery Terminal ......... 215
DTC Logic ..............................................................200 Precautions For Harness Repair ........................... 216
Diagnosis Procedure .............................................200 DCA System Service ............................................ 216
U1521 SONAR CAN 2 ..................................... 201 PFCW System Service ......................................... 217
LDW/LDP System Service .................................... 217
DTC Logic ..............................................................201
Blind Spot Warning/Blind Spot Intervention Sys-
tem Service ........................................................... 217
U1522 SONAR CAN 1 ..................................... 202 BCI system service ............................................... 218
DTC Logic ..............................................................202
Diagnosis Procedure .............................................202 SYSTEM DESCRIPTION .......................... 219
U1523 SONAR CAN 3 ..................................... 203 COMPONENT PARTS ...................................... 219

DTC Logic ..............................................................203 Component Parts Location ................................... 219
Diagnosis Procedure .............................................203 ICC Sensor ........................................................... 221
ICC Steering Switch .............................................. 221
U1524 AVM CAN 1 .......................................... 204 Brake Pedal Position Switch / Stop Lamp Switch . 222
DTC Logic ..............................................................204 ICC Brake Hold Relay ........................................... 222
Diagnosis Procedure .............................................204 Combination Meter ................................................ 222
Accelerator Pedal Actuator ................................... 223
U1525 AVM CAN 3 .......................................... 205 Lane Camera Unit ................................................. 223
DTC Logic ..............................................................205 Driver Assistance Buzzer Control Module ............ 223
Diagnosis Procedure .............................................205 Driver Assistance Buzzer ...................................... 224
Side Radar LH/RH ................................................ 224
U1527 CCM CAN 1 .......................................... 206 Blind Spot Warning/Blind Spot Intervention Indica-
DTC Logic ..............................................................206 tor LH/RH .............................................................. 224
Dynamic Driver Assistance Switch ....................... 224
U153F CCM CAN 2 .......................................... 207 SYSTEM ........................................................... 225
DTC Logic ..............................................................207
Diagnosis Procedure .............................................207 DCA ......................................................................... 225
DCA : System Description .................................... 225
U1530 DR ASSIST BUZZER CAN 1 ............... 208
DTC Logic ..............................................................208 PFCW ...................................................................... 230
Diagnosis Procedure .............................................208 PFCW : System Description ................................. 230
U1538 EMCM CAN 3 ....................................... 209 LDW (WITH DIRECT ADAPTIVE STEERING SYS-
DTC Logic ..............................................................209 TEM) ........................................................................ 231
Diagnosis Procedure .............................................209 LDW (WITH DIRECT ADAPTIVE STEERING
SYSTEM) : System Description ............................ 232
U1540 DAST 3 CAN 1 ..................................... 211
DTC Logic ..............................................................211 LDW (WITHOUT DIRECT ADAPTIVE STEERING
Diagnosis Procedure .............................................211 SYSTEM) ................................................................. 234
LDW (WITHOUT DIRECT ADAPTIVE STEERING
U1541 DAST 3 CAN 2 ..................................... 212 SYSTEM) : System Description ............................ 234
DTC Logic ..............................................................212
Diagnosis Procedure .............................................212 LDP (WITH DIRECT ADAPTIVE STEERING SYS-
TEM) ........................................................................ 235
POWER SUPPLY AND GROUND CIRCUIT ... 213 LDP (WITH DIRECT ADAPTIVE STEERING
Diagnosis Procedure .............................................213 SYSTEM) : System Description ............................ 236

LDP (WITHOUT DIRECT ADAPTIVE STEERING DIAGNOSIS SYSTEM (ADAS CONTROL
SYSTEM) ................................................................. 239 UNIT) ............................................................... 287 A
LDP (WITHOUT DIRECT ADAPTIVE STEERING On Board Diagnosis Function (With ICC) .............. 287
SYSTEM) : System Description ............................ 240 CONSULT Function (ICC/ADAS) .......................... 289
BSW ......................................................................... 243 B
DIAGNOSIS SYSTEM (ICC SENSOR) ........... 304
BSW : System Description .................................... 243 CONSULT Function (LASER/RADAR) .................. 304
BLIND SPOT INTERVENTION (WITH DIRECT DIAGNOSIS SYSTEM (ACCELERATOR C
ADAPTIVE STEERING SYSTEM) ........................... 245 PEDAL ACTUATOR) ...................................... 306
BLIND SPOT INTERVENTION (WITH DIRECT CONSULT Function (ACCELERATOR PEDAL
ADAPTIVE STEERING SYSTEM) : System De- ACT) ...................................................................... 306
scription ................................................................. 245 D
DIAGNOSIS SYSTEM (SIDE RADAR LH) ..... 308
BLIND SPOT INTERVENTION (WITHOUT DI-
CONSULT Function (SIDE RADAR LEFT) ........... 308
RECT ADAPTIVE STEERING SYSTEM) ................ 249 E
BLIND SPOT INTERVENTION (WITHOUT DI- DIAGNOSIS SYSTEM (SIDE RADAR RH) ..... 309
RECT ADAPTIVE STEERING SYSTEM) : Sys- CONSULT Function (SIDE RADAR RIGHT) ......... 309
tem Description ..................................................... 249
DIAGNOSIS SYSTEM (DRIVER ASSIS- F
BCI ........................................................................... 253 TANCE BUZZER CONTROL MODULE) ........ 310
BCI : System Description ...................................... 254
CONSULT Function (BSW/BUZZER) .................... 310
Circuit Diagram ..................................................... 258 G
Fail-safe (ADAS Control Unit) ............................... 259 DIAGNOSIS SYSTEM (LANE CAMERA
Fail-safe (ICC Sensor) .......................................... 260 UNIT) ............................................................... 314
Fail-safe (Side Radar) ........................................... 260
WITH DIRECT ADAPTIVE STEERING SYSTEM .... 314 H
Fail-safe (Lane Camera Unit with DAST) .............. 261
Fail-safe (Lane Camera Unit Without DAST) ........ 261 WITH DIRECT ADAPTIVE STEERING SYSTEM :
Fail-Safe (Chassis Control Module) ...................... 262 CONSULT Function (LANE CAMERA) ................. 314
I
WARNING/INDICATOR/CHIME LIST ..................... 264 WITHOUT DIRECT ADAPTIVE STEERING SYS-
WARNING/INDICATOR/CHIME LIST : Warning/ TEM .......................................................................... 316
Indicator (On Information Display) ........................ 264 WITHOUT DIRECT ADAPTIVE STEERING SYS-
J
TEM : CONSULT Function (LANE CAMERA) ....... 316
OPERATION ..................................................... 266
DIAGNOSIS SYSTEM (CHASSIS CONTROL
PFCW/LDW/BSW .................................................... 266 MODULE) ........................................................ 318 K
PFCW/LDW/BSW : Switch Name and Function .. 266 CONSULT Function ............................................... 318
PFCW/LDW/BSW : Menu Displayed by Pressing
Each Switch .......................................................... 266 ECU DIAGNOSIS INFORMATION ............ 328
L
DCA/LDP/BLIND SPOT INTERVENTION ............... 271 ADAS CONTROL UNIT .................................. 328
DCA/LDP/BLIND SPOT INTERVENTION : Switch Reference Value .................................................... 328
Name and Function ............................................... 272 Fail-safe (ADAS Control Unit) ................................ 335 M
DCA/LDP/BLIND SPOT INTERVENTION : Menu DTC Inspection Priority Chart ................................ 336
Displayed by Pressing Each Switch ...................... 272 DTC Index ............................................................. 338
BCI ........................................................................... 278 ICC SENSOR .................................................. 341 N
BCI : Switch Name and Function .......................... 279 Reference Value .................................................... 341
BCI : Menu Displayed by Pressing Each Switch .. 279 Fail-safe (ICC Sensor) ........................................... 342
DTC Inspection Priority Chart ................................ 342 DAS
HANDLING PRECAUTION .............................. 281
DTC Index ............................................................. 342
Precautions for Distance Control Assist ................ 281
Precautions for Predictive Forward Collision ACCELERATOR PEDAL ACTUATOR ........... 344
Warning ................................................................. 283 P
Reference Value .................................................... 344
Precautions for Lane Departure Warning/Lane DTC Inspection Priority Chart ................................ 345
Departure Prevention ............................................ 283 DTC Index ............................................................. 345
Precautions for Blind Spot Warning/Blind Spot In-
tervention .............................................................. 284 SIDE RADAR LH ............................................. 346
Precautions for Back-up Collision Intervention ..... 286 Reference Value .................................................... 346
Fail-safe (Side Radar) ........................................... 347
DTC Inspection Priority Chart ................................ 347

DTC Index .............................................................347 Description ............................................................ 427
Work Procedure .................................................... 427
SIDE RADAR RH ............................................. 348
Reference Value ....................................................348 ADDITIONAL SERVICE WHEN REPLACING
Fail-safe (Side Radar) ...........................................349 LANE CAMERA UNIT ...................................... 428
DTC Inspection Priority Chart ................................349 Description ............................................................ 428
DTC Index .............................................................349 Work Procedure .................................................... 428
DRIVER ASSISTANCE BUZZER CONTROL PRE-INSPECTION FOR DIAGNOSIS .............. 429
MODULE .......................................................... 350
Reference Value ....................................................350 LANE CAMERA UNIT ............................................. 429
DTC Inspection Priority Chart ................................353 LANE CAMERA UNIT : Inspection Procedure ...... 429
DTC Index .............................................................353 CAMERA AIMING ADJUSTMENT ................... 430
LANE CAMERA UNIT ..................................... 355 WITHOUT DIRECT ADAPTIVE STEERING SYS-
WITH DIRECT ADAPTIVE STEERING SYSTEM ....355 TEM ......................................................................... 430
WITH DIRECT ADAPTIVE STEERING SYSTEM : WITHOUT DIRECT ADAPTIVE STEERING SYS-
Reference Value ....................................................355 TEM : Description ................................................. 430
Fail-safe (Lane Camera Unit with DAST) ..............358 TEM : Work Procedure (Preparation) ................... 430
DTC Inspection Priority Chart ................................358 TEM : Work Procedure (Target Setting) ............... 431
DTC Index .............................................................359 TEM : Work Procedure (Camera Aiming Adjust-
ment) ..................................................................... 432
WITHOUT DIRECT ADAPTIVE STEERING SYS- WITHOUT DIRECT ADAPTIVE STEERING SYS-
TEM ..........................................................................359 TEM : Work Procedure (Target Mark Sample) ..... 434
WITHOUT DIRECT ADAPTIVE STEERING SYS-
TEM : Reference Value .........................................359 ACTION TEST .................................................. 436
DCA ......................................................................... 436
TEM : Fail-safe (Lane Camera Unit Without
DCA : Description ................................................. 436
DAST) ....................................................................361
DCA : Work Procedure ......................................... 436
TEM : DTC Inspection Priority Chart .....................361 LDW/LDP ................................................................. 436
WITHOUT DIRECT ADAPTIVE STEERING SYS- LDW/LDP : Description ......................................... 437
TEM : DTC Index ...................................................362 LDW/LDP : Inspection Procedure ......................... 437
CHASSIS CONTROL MODULE ...................... 363 BLIND SPOT WARNING/BLIND SPOT INTER-
Reference Value ....................................................363 VENTION ................................................................. 439
Fail-Safe (Chassis Control Module) .......................373 BLIND SPOT WARNING/BLIND SPOT INTER-
DTC Inspection Priority Chart ................................376 VENTION : Description ......................................... 439
DTC Index .............................................................377 BLIND SPOT WARNING/BLIND SPOT INTER-
VENTION : Work Procedure ................................. 440
WIRING DIAGRAM .................................... 379
BCI ........................................................................... 442
DRIVER ASSISTANCE SYSTEMS ................. 379 BCI : Description ................................................... 442
Wiring Diagram ......................................................379 BCI : Work Procedure ........................................... 442
BASIC INSPECTION .................................. 423 DTC/CIRCUIT DIAGNOSIS ....................... 443

DIAGNOSIS AND REPAIR WORK FLOW ...... 423 C1A50 ADAS CONTROL UNIT ........................ 443
Work Flow ..............................................................423
LANE CAMERA UNIT ............................................. 443
ADDITIONAL SERVICE WHEN REPLACING LANE CAMERA UNIT : DTC Logic ....................... 443
ICC SENSOR ................................................... 426 LANE CAMERA UNIT : Diagnosis Procedure ...... 443
Description .............................................................426
Work Procedure .....................................................426 C1B00 CAMERA UNIT MALF .......................... 444
ADDITIONAL SERVICE WHEN REPLACING LANE CAMERA UNIT ............................................. 444

LANE CAMERA UNIT : DTC Logic ....................... 444
ACCELERATOR PEDAL ASSEMBLY ............ 427
LANE CAMERA UNIT : Diagnosis Procedure ...... 444

C1B01 CAM AIMING INCMP ........................... 445 ACCELERATOR PEDAL ACTUATOR : DTC Log-
ic ............................................................................ 457 A
LANE CAMERA UNIT ............................................. 445 ACCELERATOR PEDAL ACTUATOR : Diagnosis
LANE CAMERA UNIT : DTC Logic ....................... 445 Procedure .............................................................. 457
LANE CAMERA UNIT : Diagnosis Procedure ....... 445
C1F03 ACCELERATOR PEDAL ACTUATOR. 458 B
C1B03 ABNRML TEMP DETECT .................... 446
ACCELERATOR PEDAL ACTUATOR .................... 458
LANE CAMERA UNIT ............................................. 446 ACCELERATOR PEDAL ACTUATOR : DTC Log- C
LANE CAMERA UNIT : DTC Logic ....................... 446 ic ............................................................................ 458
LANE CAMERA UNIT : Diagnosis Procedure ....... 446 ACCELERATOR PEDAL ACTUATOR : Diagnosis
Procedure .............................................................. 458
C1B20 CONTROL MODULE ........................... 447 D
DRIVER ASSISTANCE BUZZER CONTROL MOD-
C1F05 ACCELERATOR PEDAL ACTUATOR
ULE .......................................................................... 447 POWER SUPPLY CIRCUIT ............................ 459
DRIVER ASSISTANCE BUZZER CONTROL E
MODULE : DTC Logic ........................................... 447 ACCELERATOR PEDAL ACTUATOR : DTC Log-
DRIVER ASSISTANCE BUZZER CONTROL ic ............................................................................ 459
MODULE : Diagnosis Procedure .......................... 447 ACCELERATOR PEDAL ACTUATOR : Diagnosis F
DRIVER ASSISTANCE BUZZER CONTROL Procedure .............................................................. 459
MODULE : Component Inspection ........................ 448
C1F06 CAN CIRCUIT2 .................................... 460 G
C1B50 SIDE RADAR MALFUNCTION ............ 449
SIDE RADAR ........................................................... 449 ACCELERATOR PEDAL ACTUATOR : DTC Log-
SIDE RADAR : DTC LOGIC .................................. 449 ic ............................................................................ 460 H
SIDE RADAR : Diagnosis Procedure .................... 449 ACCELERATOR PEDAL ACTUATOR : Diagnosis
C1B51 BLIND SPOT WARNING/BLIND Procedure .............................................................. 460
SPOT INTERVENTION INDICATOR SHORT I
C1F07 CAN CIRCUIT1 .................................... 461
CIRCUIT ........................................................... 450
SIDE RADAR ........................................................... 450 ACCELERATOR PEDAL ACTUATOR : DTC Log- J
SIDE RADAR : DTC Logic .................................... 450 ic ............................................................................ 461
SIDE RADAR : Diagnosis Procedure .................... 450 ACCELERATOR PEDAL ACTUATOR : Diagnosis
Procedure .............................................................. 461 K
C1B52 BLIND SPOT WARNING/BLIND
SPOT INTERVENTION INDICATOR OPEN U0104 ADAS CAN 1 ....................................... 462
CIRCUIT ........................................................... 452
LANE CAMERA UNIT .............................................. 462 L
SIDE RADAR ........................................................... 452 LANE CAMERA UNIT : DTC Logic ....................... 462
SIDE RADAR : DTC Logic .................................... 452 LANE CAMERA UNIT : Diagnosis Procedure ....... 462
SIDE RADAR : Diagnosis Procedure .................... 452
SIDE RADAR ........................................................... 462 M
C1B55 RADAR BLOCKAGE ........................... 454 SIDE RADAR : DTC Logic ..................................... 462
SIDE RADAR : Diagnosis Procedure .................... 463
SIDE RADAR ........................................................... 454
N
SIDE RADAR : DTC Logic .................................... 454 DRIVER ASSISTANCE BUZZER CONTROL MOD-
SIDE RADAR : Diagnosis Procedure .................... 454 ULE .......................................................................... 463
DRIVER ASSISTANCE BUZZER CONTROL
C1F01 ACCELERATOR PEDAL ACTUATOR.. 456 MODULE : DTC Logic ........................................... 463 DAS
ACCELERATOR PEDAL ACTUATOR ................... 456
MODULE : Diagnosis Procedure ........................... 464
ACCELERATOR PEDAL ACTUATOR : DTC Log-
ic ............................................................................ 456 P
U0126 STRG SEN CAN 1 ............................... 465
ACCELERATOR PEDAL ACTUATOR : Diagnosis
Procedure .............................................................. 456 LANE CAMERA UNIT .............................................. 465
LANE CAMERA UNIT : DTC Logic ....................... 465
C1F02 ACCELERATOR PEDAL ACTUATOR.. 457 LANE CAMERA UNIT : Diagnosis Procedure ....... 465
ACCELERATOR PEDAL ACTUATOR ................... 457 U0405 ADAS CAN 2 ....................................... 466

LANE CAMERA UNIT ..............................................466 SIDE RADAR LH ..................................................... 475
LANE CAMERA UNIT : DTC Logic ........................466 SIDE RADAR LH : Description ............................. 475
LANE CAMERA UNIT : Diagnosis Procedure .......466 SIDE RADAR LH : DTC Logic .............................. 475
SIDE RADAR LH : Diagnosis Procedure .............. 476
SIDE RADAR ...........................................................466
SIDE RADAR : DTC Logic .....................................466 SIDE RADAR RH .................................................... 476
SIDE RADAR : Diagnosis Procedure ....................467 SIDE RADAR RH : Description ............................. 476
SIDE RADAR RH : DTC Logic .............................. 476
U0428 STRG SEN CAN 2 ................................ 468 SIDE RADAR RH : Diagnosis Procedure ............. 476
LANE CAMERA UNIT ..............................................468 DRIVER ASSISTANCE BUZZER CONTROL MOD-
LANE CAMERA UNIT : DTC Logic ........................468 ULE .......................................................................... 477
LANE CAMERA UNIT : Diagnosis Procedure .......468 DRIVER ASSISTANCE BUZZER CONTROL
MODULE : Description .......................................... 477
U1000 CAN COMM CIRCUIT .......................... 469
ACCELERATOR PEDAL ACTUATOR ....................469 MODULE : DTC Logic ........................................... 477
ACCELERATOR PEDAL ACTUATOR : Descrip- DRIVER ASSISTANCE BUZZER CONTROL
tion .........................................................................469 MODULE : Diagnosis Procedure .......................... 477
ACCELERATOR PEDAL ACTUATOR : DTC Log-
ic ............................................................................469
U1527 CCM CAN 1 ........................................... 478
ACCELERATOR PEDAL ACTUATOR : Diagnosis DRIVER ASSISTANCE BUZZER CONTROL MOD-
Procedure ..............................................................469 ULE .......................................................................... 478
LANE CAMERA UNIT ..............................................469 DRIVER ASSISTANCE BUZZER CONTROL
MODULE : DTC Logic ........................................... 478
LANE CAMERA UNIT : Description .......................469
LANE CAMERA UNIT : DTC Logic ........................470 DRIVER ASSISTANCE BUZZER CONTROL
MODULE : Diagnosis Procedure .......................... 478
LANE CAMERA UNIT : Diagnosis Procedure .......470
SIDE RADAR LH ......................................................470 POWER SUPPLY AND GROUND CIRCUIT .... 479
SIDE RADAR LH : Description ..............................470 ACCELERATOR PEDAL ACTUATOR ................... 479
SIDE RADAR LH : DTC Logic ...............................471 ACCELERATOR PEDAL ACTUATOR : Diagnosis
SIDE RADAR LH : Diagnosis Procedure ...............471 Procedure ............................................................. 479
SIDE RADAR RH .....................................................471 LANE CAMERA UNIT ............................................. 479
SIDE RADAR RH : Description .............................471 LANE CAMERA UNIT : Diagnosis Procedure ...... 479
SIDE RADAR RH : DTC Logic ..............................472
SIDE RADAR RH : Diagnosis Procedure ..............472 SIDE RADAR LH ..................................................... 480
SIDE RADAR LH : Diagnosis Procedure .............. 480
DRIVER ASSISTANCE BUZZER CONTROL MOD-
ULE ...........................................................................472 SIDE RADAR RH .................................................... 481
DRIVER ASSISTANCE BUZZER CONTROL SIDE RADAR RH : Diagnosis Procedure ............. 481
MODULE : Description ..........................................472
DRIVER ASSISTANCE BUZZER CONTROL DRIVER ASSISTANCE BUZZER CONTROL MOD-
MODULE : DTC Logic ...........................................472 ULE .......................................................................... 482
DRIVER ASSISTANCE BUZZER CONTROL DRIVER ASSISTANCE BUZZER CONTROL
MODULE : Diagnosis Procedure ...........................473 MODULE : Diagnosis Procedure .......................... 482
U1010 CONTROL UNIT (CAN) ....................... 474 RIGHT/LEFT SWITCHING SIGNAL CIRCUIT.. 483
ACCELERATOR PEDAL ACTUATOR ....................474
ACCELERATOR PEDAL ACTUATOR : Descrip- DRIVER ASSISTANCE BUZZER CIRCUIT ..... 484
tion .........................................................................474 Component Function Check ................................. 484
ACCELERATOR PEDAL ACTUATOR : DTC Log- Diagnosis Procedure ............................................. 484
ic ............................................................................474
ACCELERATOR PEDAL ACTUATOR : Diagnosis
SYMPTOM DIAGNOSIS ........................... 486
Procedure ..............................................................474 DRIVER ASSISTANCE SYSTEM SYMP-
LANE CAMERA UNIT ..............................................474 TOMS ................................................................ 486
LANE CAMERA UNIT : Description .......................474 Symptom Table ..................................................... 486
LANE CAMERA UNIT : DTC Logic ........................474
SYSTEM SETTINGS CANNOT BE TURNED
LANE CAMERA UNIT : Diagnosis Procedure .......475
ON/OFF ON THE INTEGRAL SWITCH ........... 488

Description ............................................................ 488 PRECAUTIONS ............................................... 513
Diagnosis Procedure ............................................. 488 Precaution for Supplemental Restraint System A
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN-
CHIME DOES NOT SOUND ............................. 489 SIONER" ............................................................... 513
Description ............................................................ 489 Precautions for Performing 2-wheel Drive Test ..... 513
Diagnosis Procedure ............................................. 489 B
Precautions for Removing Battery Terminal .......... 513
SWITCH DOES NOT TURN ON / SWITCH Precautions for Harness Repair ............................ 514
Precautions for Chassis control ............................. 514
DOES NOT TURN OFF .................................... 491 C
Description ............................................................ 491 SYSTEM DESCRIPTION ........................... 516
COMPONENT PARTS .................................... 516 D
NO FORCE GENERATED FOR PUTTING Component Parts Location .................................... 516
BACK THE ACCELERATOR PEDAL .............. 493 Chassis Control Module ........................................ 516
Description ............................................................ 493
Diagnosis Procedure ............................................. 493 SYSTEM .......................................................... 517 E
System Description ................................................ 517
FREQUENTLY CANNOT DETECT THE VEHI- Circuit Diagram ...................................................... 519
CLE AHEAD / DETECTION ZONE IS SHORT.. 494 Fail-Safe (Chassis Control Module) ....................... 520 F
Description ............................................................ 494
Diagnosis Procedure ............................................. 494 INFORMATION DISPLAY (COMBINATION
METER) .................................................................... 523
THE SYSTEM DOES NOT DETECT THE VE- INFORMATION DISPLAY (COMBINATION G
HICLE AHEAD AT ALL .................................... 496 METER) : Chassis Control Display ........................ 523
Description ............................................................ 496
Diagnosis Procedure ............................................. 496 DIAGNOSIS SYSTEM (CHASSIS CONTROL H
MODULE) ........................................................ 526
THE SYSTEM OPERATES EVEN WHEN US- CONSULT Function ............................................... 526
ING TURN SIGNAL .......................................... 498
Description ............................................................ 498 ECU DIAGNOSIS INFORMATION ............ 536 I
CHASSIS CONTROL MODULE ..................... 536
NORMAL OPERATING CONDITION ............... 499 Reference Value .................................................... 536 J
Description ............................................................ 499 Fail-Safe (Chassis Control Module) ....................... 547
DTC Inspection Priority Chart ................................ 549
REMOVAL AND INSTALLATION ............. 505 DTC Index ............................................................. 550
K
ACCELERATOR PEDAL ASSEMBLY ............ 505 WIRING DIAGRAM .................................... 553
Exploded View ...................................................... 505
CHASSIS CONTROL (WITH DIGITAL MO- L
DYNAMIC DRIVER ASSISTANCE SWITCH .. 506 TION CONTROL) ............................................ 553
Exploded View ...................................................... 506 Wiring Diagram ...................................................... 553
LANE CAMERA UNIT ...................................... 507 CHASSIS CONTROL (WITHOUT DIGITAL M
Removal and Installation ....................................... 507 MOTION CONTROL) ...................................... 564
Wiring Diagram ...................................................... 564
SIDE RADAR .................................................... 508
N
Removal and Installation ....................................... 508 BASIC INSPECTION ................................. 574
BLIND SPOT WARNING/BLIND SPOT IN- DIAGNOSIS AND REPAIR WORK FLOW ..... 574
TERVENTION INDICATOR .............................. 510 Work Flow .............................................................. 574 DAS
Removal and Installation ....................................... 510 Diagnostic Work Sheet .......................................... 575
DRIVER ASSISTANCE BUZZER CONTROL ADDITIONAL SERVICE WHEN REPLACING
MODULE .......................................................... 511 P
CHASSIS CONTROL MODULE ..................... 577
Removal and Installation ....................................... 511 Description ............................................................. 577
DRIVER ASSISTANCE BUZZER ..................... 512 CONFIGURATION (CHASSIS CONTROL
Removal and Installation ....................................... 512 MODULE) ........................................................ 578
CHASSIS CONTROL Work Procedure ..................................................... 578
PRECAUTION ............................................ 513 DTC/CIRCUIT DIAGNOSIS ....................... 580
C1B90-00 DIRECT ADAPTIVE STEERING Diagnosis Procedure ............................................. 607
SYSTEM ........................................................... 580
DTC Description ....................................................580
C1BAF-00 BLIND SPOT WARNING SYSTEM.. 609
DTC Description .................................................... 609
C1B91-00 CAMERA SYSTEM ........................ 582
DTC Description ....................................................582
C1BB0-06 DRIVER ASSISTANCE BUZZER
Diagnosis Procedure .............................................582 SYSTEM ........................................................... 611
DTC Description .................................................... 611
C1B92-00 BRAKE CONTROL SYSTEM ......... 584 Diagnosis Procedure ............................................. 611
DTC Description ....................................................584
Diagnosis Procedure .............................................584 C1BB2-00 CONTROL MODULE ...................... 612
DTC Description .................................................... 612
C1B93-00 ENGINE/HEV SYSTEM .................. 586 Diagnosis Procedure ............................................. 612
DTC Description ....................................................586
DTC Description .................................................... 613
C1B94-00 TRANSMISSION SYSTEM ............. 588 Diagnosis Procedure ............................................. 613
DTC Description ....................................................588
DTC Description .................................................... 614
C1B96-00 ADAS SYSTEM .............................. 590 Diagnosis Procedure ............................................. 614
DTC Description ....................................................590
Diagnosis Procedure .............................................590 C1BB5-00 IGNITION POWER SUPPLY .......... 615
DTC Description .................................................... 615
C1B99-00 CONTROL MODULE ...................... 592 Diagnosis Procedure (Models with Digital Motion
DTC Description ....................................................592 Control) ................................................................. 615
Diagnosis Procedure .............................................592 Diagnosis Procedure (Models without Digital Mo-
tion Control) .......................................................... 617
C1BA6-00 AV SYSTEM ................................... 593
DTC Description ....................................................593 C1BB6-00 IGNITION POWER SUPPLY .......... 620
Diagnosis Procedure .............................................593 DTC Description .................................................... 620
C1BA7-00 ACTIVE LANE CONTROL SYS-
TEM .................................................................. 595 C1BB7-00 CONTROL MODULE ...................... 623
DTC Description ....................................................595 DTC Description .................................................... 623
Diagnosis Procedure .............................................595 Diagnosis Procedure ............................................. 623
C1BA9-00 NP RANGE .................................... 597 C1BB8-00 CONTROL MODULE ...................... 624

C1BAA-00 GEAR POSITION .......................... 599 C1BB9-00 CONTROL MODULE ...................... 625
C1BAB-00 STOP LAMP SWITCH ................... 601 C1BBA-00 CONTROL MODULE ..................... 626
C1BAC-00 OPERATION SWITCH SYSTEM . 603 C1BBB-00 CONTROL MODULE ..................... 627
C1BAD-00 ACCELERATOR PEDAL SYS- C1BBC-00 CONTROL MODULE ..................... 628

TEM .................................................................. 605 DTC Description .................................................... 628
DTC Description ....................................................605 Diagnosis Procedure ............................................. 628
C1BBD-00 VARIANT CODING ........................ 629
C1BAE-00 ACCELERATOR PEDAL SYSTEM DTC Description .................................................... 629
. 607 Diagnosis Procedure ............................................. 629
DTC Description ....................................................607

C1BBE-11 DYNAMIC DIGITAL SUSPEN- DTC Description .................................................... 664
SION (FR) ......................................................... 630 Diagnosis Procedure ............................................. 664 A
DTC Description .................................................... 630
C1BC1-00 FRONT LEFT WHEEL SENSOR .. 666
DTC Description .................................................... 666
Diagnosis Procedure ............................................. 666 B
C1BBE-12 DYNAMIC DIGITAL SUSPEN-
SION (FR) ......................................................... 633
C1BC7-11 DYNAMIC DIGITAL SUSPENSION
DTC Description .................................................... 633
(RR) ................................................................. 668 C
DTC Description .................................................... 668
C1BBE-19 DYNAMIC DIGITAL SUSPEN- Diagnosis Procedure ............................................. 668
SION (FR) ......................................................... 636 D
DTC Description .................................................... 636
(RR) ................................................................. 671
DTC Description .................................................... 671
C1BBE-1D DYNAMIC DIGITAL SUSPEN- Diagnosis Procedure ............................................. 671 E
SION (FR) ......................................................... 639
DTC Description .................................................... 639
(RR) ................................................................. 674 F
DTC Description .................................................... 674
C1BBE-39 DYNAMIC DIGITAL SUSPEN- Diagnosis Procedure ............................................. 674
SION (FR) ......................................................... 642
C1BC7-1D DYNAMIC DIGITAL SUSPEN- G
DTC Description .................................................... 642
SION (RR) ....................................................... 677
DTC Description .................................................... 677
C1BBE-64 DYNAMIC DIGITAL SUSPEN- Diagnosis Procedure ............................................. 677 H
SION (FR) ......................................................... 644
DTC Description .................................................... 644
(RR) ................................................................. 680
DTC Description .................................................... 680 I
C1BBF-11 DYNAMIC DIGITAL SUSPENSION Diagnosis Procedure ............................................. 680
(FL) ................................................................... 647
C1BC7-64 DYNAMIC DIGITAL SUSPENSION J
DTC Description .................................................... 647
(RR) ................................................................. 682
DTC Description .................................................... 682
C1BBF-12 DYNAMIC DIGITAL SUSPENSION Diagnosis Procedure ............................................. 682 K
(FL) ................................................................... 650
DTC Description .................................................... 650
(RL) .................................................................. 685
DTC Description .................................................... 685 L
(FL) ................................................................... 653
C1BC8-12 DYNAMIC DIGITAL SUSPENSION M
DTC Description .................................................... 653
(RL) .................................................................. 688
DTC Description .................................................... 688
C1BBF-1D DYNAMIC DIGITAL SUSPEN- Diagnosis Procedure ............................................. 688
N
SION (FL) ......................................................... 656
DTC Description .................................................... 656
(RL) .................................................................. 691
DTC Description .................................................... 691 DAS
(FL) ................................................................... 659
C1BC8-1D DYNAMIC DIGITAL SUSPEN-
DTC Description .................................................... 659 P
SION (RL) ........................................................ 694
DTC Description .................................................... 694
(FL) ................................................................... 661
DTC Description .................................................... 661
(RL) .................................................................. 697
DTC Description .................................................... 697
C1BC0-00 FRONT RIGHT WHEEL SENSOR.. 664 Diagnosis Procedure ............................................. 697

C1BC8-64 DYNAMIC DIGITAL SUSPENSION ACTIVE LANE CONTROL ...................................... 718
(RL) .................................................................. 699 ACTIVE LANE CONTROL : System Description . 718
DTC Description ....................................................699 ACTIVE LANE CONTROL : Circuit Diagram ........ 722
Diagnosis Procedure .............................................699 ACTIVE LANE CONTROL : Fail-safe (Lane Cam-
era Unit with DAST) .............................................. 723
U1000-00 CAN COMM CIRCUIT ..................... 702 ACTIVE LANE CONTROL : Fail-Safe (Chassis
DTC Description ....................................................702 Control Module) .................................................... 724
OPERATION ..................................................... 727
U1010-49 CONTROL MODULE (CAN) ........... 703
DTC Description ....................................................703 ACTIVE LANE CONTROL ...................................... 727
Diagnosis Procedure .............................................703 ACTIVE LANE CONTROL : Menu Displayed by
Pressing Each Switch ........................................... 727
U1A31-00 DIRECT ADAPTIVE STEERING
COMMUNICATION .......................................... 704 HANDLING PRECAUTION .............................. 728
DTC Description ....................................................704 Precautions for Active Lane Control ..................... 728
Diagnosis Procedure .............................................704 DIAGNOSIS SYSTEM (LANE CAMERA
U1A35-00 BRAKE CONTROL COMMUNICA- UNIT) ................................................................. 729
TION ................................................................. 706 CONSULT Function (LANE CAMERA) ................. 729
DTC Description ....................................................706 DIAGNOSIS SYSTEM (CHASSIS CONTROL
MODULE) ......................................................... 732
U1A3E-00 ADAS COMMUNICATION ............. 708 CONSULT Function .............................................. 732
DTC Description ....................................................708
ECU DIAGNOSIS INFORMATION ............ 742
POWER SUPPLY AND GROUND CIRCUIT ... 710 LANE CAMERA UNIT ...................................... 742
Reference Value ................................................... 742
Diagnosis Procedure (Models with Digital Motion
Fail-safe (Lane Camera Unit with DAST) .............. 745
Control) ..................................................................710
DTC Inspection Priority Chart ............................... 745
Diagnosis Procedure (Models without Digital Mo-
DTC Index ............................................................. 746
tion Control) ...........................................................711
CHASSIS CONTROL MODULE ....................... 747
REMOVAL AND INSTALLATION .............. 713
Reference Value ................................................... 747
CHASSIS CONTROL MODULE ...................... 713 Fail-Safe (Chassis Control Module) ...................... 757
Exploded View .......................................................713 DTC Inspection Priority Chart ............................... 760
Removal and Installation .......................................713 DTC Index ............................................................. 761
ACTIVE LANE CONTROL WIRING DIAGRAM ................................... 763
PRECAUTION ............................................ 714 ACTIVE LANE CONTROL WITH DIGITAL
PRECAUTIONS ............................................... 714 MOTION CONTROL ......................................... 763
Precaution for Supplemental Restraint System Wiring Diagram ..................................................... 763
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN- ACTIVE LANE CONTROL WITHOUT DIGI-
SIONER" ................................................................714
TAL MOTION CONTROL ................................. 773
Precautions for Removing Battery Terminal ..........714
Wiring Diagram ..................................................... 773
Precautions For Harness Repair ...........................715
Precaution for Active Lane Control Service ...........715 BASIC INSPECTION ................................. 783
SYSTEM DESCRIPTION ........................... 716 DIAGNOSIS AND REPAIR WORK FLOW ....... 783
Work Flow ............................................................. 783
COMPONENT PARTS ..................................... 716
Diagnostic Work Sheet ......................................... 785
ACTIVE LANE CONTROL .......................................716
ACTIVE LANE CONTROL : Component Parts Lo-
PRE-INSPECTION FOR DIAGNOSIS .............. 787
Inspection Procedure ............................................ 787
cation .....................................................................716
Lane Camera Unit .................................................717 ACTION TEST .................................................. 788
SYSTEM ........................................................... 718 Description ............................................................ 788
Inspection Procedure ............................................ 788

ADDITIONAL SERVICE WHEN REPLACING Diagnosis Procedure ............................................. 801
LANE CAMERA UNIT ...................................... 790 A
Description ............................................................ 790
C1B01 CAM AIMING INCMP .......................... 802
DTC Description .................................................... 802
Work Procedure .................................................... 790
B
CAMERA AIMING ADJUSTMENT ................... 791
Description ............................................................ 791
C1B03 ABNRML TEMP DETECT ................... 803
DTC Description .................................................... 803
Work Procedure (Preparation) .............................. 791
Diagnosis Procedure ............................................. 803 C
Work Procedure (Target Setting) .......................... 792
Work Procedure (Camera Aiming Adjustment) ..... 794 SYMPTOM DIAGNOSIS ............................ 804
Work Procedure (Target Mark Sample) ................ 796
ACTIVE LANE CONTROL .............................. 804 D
DTC/CIRCUIT DIAGNOSIS ....................... 798 Symptom Table ..................................................... 804
POWER SUPPLY AND GROUND CIRCUIT .... 798 THE VEHICLE PULLS TO ONE SIDE ............ 806
E
LANE CAMERA UNIT ............................................. 798 Description ............................................................. 806
LANE CAMERA UNIT : Diagnosis Procedure ....... 798 Diagnosis Procedure ............................................. 806
U1000 CAN COMM CIRCUIT ........................... 799 NORMAL OPERATING CONDITION ............. 807 F
DTC Description .................................................... 799 ACTIVE LANE CONTROL ....................................... 807
Diagnosis Procedure ............................................. 799 ACTIVE LANE CONTROL : Description ................ 807
G
U1010 CONTROL UNIT (CAN) ........................ 800 REMOVAL AND INSTALLATION ............. 808
DTC Description .................................................... 800
Diagnosis Procedure ............................................. 800 LANE CAMERA UNIT ..................................... 808 H
Exploded View ....................................................... 808
C1B00 CAMERA UNIT MALF .......................... 801 Removal and Installation ....................................... 808
DTC Description .................................................... 801
I
DAS

PRECAUTIONS
< PRECAUTION > [ADAS CONTROL UNIT]
PRECAUTION
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
PRE-TENSIONER" INFOID:0000000012796049
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. This system includes seat belt switch inputs and dual stage front air bag modules. The SRS
system uses the seat belt switches to determine the front air bag deployment, and may only deploy one front
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted.
Information necessary to service the system safely is included in the “SRS AIR BAG” and “SEAT BELT” of this
Service Manual.
WARNING:
Always observe the following items for preventing accidental activation.
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision that would result in air bag inflation, it is recommended that all maintenance
and repair be performed by an authorized NISSAN/INFINITI dealer.
• Improper repair, including incorrect removal and installation of the SRS, can lead to personal injury
caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag Module,
see “SRS AIR BAG”.
• Never use electrical test equipment on any circuit related to the SRS unless instructed to in this Ser-
vice Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or harness
connectors.
PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS
WARNING:
• When working near the Air Bag Diagnosis Sensor Unit or other Air Bag System sensors with the
ignition ON or engine running, never use air or electric power tools or strike near the sensor(s) with
a hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly causing
serious injury.
• When using air or electric power tools or hammers, always switch the ignition OFF, disconnect the
battery or batteries, and wait at least 3 minutes before performing any service.
Precautions for Removing Battery Terminal INFOID:0000000013375915
When disconnecting the battery terminal, pay attention to the following.

• Always use a 12V battery as power source.
• Never disconnect battery terminal while engine is running.
• When removing the 12V battery terminal, turn OFF the ignition
switch and wait at least 30 seconds.
• For vehicles with the engine listed below, remove the battery termi-
nal after a lapse of the specified time:
BR08DE : 4 minutes V9X engine : 4 minutes

D4D engine : 20 minutes YD25DDTi : 2 minutes
HR09DET : 12 minutes YS23DDT : 4 minutes
HRA2DDT : 12 minutes YS23DDTT : 4 minutes
K9K engine : 4 minutes ZD30DDTi : 60 seconds
SEF289H
M9R engine : 4 minutes ZD30DDTT : 60 seconds
R9M engine : 4 minutes
NOTE:
ECU may be active for several tens of seconds after the ignition switch is turned OFF. If the battery terminal
is removed before ECU stops, then a DTC detection error or ECU data corruption may occur.
• After high-load driving, if the vehicle is equipped with the V9X engine, turn the ignition switch OFF and wait
for at least 15 minutes to remove the battery terminal.
NOTE:

PRECAUTIONS
< PRECAUTION > [ADAS CONTROL UNIT]
• Turbocharger cooling pump may operate in a few minutes after the ignition switch is turned OFF.
• Example of high-load driving A
- Driving for 30 minutes or more at 140 km/h (86 MPH) or more.
- Driving for 30 minutes or more on a steep slope.
• For vehicles with the 2-batteries, be sure to connect the main battery and the sub battery before turning ON
B
the ignition switch.
NOTE:
If the ignition switch is turned ON with any one of the terminals of main battery and sub battery discon-
nected, then DTC may be detected. C
• After installing the 12V battery, always check "Self Diagnosis Result" of all ECUs and erase DTC.
NOTE:
The removal of 12V battery may cause a DTC detection error. D
Precautions For Harness Repair INFOID:0000000012796051
ITS communication uses a twisted pair line. Be careful when repairing it. E
• Solder the repaired area and wrap tape around the soldered area.
NOTE:
A fray of twisted lines must be within 110 mm (4.33 in).
F
H
SKIB8766E
• Bypass connection is never allowed at the repaired area. I

NOTE:
Bypass connection may cause ITS communication error. The
spliced wire becomes separated and the characteristics of twisted
line are lost. J
SKIB8767E L
DAS

COMPONENT PARTS
< SYSTEM DESCRIPTION > [ADAS CONTROL UNIT]
SYSTEM DESCRIPTION
COMPONENT PARTS
Component Parts Location INFOID:0000000012796052
JSOIA0814ZZ
Trunk side of rear parcel shelf
No. Component Description

• Controls each system, based on CAN communication, ITS communication, and chassis com-
munication signals received from each control unit
ADAS control unit
• Transmits signals necessary for control between CAN communication, ITS communication,
and Chassis communication
ADAS Control Unit INFOID:0000000012796053
• ADAS control unit is installed at trunk side of the parcel shelf.

• Communicates with each control unit via CAN communication/ITS
communication/Chassis communication.
• ADAS control unit included gateway function, and necessary for
system control signals are transmitted to each control unit between
CAN communication and ITS communication by the ADAS control
unit.
• ADAS control unit controls the each system, based on ITS commu-
nication signal, CAN communication signal, and chassis communi-
cation signal from each control unit.
JSOIA0503ZZ

SYSTEM
SYSTEM
A
System Description INFOID:0000000012796054
SYSTEM DIAGRAM B
VR30DDTT
N
JSOIA0982GB
DAS

SYSTEM
2.0 TURBO GASOLINE ENGINE
JSOIA2423GB
NOTE:
TCM is connected to drivetrain CAN communication and transmits a CAN communication signal to ADAS con-
trol unit via ECM.
ADAS CONTROL UNIT INPUT/OUTPUT SIGNAL ITEM
Input Signal Item

SYSTEM
Transmit unit Signal name Description A

Idle switch signal Receives idle position state (ON/OFF)
Closed throttle position signal Receives idle position state (ON/OFF)
Accelerator pedal position signal Receives accelerator pedal position (angle)
B
Receives an operable/inoperable state of the ICC sys-

ICC prohibition signal
tem
C
Engine speed signal Receives engine speed
MAIN switch signal
SET/COAST switch D
signal
CAN com-
ECM munica- CANCEL switch sig-
tion nal
E
ICC steering switch RESUME/ACCEL- Receives the operational state of the ICC steering
signal ERATE switch signal switch
DISTANCE switch F
signal
Dynamic driver as-
sistance switch sig-
nal G
Stop lamp switch signal Receives an operational state of the brake pedal
Brake pedal position switch signal*1 Receives an operational state of the brake pedal H
CAN com-
EMCM*2 munica- Brake pedal position switch signal Receives an operational state of the brake pedal
tion
I
Input speed signal Receives the number of revolutions of input shaft
TCM CAN com- Current gear position signal Receives a current gear position
*2 munica-
(via ECM) tion Shift position signal Receives a select lever position J
Output shaft revolution signal Receives the number of revolutions of output shaft
ABS malfunction signal Receives a malfunction state of ABS
K
ABS operation signal Receives an operational state of ABS
ABS warning lamp signal Receives an ON/OFF state of ABS warning lamp
TCS malfunction signal Receives a malfunction state of TCS L
TCS operation signal Receives an operational state of TCS
ABS actuator CAN com-
and electric unit munica- VDC OFF switch signal Receives an ON/OFF state of VDC
(control unit) tion M
VDC malfunction signal Receives a malfunction state of VDC
VDC operation signal Receives an operational state of VDC
Vehicle speed signal (ABS) Receives wheel speeds of four wheels N
Yaw rate signal Receives yaw rate acting on the vehicle
Side G sensor signal Receives lateral G acting on the vehicle
Stop lamp switch signal Receives an operational state of the brake pedal DAS
CAN com-
Combination
munica- Parking brake switch signal Receives an operational state of the parking brake
meter
tion P

SYSTEM
Transmit unit Signal name Description
Front wiper request signal Receives an operational state of front wiper(s)
Receives an operational state of the turn signal lamp
Turn indicator signal
CAN com- and the hazard lamp
BCM munica-
Dimmer signal Receives ON/OFF state of dimmer signal
tion
Position light request signal Receives an operational state of tail lamp
Stop lamp switch signal Receives an operational state of the brake pedal
Steering angle sensor malfunction signal Receives a malfunction state of steering angle sensor
CAN com-
Steering angle Receives the number of revolutions, turning direction of
munica- Steering angle sensor signal
sensor the steering wheel
tion
Steering angle speed signal Receives the turning angle speed of the steering wheel
• Receives a selection state of each item in “Driving
CAN com-
Display control Aids” selected with the integral switch
munica- System selection signal
unit • Receives a selection state of BCI in “Camera” select-
tion
ed with the integral switch
ITS com-
Receives detection results, such as the presence or ab-
ICC sensor munica- ICC sensor signal
sence of a leading vehicle and distance from the vehicle
tion
ITS com-
Lane camera
munica- Detected lane condition signal Receives detection results of lane marker
unit
tion
ITS com-
Accelerator Accelerator pedal actuator operation status Receives an operational state of accelerator pedal ac-
munica-
pedal actuator signal tuator
tion
ITS com-
Side radar LH,
munica- Vehicle detection signal Receives vehicle detection condition of detection zone
RH
tion
ITS com-
Sonar control Receives objects detection result of rear area behind
munica- Rear object detection signal
unit vehicle
tion
Chassis
Chassis control Receives on operational state of the drive mode select
communi- Drive mode signal
module switch
cation
*1: VR30DDTT ENGINE
*2: 2.0 TURBO GASOLINE ENGINE
Output Signal Item
Reception unit Signal name Description

CAN commu- Transmits an ICC operation signal necessary for intel-
ECM ICC operation signal
nication ligent cruise control
ABS actuator Transmits a brake fluid pressure control signal to acti-
Brake fluid pressure control signal
and electric vates the brake
CAN commu-
unit (via chas-
nication Transmits a target yaw moment signal to generate
sis control Target yaw moment signal
module) yaw moment to the vehicle

SYSTEM
A
Vehicle ahead detec-
tion indicator signal
Set vehicle speed indi-
cator signal B
Set distance indicator
signal
SET switch indicator C
signal
MAIN switch indicator
signal D
DCA system display
signal
Meter display FEB system display Transmits a signal to display a state of the system on E
signal signal the information display
Combination CAN commu-
meter nication PFCW system display
signal F
LDW system display
signal
LDP system display G
signal
BSW system display
signal H
Blind Spot Intervention
system display signal
BCI system display sig- I
nal
• Transmits a signal to turn ON the lamp
FEB warning lamp signal • Transmits an ON/OFF state of the Forward Emer- J
gency Brake
Transmits a vehicle speed calculated by the ADAS
Vehicle speed signal
ITS commu- control unit
ICC sensor K
nication Transmits a steering angle sensor signal received
Steering angle sensor signal
from the steering angle sensor
Transmits an accelerator pedal angle calculated by
Accelerator pedal position signal L
Accelerator ITS commu- the ADAS control unit
pedal actuator nication Accelerator pedal feedback force control Transmits a target actuation force value calculated by
signal the ADAS control unit
M
control unit
Transmits a Blind Spot Warning/Blind Spot Interven-
Blind Spot Warning/Blind Spot Interven- N
Side radar LH, ITS commu- tion indicator signal to turn ON the Blind Spot Warning/
RH nication Blind Spot Intervention indicator
Blind Spot Warning/Blind Spot Interven-
tion indicator dimmer signal to dimmer Blind Spot DAS
tion indicator dimmer signal
Warning/Blind Spot Intervention indicator
Sonar control ITS commu-
Buzzer drive signal Transmits a buzzer drive signal to activate buzzer
unit nication P
Around view
ITS commu- Transmits a BCI warning signal to indicate a yellow/
monitor control BCI warning signal
nication red frame on the upper display
unit

SYSTEM
Driver assis-
ITS commu- Transmits a driver assistance buzzer signal to acti-
tance buzzer Driver assistance buzzer signal
nication vates the buzzer
control module
ICC brake hold Activates the brake hold relay and turns ON the stop
ICC brake hold relay drive signal
relay lamp
DESCRIPTION
• ADAS* control unit controls the following systems, based on ITS communication signal, CAN communication
signal, and chassis communication signal from each control unit.
NOTE:
*: Advanced Driver Assistance Systems
- Intelligent Cruise Control (ICC)
- Distance Control Assist (DCA)
- Forward Emergency Braking (FEB)
- Brake Assist (with preview function)
- Predictive Forward Collision Warning (PFCW)
- Lane Departure Warning (LDW) (Without DAST)
- Lane Departure Prevention (LDP) (Without DAST)
- Blind Spot Warning (BSW)
- Blind Spot Intervention (Without DAST)
- Back-up Collision Intervention (BCI)
- Automatic Speed Control Device (ASCD) (Without ICC)
System Reference
Intelligent Cruise Control (ICC) CCS-14, "System Description"
Distance Control Assist (DCA) DAS-225, "DCA : System Description"
Forward Emergency Braking (FEB) BRC-205, "System Description"
Predictive Forward Collision Warning (PFCW) DAS-230, "PFCW : System Description"
• Lane Departure Warning: DAS-234, "LDW (WITHOUT
DIRECT ADAPTIVE STEERING SYSTEM) : System De-
scription"
Lane Departure Warning (LDW)/Lane Departure Prevention (LDP)
• Lane Departure Prevention: DAS-240, "LDP (WITHOUT
DIRECT ADAPTIVE STEERING SYSTEM) : System De-
scription"
Blind Spot Warning (BSW) DAS-243, "BSW : System Description"
Back-up Collision Intervention (BCI) DAS-254, "BCI : System Description"
CCS-174, "AUTOMATIC SPEED CONTROL DEVICE (AS-
Automatic Speed Control Device (ASCD)
CD) : System Description"

SYSTEM
Circuit Diagram INFOID:0000000012796055
A
VR30DDTT
DAS
P
JSOIA2502GB

SYSTEM
2.0L TURBO GASOLINE ENGINE
JSOIA2372GB
Fail-safe (ADAS Control Unit) INFOID:0000000013399250
If a malfunction occurs in each system, ADAS control unit cancels each control, sounds a beep, and turns ON
the warning or indicator lamp.

SYSTEM
Warning lamp/Warning dis- A

System Buzzer Description
play
High-
Vehicle-to-vehicle distance control mode pitched ICC system warning Cancel
B
tone
High-
Conventional (fixed speed) cruise control mode pitched ICC system warning Cancel
tone C
High- • FEB warning lamp
Forward Emergency Braking (FEB) pitched • Warning systems indicator Cancel
tone (Forward position: Yellow) D
High-
Warning systems indicator
Predictive Forward Collision Warning (PFCW) pitched Cancel
(Forward position: Yellow)
tone E
High-
Distance Control Assist (DCA) pitched Cancel
tone
F
Lane Departure Warning (LDW) — Cancel
(Lane position: Yellow)
Low-
Warning systems indicator G
Lane Departure Prevention (LDP) pitched Cancel
tone
Blind Spot Warning (BSW) — Cancel H
(Blind spot position: Yellow)
Low-
Blind Spot Intervention pitched Cancel
tone I
High-
Back-up Collision Intervention (BCI) pitched BCI system warning Cancel
tone
J
DAS

DIAGNOSIS SYSTEM (ADAS CONTROL UNIT)
On Board Diagnosis Function (With ICC) INFOID:0000000012796057
DESCRIPTION
The DTC is displayed on the information display by operating the ICC steering switch.
On Board Self-diagnosis System Diagram (VR30DDTT)
JSOIA0271GB
On Board Self-diagnosis System Diagram (2.0 TURBO GASOLINE ENGINE)
JSOIA0879GB
METHOD OF STARTING
CAUTION:
Start condition of on board self-diagnosis
• ICC system OFF
• DCA system OFF
• Vehicle speed 0 km/h (0 MPH)
1. Turn the ignition switch OFF.
2. Start the engine.
3. Wait for 5 seconds after starting the engine. Push up the
RESUME/ACCELERATE switch 5 times and push down the
SET/COAST switch 5 times within 10 seconds.
NOTE:
If the above operation cannot be performed within 10 seconds
after waiting for 5 seconds after starting the engine, repeat the
procedure from step 1.
PKIB8371E

4. The DTC is displayed on the set vehicle speed indicator (1) on the ICC system display on the information
display when the on board self-diagnosis starts. Refer to DAS-53, "DTC Index". A
F
JSOIA0880GB
NOTE:
• It displays for up to 5 minutes and then stops.
• If multiple malfunctions exist, up to 6 DTCs can be stored in memory at the most, and the most recent G
one is displayed first.
WHEN THE ON BOARD SELF-DIAGNOSIS DOES NOT START H
If the on board self-diagnosis does not start, check the following items.
Assumed abnormal part Inspection item

I
Check that the self-diagnosis function of the combina-
Information display Combination meter malfunction tion meter operates. Refer to MWI-68, "On Board Diag-
nosis Function".
ICC/ASCD steering switch malfunction J
Harness malfunction between ICC steering switch and ECM
Perform the inspection for DTC “C1A06”. Refer to DAS-
Harness malfunction between ASCD steering switch and ADAS control 117, "DTC Logic". K
unit
ECM malfunction
• Check power supply and ground circuit of ADAS con- L
trol unit. Refer to DAS-213, "Diagnosis Procedure".
ADAS control unit malfunction • Perform SELF-DIAGNOSIS for “ICC/ADAS”with
CONSULT, and then check the malfunctioning parts.
Refer to DAS-53, "DTC Index". M
HOW TO ERASE ON BOARD SELF-DIAGNOSIS

1. Turn the ignition switch OFF. N
2. Start the engine, and then start the on board self-diagnosis.
3. Press the CANCEL switch 5 times, and then press the DIS-
TANCE switch 5 times under the condition that the on board DAS
self-diagnosis starts.
NOTE:
• Complete the operation within 10 seconds after pressing the
CANCEL switch first. P
• If the operation is not completed within 10 seconds, repeat the
4. DTC 55 is displayed after erasing.
NOTE:
DTCs for existing malfunction can not be erased. PKIB8373E
5. Turn ignition switch OFF, and finish the diagnosis.

CONSULT Function (ICC/ADAS) INFOID:0000000012796058
APPLICATION ITEMS
CONSULT performs the following functions via CAN communication using ADAS control unit.
Diagnosis mode Description

• The vehicle specification that is written in ADAS control unit can be displayed or stored
Configuration* • The vehicle specification can be written when ADAS control unit is replaced
Work Support Displays causes of automatic system cancellation occurred during system control
Self Diagnostic Result Displays the name of a malfunctioning system stored in the ADAS control unit
Data Monitor Displays ADAS control unit input/output data in real time
Enables an operational check of a load by transmitting a driving signal from the ADAS control unit to
Active Test
the load
ECU Identification Displays ADAS control unit part number
CAN Diag Support Monitor Displays a reception/transmission state of CAN communication and ITS communication
*: Models with FEB system only.
CONFIGURATION
Configuration includes functions as follows.
NOTE:
Models with FEB system only.
Function Description
Allows the reading of vehicle specification written in ADAS control
Before Replace ECU
unit to store the specification in CONSULT.
Read/Write Configuration
Allows the writing of the vehicle information stored in CONSULT
After Replace ECU
into the ADAS control unit.
Allows the writing of the vehicle specification into the ADAS control
Manual Configuration
unit by hand.
WORK SUPPORT
Work support items Description

Displays causes of automatic system cancellation occurred during control of the following sys-
tems
• Vehicle-to-vehicle control mode
CAUSE OF AUTO-CANCEL 1
• Conventional (fixed speed) control mode
• Distance Control Assist (DCA)
• Forward Emergency Braking (FEB)
tems
• Lane Departure Prevention (LDP) (Without DAST)
• Blind Spot Intervention (Without DAST)
Displays causes of automatic system cancellation occurred during control of the Back-up Col-
lision Intervention (BCI)
NOTE:
• Causes of the maximum five cancellations (system cancel) are displayed.
• The displayed cancellation causes display the number of the ignition switch ON/OFF up to 254. It is fixed to
254 if it is over 254. It returns to 0 when the same cancellation cause is detected again.
Display Items for The Cause of Automatic Cancellation 1

•Conventional (fixed speed) cruise control mode

A
•Automatic Speed Control Device (ASCD)

Vehicle-to-vehicle distance control mode
Forward Emergency Braking

B
Distance Control Assist

C
Cause of cancellation Description
OPERATING ABS × × × ABS function was operated

F
OPERATING TCS × × × TCS function was operated
OPERATING VDC × × × × VDC function was operated
ECM CIRCUIT × × ECM did not permit ICC operation G
OPE SW VOLT CIRC × × × The ICC steering switch input voltage is not within standard range
SNOW MODE SW × × Shifting of the drive mode selector to SNOW position
H
OP SW DOUBLE
× × ICC steering switches were pressed at the same time
TOUCH
Vehicle speed lower than the speed as follows
• Vehicle-to-vehicle distance control mode is 24 km/h (15 MPH) I
VHCL SPD DOWN × × ×
• Conventional (fixed speed) cruise control mode is 32 km/h (20
MPH)
WHL SPD ELEC NOISE × × × Wheel speed sensor signal caught electromagnetic noise J
VDC/TCS OFF SW × × × VDC OFF switch was pressed
VHCL SPD UNMATCH × × × Wheel speed became different from A/T vehicle speed
K
TIRE SLIP × × Wheel slipped
IGN LOW VOLT × × × × Decrease in ADAS control unit ignition voltage
PARKING BRAKE ON × × The parking brake is operating L
WHEEL SPD UNMATCH × × × The wheel speeds of 4 wheels are out of the specified values
A vehicle ahead is not detected during the following driving when
INCHING LOST ×
the vehicle speed is approximately 24 km/h (15 MPH) or less M
ADAS control unit received an abnormal signal with CAN commu-
CAN COMM ERROR × × × ×
nication
ABS/TCS/VDC CIRC × × × × An abnormal condition occurs in VDC/TCS/ABS system N
ECD CIRCUIT × × × × An abnormal condition occurs in ECD system
ENG SPEED DOWN × × Engine speed became extremely low while controlling ICC system
DAS
ASCD VHCL SPD DTAC × Vehicle speed is detached from set vehicle speed
ASCD DOUBLE COMD × Cancel switch and operation switch are detected simultaneously
The accelerator pedal actuator integrated motor temperature is P
APA HI TEMP ×
high
ICC SENSOR CAN Communication error between ADAS control unit and the ICC sen-
× × ×
COMM ERR sor
ABS WARNING LAMP × × ABS warning lamp ON
Inclusion of dirt or stains on the ICC sensor area of the front
FR RADAR BLOCKED × × ×
bumper

FEB) CURVATURE × Road curve was more than the specified value
FEB) YAW RATE × Detected yawing speed was more than the specified value
FEB) LTRL ACCELERA-
× Detected lateral speed is the specified value or more
TION
RADAR INTERFER-
× × × ICC sensor receives electromagnetic interference
ENCE
NO RECORD × × × —

Lane departure prevention
Blind spot intervention
OPE VDC/TCS/ABS 1 × The activation of VDC, TCS, or ABS during LDP system control
Vehicle dynamics × Vehicle behavior exceeds specified value
Steering speed × Steering speed was more than the specified value in evasive direction
End by yaw angle × Yaw angle was the end of LDP control
Departure yaw large × Detected more than the specified value of yaw angle in departure direction
Target approach warning of ICC system, FEB system, or PFCW system was activat-
ICC WARNING ×
ed
CURVATURE × Road curve was more than the specified value
Steering angle large × Steering angle was more than the specified value
Brake is operated × Brake pedal was operated
IGN LOW VOLT × Decrease in ADAS control unit IGN voltage
Distance of vehicle and lane was detached in lateral direction more than the specified
Lateral offset ×
value
Lane marker lost × Lane camera unit lost the trace of lane marker
Lane marker unclear × Detected lane marker was unclear
Yaw acceleration × Detected yawing speed was more than the specified value
Deceleration large × Deceleration in a longitudinal direction was more than the specified value
Accel is operated × Accelerator pedal was depressed
Departure steering × Steering wheel was steered more than the specified value in departure direction
Evasive steering × Steering wheel was steered more than the specified value in the evasive direction
R range × Selector lever was operated to R range
Parking brake drift × Rear wheels lock was detected
Not operating condition × Did not meet the operating condition (vehicle speed, turn signal operation, etc.)
SNOW MODE SW × Shifting of the drive mode selector to SNOW position
VDC OFF SW × VDC OFF switch was pressed
OPE VDC/ABS 2 × The activation of VDC or ABS during a standby time of LDP system control
BSI WARNING × Blind Spot Intervention system was activated
BSI) OPE VDC/TCS/
× The activation of VDC, TCS, or ABS during Blind Spot Intervention system control
ABS 1
BSI) Vehicle dynamics × Vehicle behavior exceeds specified value
BSI) Steering speed × Steering speed was more than the specified value in evasive direction


A
Cause of cancellation Description B
C
BSI) End by yaw angle × Yaw angle was the end of Blind Spot Intervention control
BSI) Departure yaw
× Detected more than the specified value of yaw angle in departure direction D
large
BSI) ICC WARNING × Target approach warning of ICC system, FEB system or PFCW system was activated
BSI) CURVATURE × Road curve was more than the specified value E
BSI) Steering angle
× Steering angle was more than the specified value
large
BSI) Brake is operated × Brake pedal was operated F
BSI) IGN LOW VOLT × Decrease in ADAS control unit IGN voltage
BSI) Lateral offset × Distance of vehicle and lane was detached in lateral direction more than the specified
BSI) Lane marker lost × Lane camera unit lost the trace of lane marker
G
BSI) Lane marker un-
× Detected lane marker was unclear
clear
H
BSI) Yaw acceleration × Detected yawing speed was more than the specified value
BSI) Deceleration large × Deceleration in a longitudinal direction was more than the specified value
BSI) Accel is operated × Accelerator pedal was depressed I
BSI) Departure steering × Steering wheel was steered more than the specified value in departure direction
BSI) Evasive steering × Steering wheel was steered more than the specified value in the evasive direction
BSI) R range × Selector lever was operated to R range
J
BSI) Parking brake drift × Rear wheels lock was detected

BSI) SNOW MODE SW × Shifting of the drive mode selector to SNOW position
K
BSI) VDC OFF SW × VDC OFF switch was pressed
The activation of VDC or ABS during a standby time of Blind Spot Intervention sys-
BSI) OPE VDC/ABS 2 ×
tem control L
BSI) Not operating con-
× Did not meet the operating condition (vehicle speed, turn signal operation, etc.)
dition
Side Radar Lost × Unrecognized side radar LH or RH by the ADAS control unit M
NO RECORD × × —

N
Back-up Collision Intervention
DAS

P
CAN COMM ERROR (CAN) × ADAS control unit received an abnormal signal with CAN communication
CAN COMM ERROR (ECD) × ADAS control unit received an abnormal signal with CAN communication


IGN LOW VOLT × Decrease in ADAS control unit ignition voltage

VEHICLE SPEED UP × Vehicle speed higher than 8 km/h (5 MPH)
ACCEL IS OPERATED × Accelerator pedal was depressed
BRAKE IS OPERATED × Brake pedal was operated
APA HI TEMP × The accelerator pedal actuator integrated motor temperature is high
APA POWER × Decrease in accelerator pedal actuator ignition or battery voltage
NO RECORD × —
SELF DIAGNOSTIC RESULT

Refer to DAS-53, "DTC Index".
NOTE:
• The details of time display are as per the following.
- CRNT: A malfunction is detected now
- PAST: A malfunction was detected in the past
• IGN counter is displayed on FFD (Freeze Frame Data).
- 0: The malfunctions that are detected now
CAN communication system (U1000, U1010)
- 1 - 39: It increases like 0 → 1 → 2 ··· 38 → 39 after returning to the normal condition whenever the ignition
switch OFF → ON. It returns to 0 when a malfunction is detected again in the process.
- If it is over 39, it is fixed to 39 until the self-diagnosis results are erased.
Other than CAN communication system (Other than U1000, U1010)
DATA MONITOR
NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.
(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
MAIN SW
× × × × Indicates [On/Off] status as judged from ICC steering switch
[On/Off]
SET/COAST SW
× × Indicates [On/Off] status as judged from ICC steering switch
[On/Off]
CANCEL SW
[On/Off]
RESUME/ACC SW
[On/Off]
DISTANCE SW
× Indicates [On/Off] status as judged from ICC steering switch
[On/Off]
CRUISE OPE
× × Indicates whether controlling or not (ON means “controlling”)
[On/Off]

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
A
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
BRAKE SW Indicates [On/Off] status as judged from ICC brake switch signal (ECM B
× × × × ×
[On/Off] transmits ICC brake switch signal through CAN communication)
STOP LAMP SW Indicates [On/Off] status as judged from stop lamp switch signal (ECM
× × × × ×
[On/Off] transmits stop lamp switch signal through CAN communication) C
Indicates [On/Off] status of idle switch read from ADAS control unit
IDLE SW
× × through CAN communication (ECM transmits On/Off status through CAN
[On/Off]
communication) D
SET DISTANCE
× × Indicates set distance memorized in ADAS control unit
[Short/Mid/Long]
CRUISE LAMP E
× × Indicates [On/Off] status of MAIN switch indicator output
[On/Off]
OWN VHCL NOTE:
×
[On/Off] The item is displayed, but it is not monitored
F
VHCL AHEAD
× Indicates [On/Off] status of vehicle ahead detection indicator output
[On/Off]
ICC WARNING
× Indicates [On/Off] status of ICC system warning lamp output G
[On/Off]
Indicates vehicle speed calculated from ADAS control unit through CAN
VHCL SPEED SE
× × × × × communication [ABS actuator and electric unit (control unit) transmits ve-
[km/h] or [mph] H
hicle speed signal (wheel speed) through CAN communication]
SET VHCL SPD
× × Indicates set vehicle speed memorized in ADAS control unit
[km/h] or [mph]
BUZZER O/P
I
× × Indicates [On/Off] status of ICC warning chime output
[On/Off]
THRTL SENSOR NOTE:
× × J
[deg] The item is displayed, but it is not monitored
Indicates engine speed read from ADAS control unit through CAN com-
ENGINE RPM
× munication (ECM transmits engine speed signal through CAN communi-
[rpm]
cation) K
WIPER SW Indicates wiper [OFF/LOW/HIGH] status (BCM transmits front wiper re-
×
[OFF/LOW/HIGH] quest signal through CAN communication)
YAW RATE NOTE: L
×
[deg/s] The item is displayed, but it is not monitored
BA WARNING
× Indicates [On/Off] status of FEB indicator lamp output
[On/Off] M
STP LMP DRIVE
× × × Indicates [On/Off] status of ICC brake hold relay drive output
[On/Off]
Indicates [On/Off] status of “D” or “M” positions read from ADAS control N
D RANGE SW
× unit through CAN communication; ON when position “D” or “M” (TCM
[On/Off]
transmits shift position signal through CAN communication).
Indicates shift position signal read from ADAS control unit through CAN DAS
NP RANGE SW
× communication (TCM transmits shift position signal through CAN commu-
[On/Off]
nication)
Parking brake switch status [On/Off] judged from the parking brake switch
PKB SW signal that ADAS control unit readout via CAN communication is displayed P
×
[On/Off] (combination meter transmits the parking brake switch signal via CAN
communication)
PWR SUP MONI
× × Indicates IGN voltage input by ADAS control unit
[V]
Indicates vehicle speed calculated from A/T vehicle speed sensor read
VHCL SPD AT
× from ADAS control unit through CAN communication (TCM transmits A/T
[km/h] or [mph]
vehicle speed sensor signal through CAN communication)

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
Indicates throttle position read from ADAS control unit through CAN com-
THRTL OPENING
× × × munication (ECM transmits accelerator pedal position signal through CAN
[%]
communication).
Indicates A/T gear position read from ADAS control unit through CAN
GEAR
× communication (TCM transmits current gear position signal through CAN
[1, 2, 3, 4, 5, 6, 7]
communication)
CLUTCH SW SIG NOTE:
× × × ×
Indicates [On/Off] status as judged from park/neutral position switch sig-
NP SW SIG
× nal (ECM transmits park/neutral position switch signal through CAN com-
[On/Off]
munication).
MODE SIG Indicates the active mode from ICC or ASCD [conventional (fixed speed)
×
[OFF, ICC, ASCD] cruise control mode]
SET DISP IND
× Indicates [On/Off] status of SET switch indicator output
[On/Off]
DISTANCE
× Indicates the distance from the vehicle ahead
[m]
RELATIVE SPD
× Indicates the relative speed of the vehicle ahead
[m/s]
ON ROOT GUID-
NOTE:
ANCE ×
The item is displayed, but it is not monitored
[On/Off]
DYNA ASIST SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM
× × ×
[On/Off] transmits ICC steering switch signal through CAN communication)
DCA ON IND
× The status [ON/OFF] of DCA system switch indicator output is displayed
[On/Off]
DCA VHL AHED The status [ON/OFF] of vehicle ahead detection indicator output in DCA
×
[On/Off] system is displayed
IBA SW NOTE:
× ×
FCW SYSTEM ON
× × Indicates [On/Off] status of PFCW system
[On/Off]
Accelerator pedal actuator integrated motor temperature that the ADAS
APA TEMP control unit readout via ITS communication is displayed (Accelerator ped-
× ×
[°C] al actuator transmits the integrated motor temperature via ITS communi-
cation)
Accelerator pedal actuator power supply voltage that the ADAS control
APA PWR
× × unit readout via ITS communication is displayed (Accelerator pedal actu-
[V]
ator transmits the power supply voltage via ITS communication)
NAVI ICC DISP NOTE:
LDW SYSTEM ON
× Indicates [On/Off] status of LDW system
[On/Off]
LDW ON LAMP
× Indicates [On/Off] status of LDW system display output
[On/Off]
LDP ON IND
× Indicates [On/Off] status of LDP system display output
[On/Off]
LANE DPRT W/L
× Indicates [On/Off] status of LDW/LDP warning display (Yellow) output
[On/Off]
LDW BUZER OUT-
PUT × Indicates [On/Off] status of warning buzzer output
[On/Off]

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
A
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
LDP SYSTEM ON B
× Indicates [On/Off] status of LDP system
[On/Off]
WARN REQ Indicates an ADAS control unit judged warning state (ON/OFF) of LDP
×
[On/Off] system C
READY signal
× Indicates LDP system settings
[On/Off]
Indicates a lane marker detection state judged from a lane marker detec- D
Camera lost
× × tion signal read by the ADAS control unit via ITS communication
[Detect/Deviate/Both]
(Lane camera unit transmits a lane marker signal via ITS communication)
Indicates an ON/OFF state of the lane marker. The ON/OFF state is E
judged from a detected lane condition signal read by the ADAS control
Lane unclear
× × unit via ITS communication
[On/Off]
(The lane camera unit transmits a detected lane condition signal via ITS
communication) F
STATUS signal
[Stnby/Warn/Cancl/ × Indicates a control state of LDP system
Off] G
Shift position
Indicates shift position read from ADAS control unit through CAN commu-
[Off, P, R, N, D, M/T1 - × × ×
nication (TCM transmits shift position signal through CAN communication)
7]
H
Indicates turn signal operation status read from ADAS control unit through
Turn signal
× × CAN communication (BCM transmits turn indicator signal through CAN
[OFF/LH/RH/LH&RH]
communication)
I
Indicates lateral G acting on the vehicle. This lateral G is judged from a
SIDE G side G sensor signal read by ADAS control unit via CAN communication
× ×
[G] (The ABS actuator and electric unit (control unit) transmits a side G sensor
signal via CAN communication) J
STATUS signal
Off]
K
Indicates an ON/OFF state of the lane marker. The ON/OFF state is
Lane unclear
[On/Off] L
communication)
Indicates systems which can be set to ON/OFF by selecting “Driver Aids”
FUNC ITEM (FCW)
× × × × ⇒ “Emergency Assist” of the integral switch M
[On/Off]
FUNC ITEM (LDW)
× × × × ⇒ “Lane” of the integral switch
[On/Off] N
Lane Departure Warning
FUNC ITEM (BSW)
× × × × ⇒ “Blind spot” of the integral switch
[On/Off] DAS
Blind Spot Warning
FUNC ITEM (NV-ICC) NOTE:
× × × ×
[Off] The item is displayed, but it is not monitored
FUNC ITEM (NV- P
NOTE:
DCA) × × × ×
[Off]
Indicates an ON/OFF state of the DCA system. The DCA system can be
DCA SELECT
× × × × set to ON/OFF by selecting “Driving Aids” ⇒ “Front assist” of the integral
[On/Off]
switch
LDP SELECT Indicates an ON/OFF state of LDP system. LDP system can be set to ON/
× × × ×
[On/Off] OFF by selecting “Driving Aids” ⇒ “Lane”of the integral switch

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
Indicates an ON/OFF state of Blind Spot Intervention system. Blind Spot

BSI SELECT
× × × × Intervention system can be set to ON/OFF by selecting “Driving Aids” ⇒
[On/Off]
“Blind Spot”of the integral switch
Indicates an ON/OFF state of the PFCW system. The PFCW system can
FCW SELECT
× × × × be set to ON/OFF by selecting “Driving Aids” ⇒ “Emergency Assist” of the
[On/Off]
integral switch
LDW SELECT Indicates an ON/OFF state of the LDW system. The LDW system can be
× × × ×
[On/Off] set to ON/OFF by selecting “Driving Aids” ⇒ “Lane” of the integral switch
Indicates an ON/OFF state of the BSW system. The BSW system can be
BSW SELECT
× × × × set to ON/OFF by selecting “Driving Aids” ⇒ “Blind spot” of the integral
[On/Off]
switch
NAVI ICC SELECT NOTE:
× × × ×
NAVI DCA SELECT NOTE:
× × × ×
SYS SELECTABILITY Indicates the availability of ON/OFF switching for “Driving Aids” items re-
× × × ×
[On/Off] ceived from the integral switch via CAN communication
Indicates a drive mode selector select position judged from a drive mode
DRIVE MODE STATS select switch position signal read by the ADAS control unit via CAN com-
[STD/SPORT/ECO/ × × × × munication
SNOW/MID/ERROR] (The chassis control module transmits a switch position signal of the drive
mode select switch signal via CAN communication)
WARN SYS SW NOTE:
× × × ×
BSW/BSI WARN LMP
× Indicates [On/Off] status of Blind Spot warning malfunction
[On/Off]
BSI ON IND
× Indicates [On/Off] status of Blind Spot Intervention system display
[On/Off]
BSW SYSTEM ON
× Indicates [On/Off] status of BSW system
[On/Off]
BSI SYSTEM ON
× Indicates [On/Off] status of Blind Spot Intervention system
[On/Off]
FCW SYSTEM ON
[On/Off]
BCI SYSTEM ON
× Indicates [On/Off] status of BCI system
[On/Off]
BCI SWITCH NOTE:
×
BATTERY CIRCUIT
NOTE:
OFF ×
The item is displayed, but it is not used
[On/Off]
LDP WARNING INDI-
CATOR × Indicates [On/Off] status of LDP warning display (Yellow) output
[On/Off]
LDW ON INDICATOR
× Indicates [On/Off] status of LDW system ON display output
[On/Off]
LDW WARNING INDI-
CATOR × Indicates [On/Off] status of LDW system warning display output
[On/Off]

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
A
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
SYSTEM CANCEL B
MESSAGE
× × × × Indicates status of system cancel display output
[NOREQ/SLIP/
SNOW/VDC OFF]
C
CAMERA HI TEMP
Indicates [On/Off] status of lane camera unit high temperature warning
MSG × ×
display output
[On/Off]
D
ITS SETTING
ITEM(DCA) × × × × Indicates the presence or absence of DCA system.
[On/Off]
ITS SETTING E
ITEM(LDP) × × × × Indicates the presence or absence of LDP system.
[On/Off]
ITS SETTING F
ITEM(BSI) × × × × Indicates the presence or absence of Blind Spot Intervention system.
[On/Off]
BSI WARNING INDI- G
CATOR × Indicates [On/Off] status of Blind Spot Intervention warning display output
[On/Off]
BSW ON INDICATOR
× Indicates [On/Off] status of BSW system ON display output H
[On/Off]
SIDE RADAR BLOCK
COND × Indicates [On/Off] status of side radar with dirt or foreign materials
[On/Off] I
LDW WARNING
NOTE:
ALERT TIMING ×
[Nothing/Early/Late] J
BSW IND BRIGHT-
NESS Indicates status of brightness of Blind Spot Warning/Blind Spot Interven-
×
[Nothing/Bright/Nor- tion indicator
mal/Dark]
K
SL MAIN SW
× Indicates [On/Off] status as judged from steering switch
[On/Off]
L
FUNC ITEM(FEB)
× ⇒ “Emergency Assist” of the integral switch
[On/Off]
Indicates an ON/OFF state of the FEB system. The FEB system can be M
FEB SELECT
× set to ON/OFF by selecting “Driving Aids” ⇒ “Emergency Assist” of the in-
[On/Off]
tegral switch
FEB SW N
× Indicates [On/Off] status of FEB system
[On/Off]
SL TARGET VEHI-
CLE SPEED × Indicates set vehicle speed memorized in ADAS control unit DAS
[km/h]
SL SET LAMP
× Indicates [On/Off] status of speed limiter SET display output
[On/Off]
P
SL LIMIT LAMP
× Indicates [On/Off] status of speed limiter MAIN switch display output
[On/Off]
Indicates the vehicle cruise condition.
ASCD CANCEL
• NON: Vehicle speed is maintained at the ASCD set speed.
(LOW SPEED) ×
• CUT: Vehicle speed decreased to excessively low, and ASCD operation
[NON/CUT]
is cut off.

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]

ASCD CANCEL
(SPEED DIFF) ×
• CUT: Vehicle speed decreased to excessively low compared with the
[NON/CUT]
ASCD set speed, and ASCD operation is cut off.
Display Kick Down decision state.
KICK DOWN
× • On: Accelerator pedal is depressed
[On/Off]
• Off: Accelerator pedal is fully released
ACTIVE TEST
CAUTION:
• Never perform “Active Test” while driving the vehicle.
• The “Active Test” cannot be performed when the following systems malfunction is displayed.
- ICC system
- DCA
- LDW
- LDP
- Blind Spot Warning
- Blind Spot Intervention
- BCI
• The “Active Test” cannot be performed when the FEB warning lamp is illuminated.
• Shift the selector lever to “P” position, and then perform the test.
Test item Description

The MAIN switch indicator and FEB warning lamp can be illuminated by ON/OFF operations as nec-
METER LAMP
essary
The ICC brake hold relay can be operated by ON/OFF operations as necessary, and the stop lamp
STOP LAMP
can be illuminated
Sounds a buzzer used for following systems by arbitrarily operating ON/OFF
• Intelligent Cruise Control (ICC)
ICC BUZZER • Distance Control Assist (DCA)
• Predictive Forward Collision Warning (PFCW)
• Forward Emergency Brake (FEB)
BRAKE ACTUATOR Activates the brake by an arbitrary operation
ACTIVE PEDAL The accelerator pedal actuator can be operated as necessary
DCA INDICATOR The DCA system display can be illuminated by ON/OFF operations as necessary
• Lane Departure Warning (LDW)
LDP BUZZER • Lane Departure Prevention (LDP)
• Blind Spot Warning (BSW)
• Blind Spot Intervention
LDP ON IND The LDP system display can be illuminated by ON/OFF operations as necessary
LANE DEPARTURE W/L The LDW/LDP warning can be illuminated by ON/OFF operations as necessary
BSW ON INDICATOR The Blind Spot Warning system display can be illuminated by ON/OFF operations as necessary
BSI ON INDICATOR The Blind Spot Intervention system display can be illuminated by ON/OFF operations as necessary
LDW ON INDICATOR The LDW system display can be illuminated by ON/OFF operations as necessary
LDP WARNING INDICATOR The LDP malfunction can be illuminated by ON/OFF operations as necessary
LDW WARNING INDICATOR The LDW malfunction can be illuminated by ON/OFF operations as necessary
BSW WARNING INDICATOR The BSW malfunction can be illuminated by ON/OFF operations as necessary
BSI WARNING INDICATOR The Blind Spot Intervention malfunction can be illuminated by ON/OFF operations as necessary
METER LAMP
NOTE:

The test can be performed only when the engine is running.
A
• MAIN switch indicator
Oper-
Test item Description • ICC system warning
ation
• FEB warning lamp
B
Stops sending the following signals to exit from the test
Off • Meter display signal OFF
• FEB warning lamp signal
METER LAMP Transmits the following signals to the combination meter via
C
CAN communication
On ON
• Meter display signal
• FEB warning lamp signal D
STOP LAMP
Oper- E
Test item Description Stop lamp
ation
Stops transmitting the ICC brake hold relay drive signal be-
Off OFF
STOP LAMP low to end the test F
On Transmits the ICC brake hold relay drive signal ON
ICC BUZZER G
Test item Operation Description Operation sound

Transmits the buzzer output signals to the driver assis- H
MODE1 Intermittent beep sound
tance buzzer control module via ITS communication
Test start Starts the tests of “MODE1” —
ICC BUZZER
Stops transmitting the buzzer output signal below to end I
Reset —
the test
End Returns to the “SELECT TEST ITEM” screen —
J
BRAKE ACTUATOR
NOTE:
K
Test item Operation Description “PRESS SENS” value
MODE1 10 bar
Transmits the brake fluid pressure control signal to the
L
MODE2 ABS actuator and electric unit (control unit) via chassis 20 bar
control module
MODE3 30 bar
BRAKE ACTUATOR Test start Starts the tests of “MODE1”, “MODE2” and “MODE3” — M
Stops transmitting the brake fluid pressure control signal
Reset —
below to end the test
End Returns to the “SELECT TEST ITEM” screen — N
NOTE:
The test is finished in 10 seconds after starting
DAS
PKIB1767J
Active Pedal

CAUTION:
• Never depress the accelerator pedal excessively. (The engine speed may rise unexpectedly when
finishing the test.)
NOTE:
• Depress the accelerator pedal to check when performing the test.
• The test can be performed only when the engine is running.
Test item Operation Description Accelerator pedal operation

Constant with a force of 25 N
MODE1
for 8 seconds
MODE2
Transmit the accelerator pedal feedback force control signal for 8 seconds
to the accelerator pedal actuator via ITS communication. Change up to a force of 25 N for
MODE3
8 seconds
ACTIVE PEDAL Change up to a force of 15 N for
MODE4
8 seconds
Starts the tests of “MODE1”, “MODE2”, “MODE3” and
Test start —
“MODE4”
Stops transmitting the accelerator pedal feedback force
Reset —
control signal below to end the test.
NOTE:
JPOIA0061GB
DCA INDICATOR
NOTE:
Opera-
Test item Description DCA system display
tion
Stops transmitting the meter display signal below to end the
Off —
test
DCA INDICATOR
Transmits the meter display signal to the combination meter via
On ON
CAN communication
LDP BUZZER
Opera-
Test item Description Warning buzzer
tion
Stops transmitting the warning buzzer signal below to end the
Off —
LDP BUZZER test
On Transmits the warning buzzer signal to the warning buzzer ON
LDP ON IND

Oper- A
Test item Description LDP system display (Green)
ation
Stops transmitting the meter display signal below to end
Off —
the test
LDP ON IND B
Transmits the meter display signal to the combination
On ON
meter via CAN communication
LANE DEPARTURE W/L C
Oper-
Test item Description Lane departure system display (Yellow)
ation D
Off —
LANE DEPARTURE the test
W/L Transmits the meter display signal to the combination E
On ON
BSW ON INDICATOR
F
Oper- Blind Spot Warning system display
ation (Yellow)
Stops transmitting the meter display signal below to end G
Off —
the test
BSW ON INDICATOR
On ON
meter via CAN communication H
BSI ON INDICATOR
Oper- Blind Spot Intervention system display I

ation (Green)
Off — J
the test
BSI ON INDICATOR
On ON
K
LDW ON INDICATOR
Oper-
Test item Description LDW system display (White) L
ation
Off —
the test
LDW ON INDICATOR M
On ON
LDP WARNING INDICATOR N
Oper-
Test item Description LDP malfunction (Yellow)
ation
DAS
Off —
LDP WARNING INDI- the test
CATOR Transmits the meter display signal to the combination
On ON P
LDW WARNING INDICATOR

Oper-
Test item Description LDW malfunction (Yellow)
ation
Off —
LDW WARNING IN- the test
DICATOR Transmits the meter display signal to the combination
On ON
BSW WARNING INDICATOR
Oper-
Test item Description BSW malfunction (Yellow)
ation
Off —
BSW WARNING IN- the test
On ON
BSI WARNING INDICATOR
Oper- Blind Spot Intervention malfunction

ation (Yellow)
Off —
BSI WARNING INDI- the test
On ON
ECU IDENTIFICATION
Displays ADAS control unit parts number.

ADAS CONTROL UNIT
< ECU DIAGNOSIS INFORMATION > [ADAS CONTROL UNIT]
ECU DIAGNOSIS INFORMATION A

ADAS CONTROL UNIT
Reference Value INFOID:0000000012796059
B
VALUES ON THE DIAGNOSIS TOOL

NOTE: C
Monitor item Condition Value/Status D

When MAIN switch is pressed On
MAIN SW Ignition switch ON
When MAIN switch is not pressed Off
E
When SET/COAST switch is pressed On
SET/COAST SW Ignition switch ON
When SET/COAST switch is not pressed Off
When CANCEL switch is pressed On F
CANCEL SW Ignition switch ON
When CANCEL switch is not pressed Off
When RESUME/ACCELERATE switch is pressed On
RESUME/ACC SW Ignition switch ON G
When RESUME/ACCELERATE switch is not pressed Off
When DISTANCE switch is pressed On
DISTANCE SW Ignition switch ON
When DISTANCE switch is not pressed Off H
Drive the vehicle and activate When ICC system is controlling On
CRUISE OPE the vehicle-to-vehicle distance
control mode When ICC system is not controlling Off
I
When brake or clutch pedal is depressed Off
BRAKE SW Ignition switch ON
When brake or clutch pedal is not depressed On
When brake pedal is depressed On J
STOP LAMP SW Ignition switch ON
When brake pedal is not depressed Off
Idling On
IDLE SW Engine running K
Except idling (depress accelerator pedal) Off
• Start the engine and turn the When set to “long” Long
ICC system ON L
When set to “middle” Mid
• Press the DISTANCE
SET DISTANCE
switch to change the vehi-
cle-to-vehicle distance set- When set to “short” Short
ting M
ICC system ON
On
Start the engine and press (MAIN switch indicator ON)
CRUISE LAMP
MAIN switch ICC system OFF N
Off
(MAIN switch indicator OFF)
NOTE:
OWN VHCL Off
The item is indicated, but not monitored DAS
When a vehicle ahead is detected (vehicle ahead de-
Drive the vehicle and activate On
tection indicator ON)
VHCL AHEAD the vehicle-to-vehicle distance
control mode When a vehicle ahead is not detected (vehicle ahead P
Off
detection indicator OFF)
When ICC system is malfunctioning
On
Start the engine and press (ICC system malfunction ON)
ICC WARNING
MAIN switch When ICC system is normal
Off
(ICC system malfunction OFF)

ADAS CONTROL UNIT
Monitor item Condition Value/Status
Displays the ve-
hicle speed cal-
VHCL SPEED SE While driving culated by
ADAS control
unit
Displays the set
SET VHCL SPD While driving When vehicle speed is set
vehicle speed
When the buzzer of the following system operates
• Vehicle-to-vehicle distance control mode
• DCA system On
• PFCW system
• FEB system
BUZZER O/P Engine running
When the buzzer of the following system not operates
• DCA system Off
• PFCW system
• FEB system
NOTE:
THRTL SENSOR 0.0
The item is indicated, but not monitored
Equivalent to ta-
ENGINE RPM Engine running chometer read-
ing
Wiper not operating Off
WIPER SW Ignition switch ON Wiper LO operation Low
Wiper HI operation High
NOTE:
YAW RATE 0.0
FEB OFF indicator lamp ON
• When FEB system is malfunctioning On
• When FEB system is turned to OFF
BA WARNING Engine running
FEB OFF indicator lamp OFF
• When FEB system is normal Off
• When FEB system is turned to ON
Drive the vehicle and activate When ICC brake hold relay is activated On
STP LMP DRIVE the vehicle-to-vehicle distance
control mode When ICC brake hold relay is not activated Off
When the selector lever is in “D” position or manual

On
mode
D RANGE SW Engine running
When the selector lever is in any position other than “D”
Off
or manual mode
When the selector lever is in “N”, “P” position On
NP RANGE SW Engine running When the selector lever is in any position other than “N”,
Off
“P”
When the parking brake is applied On
PKB SW Ignition switch ON
When the parking brake is released Off
Power supply
voltage value of
PWR SUP MONI Engine running
ADAS control
unit
Value of A/T ve-
VHCL SPD AT While driving hicle speed sen-
sor signal
Displays the
THRTL OPENING Engine running Depress accelerator pedal
throttle position

ADAS CONTROL UNIT
A
Displays the
GEAR While driving
gear position
NOTE:
CLUTCH SW SIG Ignition switch ON Off B
The item is indicated, but not monitored.
When the shift lever is in neutral position On
NP SW SIG Ignition switch ON
When the shift lever is in any position other than neutral Off
C
When ICC system is deactivated Off
When vehicle-to-vehicle distance control mode is acti-
Start the engine and press ICC
MODE SIG vated
MAIN switch D
When conventional (fixed speed) cruise control mode is
ASCD
activated
• Drive the vehicle and acti- SET switch indicator ON On E
vate the conventional (fixed
SET DISP IND
speed) cruise control mode SET switch indicator OFF Off
• Press SET/COAST switch
Displays the dis- F
Drive the vehicle and activate tance from the
When a vehicle ahead is detected
DISTANCE the vehicle-to-vehicle distance preceding vehi-
control mode cle
G
When a vehicle ahead is not detected 0.0
Drive the vehicle and activate Displays the rel-

RELATIVE SPD the vehicle-to-vehicle distance ative speed. H
control mode When a vehicle ahead is not detected 0.0
ON ROOT GUID- NOTE:
Off
ANCE The item is indicated, but not monitored I
When dynamic driver assistance switch is pressed On
DYNA ASIST SW Ignition switch ON
When dynamic driver assistance switch is not pressed Off
J
Start the engine and press dy- DCA system OFF Off
DCA ON IND namic driver assistance switch
(When DCA setting is ON) DCA system ON On
When a vehicle ahead is not detected (vehicle ahead K

Off
Drive the vehicle and activate detection indicator OFF)
DCA VHL AHED
the DCA system When a vehicle ahead is detected (vehicle ahead de-
On
tection indicator ON) L
NOTE:
IBA SW Off
When the PFCW system is ON On M
FCW SYSTEM ON Ignition switch ON
When the PFCW system is OFF Off
Display the ac-
celerator pedal N
APA TEMP Engine running actuator inte-
grated motor
temperature
DAS
Power supply
voltage value of
APA PWR Ignition switch ON
accelerator ped-
al actuator P
NOTE:
NAVI-ICC DISP Off
When the LDW system is ON On
LDW SYSTEM ON Ignition switch ON
When the LDW system is OFF Off

ADAS CONTROL UNIT
LDW ON LAMP Ignition switch ON
Start the engine and press dy- When the LDW system is ON On
namic driver assistance switch
LDP ON IND
(When LDP system setting is When the LDW system is OFF Off
ON)
Drive the vehicle and activate Lane departure warning lamp ON On
LANE DPRT W/L the LDW system or LDP sys-
tem Lane departure warning lamp OFF Off

• LDW/LDP system On
Drive the vehicle and activate • Blind Spot Warning/Blind Spot Intervention system
LDW BUZER OUT- the LDW/LDP system or Blind
PUT Spot Warning/Blind Spot Inter- When the buzzer of the following system does not oper-
vention system ate
Off
• LDW/LDP system
• Blind Spot Warning/Blind Spot Intervention system
Start the engine and press dy- When the LDP system is ON On
LDP SYSTEM ON
(When LDP system setting is When the LDP system is OFF Off
ON)
Drive the vehicle and activate Lane departure warning is operating On

WARN REQ
the LDP system Lane departure warning is not operating Off
READY signal
ON)
Drive the vehicle and activate Both side lane markers are detected Detect
the LDW system, LDP system
Camera lost Deviate side lane marker is lost Deviate
or Blind Spot Intervention sys-
tem Both side lane markers are lost Both
Lane marker is unclear On
Lane unclear While driving
Lane marker is clear Off
When the LDP system is ON Stnby
Drive the vehicle and activate When the LDP system is operating Warn
STATUS signal
the LDP system When the LDP system is canceled Cancl
When the LDP system is OFF Off
• Engine running Displays the
Shift position
• While driving shift position
Turn signal lamps OFF Off
Turn signal lamp LH blinking LH
Turn signal
Turn signal lamp RH blinking RH
Turn signal lamp LH and RH blinking LH&RH
Vehicle turning right Negative value
SIDE G While driving
Vehicle turning left Positive value
STATUS signal
FUNC ITEM Ignition switch ON FUNC3

ADAS CONTROL UNIT
A
“Forward Emergency Braking” set with the integral
On
switch is ON
FUNC ITEM (FCW) Engine running
Off B
switch is OFF
“Lane Departure Warning” set with the integral switch is
On
ON
FUNC ITEM (LDW) Engine running C
Off
OFF
“Blind Spot Warning” set with the integral switch is ON On
FUNC ITEM (BSW) Engine running D
“Blind Spot Warning” set with the integral switch is OFF Off
NOTE:
FUNC ITEM (NV-ICC) Off
E
FUNC ITEM (NV- NOTE:
Off
DCA) The item is indicated, but not monitored
“Distance Control Assist” set with the integral switch is
On F
ON
DCA SELECT Ignition switch ON
Off
OFF
G
“Lane Departure Intervention” set with the integral
On
switch is ON
LDP SELECT Ignition switch ON
Off H
switch is OFF
“Blind Spot Intervention” set with the integral switch is
On
ON
BSI SELECT Ignition switch ON I
Off
OFF
On J
switch is ON
FCW SELECT Ignition switch ON
Off
switch is OFF
“Lane Departure Warning” set with the integral switch is K
On
ON
LDW SELECT Ignition switch ON
Off
OFF L
BSW SELECT Ignition switch ON
M
NOTE:
NAVI ICC SELECT Off
NOTE:
NAVI DCA SELECT Off N
Items set with the integral switch can be switched nor-
On
mally
SYS SELECTABILITY Ignition switch ON DAS
Items set with the integral switch cannot be switched
Off
normally
When drive mode select switch position is STANDARD STD
P
When drive mode select switch position is in SPORT SPORT
When drive mode select switch position is in ECO ECO
DRIVE MODE STATS Ignition switch ON When drive mode select switch position is in SNOW SNOW
When drive mode select switch position is in PERSON-
STD
AL
A signal other than those above is input ERROR

ADAS CONTROL UNIT
NOTE:
WARN SYS SW Off
When the BSW system is malfunctioning On
BSW/BSI WARN LMP Ignition switch ON
When the BSW system is normal Off
Blind Spot Intervention warning ON On
BSI ON IND Ignition switch ON
Blind Spot Intervention warning OFF Off
When the BSW system is ON On
BSW SYSTEM ON Ignition switch ON
When the BSW system is OFF Off
Start the engine and press dy- When the Blind Spot Intervention system is ON On
BSI SYSTEM ON
(When Blind Spot Intervention When the Blind Spot Intervention system is OFF Off
system setting is ON)
When the FEB/PFCW system is ON On
FCW SYSTEM ON Engine running
When the FEB/PFCW system is OFF Off
When the BCI system is ON On
BCI SYSTEM ON Engine running
When the BCI system is OFF Off
NOTE:
BCI SWITCH Off
BATTERY CIRCUIT NOTE:
Off
OFF The item is indicated, but not used
LDP WARNING INDI- When the LDP system is malfunctioning On

Engine running
CATOR When the LDP system is normal Off
LDW system display ON On
LDW ON INDICATOR Ignition switch ON
LDW system display OFF Off
LDW WARNING INDI- When the LDW system is malfunctioning On

Ignition switch ON
CATOR When the LDW system is normal Off
When the vehicle is normal NOREQ
SYSTEM CANCEL When the wheel is slipping SLIP

Ignition switch ON
MESSAGE When the drive mode selector is SNOW mode SNOW
When the VDC is OFF VDC OFF
Lane camera unit high temperature warning display ON On
CAMERA HI TEMP
Ignition switch ON Lane camera unit high temperature warning display
MSG Off
OFF
ITS SETTING
Ignition switch ON On
ITEM(DCA)
ITS SETTING
ITEM(LDP)
ITS SETTING
ITEM(BSI)
BSI WARNING INDI- When the Blind Spot Intervention is malfunctioning On

Engine running
CATOR When the Blind Spot Intervention is normal Off
BSW system display ON On
BSW ON INDICATOR Ignition switch ON
BSW system display OFF Off
SIDE RADAR BLOCK Front bumper or side radar is dirty On

Ignition switch ON
COND Front bumper and side radar is clean Off
LDW system OFF Nothing
LDW WARNING
Ignition switch ON Lane departure warning timing is early setting Early
ALERT TIMING
Lane departure warning timing is late setting Late

ADAS CONTROL UNIT
A
BSW system OFF Nothing
Blind Spot Warning/Blind Spot Intervention indicator
Bright
brightness bright
BSW IND BRIGHT-
Ignition switch ON
B
NESS Blind Spot Warning/Blind Spot Intervention indicator
Normal
brightness normal
Dark C
brightness dark
When speed limiter MAIN switch is pressed On
SL MAIN SW Engine running
When speed limiter MAIN switch is not pressed Off
D
"Forward Emergency Braking" set with the integral
On
switch is ON
FUNC ITEM (FEB) Engine running
"Forward Emergency Braking" set with the integral E
Off
switch is OFF
On
switch is ON
FEB SELECT Ignition switch ON F
Off
switch is OFF
FEB system ON On
FEB SW Engine running G
FEB system OFF Off
SL TARGET VEHI- Displays the set
While driving When vehicle speed is set
CLE SPEED vehicle speed H
• Drive the vehicle and acti- Speed limiter SET indicator ON On
vate the speed limiter
SL SET LAMP
• Press speed limiter MAIN Speed limiter SET indicator OFF Off
switch
I
• Drive the vehicle and acti- Speed limiter system ON On
SL LIMIT LAMP J
• Press speed limiter MAIN Speed limiter system OFF Off
switch
ASCD CANCEL Drive the vehicle and activate ASCD cancelled by low vehicle speed On
(LOW SPEED) the ASCD Other than above Off K
ASCD cancelled by difference between set speed and
ASCD CANCEL Drive the vehicle and activate On
vehicle speed
(SPEED DIFF) the ASCD L
Other than above Off
Drive the vehicle and activate When accelerator pedal is full depressed On
KICK DOWN
the speed limiter Other than above Off M
TERMINAL LAYOUT
PHYSICAL VALUES N
DAS
P
JSOIA0705ZZ

ADAS CONTROL UNIT
Terminal No.
Description
(Wire color)
Condition Standard value Reference value
Input/
+ − Signal name
Output
1
CAN -H — — — —
(L)
—
2
CAN -L — — — —
(R)
5
Ground Ground — Ignition switch ON 0 - 0.1 V Approx. 0 V
(B)
6
ITS communication-H — — — —
(L)
7
ITS communication-L — — — —
(Y)
—
8 Chassis communica-
— — — —
(L) tion-H
— — — —
(R) tion-L
12 Ignition
(GR)*1 Ignition power supply Input switch — 10 - 16 V Battery voltage
(G)*2 ON
5
(B) — 10 - 16 V Approx. 12 V
Ignition
17 ICC brake hold relay
Output switch At “STOP LAMP” test of
(V) drive signal 0 - 0.1 V Approx. 0 V
ON “Active test”
23 ICC/ASCD steering
— Ignition switch ON 0 - 0.1 V Approx. 0 V
(Y) switch signal ground
ICC steering switch:
4.1 - 4.3 V Approx. 4.3 V
OFF
CANCEL switch:
1.1 - 1.6 Approx. 1.3 V
Pressed
Ignition
24*3 23*3 ICC steering switch sig-
Input switch
RESUME/ACCELER-
3.5 - 3.7 V Approx. 3.7 V
(SB) (Y) nal ATE switch: Pressed
ON
SET/COAST switch:
2.8 - 3.1 V Approx. 3.0 V
Pressed
DISTANCE switch:
2.0 - 2.4 V Approx. 2.2 V
Pressed
ASCD steering switch:
3.8 - 4.3 V Approx. 4.0 V
OFF
CANCEL switch:
Ignition 0.8 - 1.3 V Approx. 1.0 V
24*4 23*4 ASCD steering switch Pressed
Input switch
(SB) (Y) signal SET/COAST switch:
ON 1.8 - 2.2 V Approx. 2.0 V
Pressed
RESUME/ACCELER-
2.8 - 3.1 V Approx. 3.0 V
ATE switch: Pressed
NOTE:
*1: VR30DDTT
*2: 2.0 TURBO GASOLINE ENGINE
*3: Used only in with ICC.
*4: Used only in without ICC.

ADAS CONTROL UNIT
Warning lamp/Warning dis- A

play
High-
B
tone
High-
tone C
tone (Forward position: Yellow) D
High-
tone E
High-
tone
F
Low-
Warning systems indicator G
tone
Blind Spot Warning (BSW) — Cancel H
Low-
tone I
High-
tone
J
DTC Inspection Priority Chart INFOID:0000000012796061
If multiple DTCs are detected simultaneously, check them one by one depending on the following DTC inspec- K
tion priority chart.
Priority Detected items (DTC) L

• U1507: LOST COMM (SIDE RDR R)
1
• U1508: LOST COMM (SIDE RDR L)
• 1CA0A: CONFIG UNFINISHED M
2 • U1000: CAN COMM CIRCUIT
• U1010: CONTROL UNIT (CAN)
• C1B00: CAMERA UNIT MALF
N
• C1F02: APA C/U MALF
3 • C1B53: SIDE RDR R MALF
• C1B54: SIDE RDR L MALF
• C1B84: DIST SEN MALFUNCTION DAS

ADAS CONTROL UNIT
Priority Detected items (DTC)
• C1A01: POWER SUPPLY CIR • U0121: VDC CAN CIR 2
• C1A02: POWER SUPPLY CIR 2 • U0126: STRG SEN CAN CIR 1
• C1A04: ABS/TCS/VDC CIRC • U0235: ICC SENSOR CAN CIRC 1
• C1A05: BRAKE SW/STOP L SW • U0401: ECM CAN CIR 1
• C1A06: OPERATION SW CIRC • U0402: TCM CAN CIR 1
• C1A13: STOP LAMP RLY FIX • U0415: VDC CAN CIR 1
• C1A14: ECM CIRCUIT • U0424: HVAC CAN CIR 1
• C1A24: NP RANGE • U0428: STRG SEN CAN CIR 2
• C1A26: ECD MODE MALF • U1500: CAM CAN CIR 2
• C1A27: ECD PWR SUPLY CIR • U1501: CAM CAN CIR 1
• C1A33: CAN TRANSMISSION ERR • U1502: ICC SEN CAN COMM CIR
• C1A34: COMMAND ERROR • U1503: SIDE RDR L CAN CIR 2
• C1A35: APA CIR • U1504: SIDE RDR L CAN CIR 1
• C1A36: APA CAN COMM CIR • U1505: SIDE RDR R CAN CIR 2
• C1A37: APA CAN CIR 2 • U1506: SIDE RDR R CAN CIR 1
• C1A38: APA CAN CIR 1 • U150B: ECM CAN CIRC 3
• C1A39: STRG SEN CIR • U150C: VDC CAN CIRC 3
• C1B01: CAM AIMING INCMP • U150D: TCM CAN CIRC 3
• C1B03: CAM ABNRML TMP DETCT • U150E: BCM CAN CIRC 3
4 • C1B5D: FEB OPE COUNT LIMIT • U150F: AV CAN CIRC 3
• C1B56: SONAR CIRCUIT • U1512: HVAC CAN CIRC3
• C1B57: AVM CIRCUIT • U1513: METER CAN CIRC 3
• C1B59: CCM CIRCUIT • U1514: STRG SEN CAN CIRC 3
• C1B82: DIST SEN OFF-CENTER • U1515: ICC SENSOR CAN CIRC 3
• C1B85: DIST SEN ABNORMAL TEMP • U1516: CAM CAN CIRC 3
• C1B86: DIST SEN PWR SUP CIR • U1517: APA CAN CIRC 3
• C1F01: APA MOTOR MALF • U1518: SIDE RDR L CAN CIRC 3
• C1F05: APA PWR SUPLY CIR • U1519: SIDE RDR R CAN CIRC 3
• U1521: SONAR CAN COMMUNICATION 2
• U1524: AVM CAN COMMUNICATION 1
• U1527: CCM CAN CIR 1
• U153F: CCM CAN CIR 2
• U1530: DR ASSIST BUZZER CAN CIR 1
• U1538: EMCM CAN CIRCUIT 3
• U1540: DAST 3 CAN CIR 1
5 • C1A03: VHCL SPEED SE CIRC
6 • C1A15: GEAR POSITION
7 • C1A00: CONTROL UNIT

ADAS CONTROL UNIT
DTC Index INFOID:0000000012796062
Systems for fail-safe

• A: Vehicle-to-vehicle distance control mode
B
• B: Conventional (fixed speed) cruise control mode
• C: Distance Control Assist (DCA)
• D: Forward Emergency Braking (FEB)
• E: Predictive Forward Collision Warning (PFCW) C
• F: Blind Spot Warning (BSW)/Blind Spot Intervention (Without Active Lane control)
• G: Back-up Collision Intervention (BCI)
• H: Lane Departure Warning (LDW)/Lane Departure Prevention (LDP)
• I: Automatic Speed COntrol Device (ASCD) (Without ICC) D
DTC Fail-safe
On board CONSULT display Reference
CONSULT System E
display
NO DTC IS DE-
TECTED. FUR-
NO DTC IS DETECTED. FURTHER TESTING
THER TESTING 55 — — F
MAY BE REQUIRED
MAY BE RE-
QUIRED
C1A0A 41 CONFIG UNFINISHED A, B, C, D, E, F, G, H, I DAS-103
G
C1A00 0 CONTROL UNIT A, B, C, D, E, F, G, H, I DAS-104
C1A01 1 POWER SUPPLY CIR A, B, C, D, E, F, G, H, I DAS-105
C1A02 2 POWER SUPPLY CIR 2 A, B, C, D, E, F, G, H, I DAS-105 H
C1A03 3 VHCL SPEED SE CIRC A, B, C, D, E, F, G, H, I DAS-106
C1A04 4 ABS/TCS/VDC CIRC A, B, C, D, E, F, G, H, I DAS-108
I
C1A05 5 BRAKE SW/STOP L SW A, B, C, D, G, H DAS-109
C1A06 6 OPERATION SW CIRC A, B, C, D, E, H, I DAS-117
C1A13 13 STOP LAMP RLY FIX A, B, C, D, E, G DAS-121 J
C1A14 14 ECM CIRCUIT A, B, C, D, E, I DAS-132
C1A15 15 GEAR POSITION A, B, C, D, E, I DAS-134
K
C1A24 24 NP RANGE A, B, C, D, E, F, G DAS-136
C1A26 26 ECD MODE MALF A, B, C, D, G DAS-138
C1A27 27 ECD PWR SUPLY CIR A, B, C, D, G DAS-140 L
C1A33 33 CAN TRANSMISSION ERR A, B, C, D, E, I DAS-142
C1A34 34 COMMAND ERROR A, B, C, D, E, I DAS-143
C1A35 35 APA CIR A, C, D, E DAS-144
M
C1A36 36 APA CAN COMM CIR A, C, D, E DAS-145

C1A37 133 APA CAN CIR 2 A, C, D, E DAS-146 N
C1A38 132 APA CAN CIR 1 A, C, D, E DAS-147
C1A39 39 STRG SEN CIR A, B, C, D, E, F, G DAS-148
C1B00 81 CAMERA UNIT MALF F, H DAS-149 DAS
C1B01 82 CAM AIMING INCMP F, H DAS-150
C1B03 83 CAN ABNRML TMP DETCT F, H DAS-151
P
C1B5D 198 FEB OPE COUNT LIMIT C, D, E DAS-152
C1B53 84 SIDE RDR R MALF F, G DAS-153
C1B54 85 SIDE RDR L MALF F, G DAS-154
C1B56 86 SONAR CIRCUIT G DAS-155
C1B57 87 AVM CIRCUIT G DAS-156
C1B59 184 CCM CIRCUIT A, B, C, F, G DAS-157

ADAS CONTROL UNIT
• E: Predictive Forward Collision Warning (PFCW)
• I: Automatic Speed COntrol Device (ASCD) (Without ICC)
DTC Fail-safe
CONSULT System
display
C1B82 12 DIST SEN OFF-CENTER A, C, D, E DAS-158
C1B84 17 DIST SEN MALFUNCTION A, C, D, E DAS-159
C1B85 21 DIST SEN ABNORMAL TEMP A, C, D, E DAS-160
C1B86 80 DIST SEN PWR SUP CIR A, C, D, E DAS-161
C1F01 91 APA MOTOR MALF A, C, D, E DAS-163
C1F02 92 APA C/U MALF A, C, D, E DAS-164
C1F05 95 APA PWR SUPLY CIR A, C, D, E DAS-165
U0121 127 VDC CAN CIR 2 A, B, C, D, E, F, G, H, I DAS-166
U0126 130 STRG SEN CAN CIR 1 A, B, C, D, E, F, G DAS-167
U0235 144 ICC SENSOR CAN CIRC 1 A, C, D, E DAS-168
U0401 120 ECM CAN CIR 1 A, B, C, D, E, F, G, I DAS-169
U0402 122 TCM CAN CIR 1 A, B, C, D, E, F, G, H DAS-171
U0424 156 HVAC CAN CIR 1 DAS-173
U1000NOTE 100 CAN COMM CIRCUIT A, B, C, D, E, F, G, H, I DAS-175

U1010 110 CONTROL UNIT (CAN) A, B, C, D, E, F, G, H, I DAS-177
U150B 157 ECM CAN CIRC 3 A, B, C, D, E, F, G, H, I DAS-178
U150C 158 VDC CAN CIRC 3 A, B, C, D, E, F, G, H, I DAS-180
U150D 159 TCM CAN CIRC 3 A, B, C, D, E, F, G, H DAS-181
U150E 160 BCM CAN CIRC 3 A, B, C, D, F, G, H DAS-182
U150F 161 AV CAN CIRC 3 DAS-183
U1500 145 CAM CAN CIR2 F, H DAS-184
U1501 146 CAM CAN CIR 1 F, H DAS-185
U1502 147 ICC SEN CAN COMM CIR A, C, D, E DAS-186
U1503 150 SIDE RDR L CAN CIR 2 F, G DAS-187
U1505 152 SIDE RDR R CAN CIR 2 F, G DAS-189
U1507 154 LOST COMM (SIDE RDR R) F, G DAS-191
U1508 155 LOST COMM (SIDE RDR L) F, G DAS-192
U1512 162 HVAC CAN CIRC3 DAS-193
U1513 163 METER CAN CIRC 3 A, B, C, D, E, F, G, H, I DAS-194
U1514 164 STRG SEN CAN CIRC 3 A, B, C, D, E, F, G DAS-195

ADAS CONTROL UNIT
• A: Vehicle-to-vehicle distance control mode A
• E: Predictive Forward Collision Warning (PFCW) B
C
DTC Fail-safe
CONSULT System D
display
U1516 166 CAM CAN CIRC 3 F, G, H DAS-197
U1517 167 APA CAN CIRC 3 A, C, D, E DAS-198 E
U1518 168 SIDE RDR L CAN CIRC 3 F, G DAS-199
U1519 169 SIDE RDR R CAN CIRC 3 F, G DAS-200
U1521 177 SONAR CAN COMMUNICATION 2 G DAS-201
F
G
U1524 180 AVM CAN COMMUNICATION 1 G DAS-204
U1527 185 CCM CAN CIR1 A, B, C, F, G DAS-206 H
U153F 186 CCM CAN CIR2 A, B, C, F, G DAS-207
U1530 183 DR ASSIST BUZZER CAN CIR1 DAS-208
I
U1538 197 EMCM CAN CIRCUIT 3 A, B, C, D, E, F, G, H, I DAS-209
U1540 200 DAST CAN CIR 1 C, D, E DAS-211
U1541 201 DAST CAN CIR 2 C, D, E DAS-212 J
NOTE:
With the detection of “U1000” some systems do not perform the fail-safe operation.
A system controlling based on a signal received from the control unit performs fail-safe operation when the K
communication with the ADAS control unit becomes inoperable.
DAS

DRIVER ASSISTANCE SYSTEMS
< WIRING DIAGRAM > [ADAS CONTROL UNIT]
WIRING DIAGRAM
Wiring Diagram INFOID:0000000012796063
VR ENGINE
JROWC8840GB

DAS
JROWC8841GB

JROWC8842GB

DAS
JROWC8843GB

JROWC8844GB

DAS
JROWC8845GB

JROWC8846GB

DAS
JROWC8847GB

JROWC8848GB

DAS
JROWC8849GB

JROWC8850GB

DAS
JROWC8851GB

JROWC8852GB

DAS
JROWC8853GB

JROWC8854GB

DAS
JROWC8855GB

JROWC8856GB

DAS
JROWC8857GB

JROWC8858GB

DAS
JROWC8859GB

JROWC8860GB

DAS
JROWC8861GB

JROWC8862GB

DAS
JROWC8863GB

JROWC8864GB

DAS
JROWC8865GB

JROWC8866GB

DAS
JROWC8867GB

JROWC8868GB

DAS
JROWC8869GB

JROWC8870GB

DAS
JROWC8871GB

JROWC8872GB

DAS
JROWC8873GB

JROWC8874GB

DAS
JROWC8875GB

JROWC8876GB

DAS
JROWC8877GB

JROWC8878GB

DAS
JROWC8879GB

JROWC8880GB

DAS
JROWC8881GB

JROWC8882GB

DAS
JROWC8883GB

ADDITIONAL SERVICE WHEN REPLACING ADAS CONTROL UNIT
< BASIC INSPECTION > [ADAS CONTROL UNIT]
BASIC INSPECTION
ADDITIONAL SERVICE WHEN REPLACING ADAS CONTROL UNIT
Description INFOID:0000000012796064
Always perform the ADAS control unit configuration after replacing the ADAS control unit.
NOTE:
Work Procedure INFOID:0000000012796065
1.ADAS CONTROL UNIT CONFIGURATION (WITH ICC MODELS)

Perform the ADAS control unit configuration with CONSULT. Refer to DAS-101, "Description".
>> GO TO 2.
2.PERFORM SELF-DIAGNOSIS
Perform the self-diagnosis of ADAS control unit with CONSULT. Check if any DTC is detected.
Is any DTC detected?
YES >> Perform the trouble diagnosis for the detected DTC. Refer to DAS-53, "DTC Index".
NO >> INSPECTION END

CONFIGURATION (ADAS CONTROL UNIT)
A
• Since vehicle specifications are not included in the ADAS control unit after replacement, it is required to write B
vehicle specifications with CONSULT. Refer to DAS-101, "Work Procedure".
NOTE:
• Configuration has three functions as follows. C
Function Description
Allows the reading of vehicle specification written in ADAS control D
Before Replace ECU
Allows the writing of the vehicle information stored in CONSULT
After Replace ECU
into the ADAS control unit. E
unit by hand.
F
CAUTION:
• Use “Manual Configuration” only when “Parts number” of ADAS control unit cannot be read. G
• If an error occurs during configuration, start over from the beginning.
1.CHECKING PARTS NUMBER H
WITH CONSULT
1. Select “Before Replace ECU” of “Read/Write Configuration”.
2. Check that “Parts number” is displayed on CONSULT.
I
Is “Parts number” displayed?
YES >> GO TO 2.
NO >> GO TO 6. J
2.VERIFYING PARTS NUMBER (1)
WITH CONSULT
Compare a “Parts number” displayed on the CONSULT screen with the one searched by using FAST (service K
parts catalogue) to check that these “Parts number” agree with each other.
NOTE:
For the “Parts number” searched by using FAST (service parts catalog), use the last five digits of the “Parts L
number”.
>> GO TO 3. M
3.SAVING PARTS NUMBER
WITH CONSULT
N
Save “Parts number” on CONSULT.
>> GO TO 4. DAS
4.REPLACE ADAS CONTROL UNIT (1)
Replace ADAS control unit. Refer to DAS-214, "Removal and Installation".
P
>> GO TO 5.
5.WRITING (AUTOMATIC WRITING)
WITH CONSULT
1. Select “After Replace ECU” of “Re/programming, Configuration” or that of “Read / Write Configuration”.
2. Select the “Parts number” agreeing with the one stored on CONSULT and the one searched by using
FAST (service parts catalogue) to write the “Parts number” into the ADAS control unit.

>> GO TO 8.
6.REPLACE ADAS CONTROL UNIT (2)
Replace ADAS control unit. Refer to DAS-214, "Removal and Installation".
>> GO TO 7.
7.WRITING (MANUAL WRITING)
WITH CONSULT
1. Select “Manual Configuration”.
2. Select the “Parts number” searched by using FAST (service parts catalogue) to write the “Parts number”
NOTE:
For the “Parts number” searched by using FAST (service parts catalog), use the last five digits of the
“Parts number”.
>> GO TO 8.
8.VERIFYING PARTS NUMBER (2)
WITH CONSULT
Compare a “Parts number” displayed on the CONSULT screen with the one searched by using FAST (service
parts catalogue) to check that these “Parts number” agree with each other.
NOTE:
For the “Parts number” searched by using FAST (service parts catalog), use the last five digits of the “Parts
number”.
>> GO TO 9.
9.OPERATION CHECK
Confirm that each function controlled by ADAS control unit operates normally.
>> WORK END

C1A0A CONFIG UNFINISHED
< DTC/CIRCUIT DIAGNOSIS > [ADAS CONTROL UNIT]
DTC/CIRCUIT DIAGNOSIS A
C1A0A CONFIG UNFINISHED
DTC Logic INFOID:0000000012796068
B
DTC DETECTION LOGIC

C
DTC
(On board dis- Trouble diagnosis name DTC detecting condition
play)
D
C1A0A CONFIG UNFINISH
The vehicle specifications of ADAS control unit is incomplete.
(41) (Configuration unfinished)
POSSIBLE CAUSE E
Vehicle specifications for ADAS control unit is incomplete.
FAIL-SAFE
The following systems are canceled. F
• Conventional (fixed speed) cruise control mode
• Distance Control Assist (DCA) G
• Lane Departure Warning (LDW)/Lane Departure Prevention (LDP)
• Blind Spot Warning (BSW)/Blind Spot Intervention H
• Back-up Collision Intervention (BCI)
• Automatic Speed Control Device (ASCD)
DTC CONFIRMATION PROCEDURE I
1.PERFORM DTC CONFIRMATION PROCEDURE

1. Start the engine. J
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT.
4. Check if the “C1A01” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. K
Is “C1A01” detected as the current malfunction?
YES >> Refer to DAS-103, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-45, "Intermittent Incident". L
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000012796069
M
1.PERFORM CONFIGURATION OF ADAS CONTROL UNIT
Perform configuration of ADAS control unit when DTC “C1A0A” is detected.
N
>> Perform configuration of ADAS control unit. Refer to DAS-101, "Description".
DAS

C1A00 CONTROL UNIT
C1A00 CONTROL UNIT
DTC DETECTION LOGIC
DTC
play)
C1A00 CONTROL UNIT
ADAS control unit internal malfunction
(0) (Control unit)
POSSIBLE CAUSE
ADAS control unit
FAIL-SAFE
The following systems are canceled.
• Blind Spot Warning (BSW)/Blind Spot Intervention
DTC CONFIRMATION PROCEDURE
3. Check if the “C1A00” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
NO-1 >> To check malfunction symptom before repair: Refer to GI-45, "Intermittent Incident".
1.CHECK SELF-DIAGNOSIS RESULTS

Check if any DTC other than “C1A00” is detected in “Self Diagnostic Result” of “ICC/ADAS”.
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-53, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-214, "Removal and Installation".

C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
A
DTC DETECTION LOGIC B
DTC
(On board dis- Trouble diagnosis name DTC detecting condition C
play)
C1A01 POWER SUPPLY CIR The battery voltage sent to ADAS control unit remains less than 7.9 V for 5 sec-
(1) (Power supply circuit) onds
D
C1A02 POWER SUPPLY CIR 2 The battery voltage sent to ADAS control unit remains more than 19.3 V for 5
(2) (Power supply circuit 2) seconds
POSSIBLE CAUSE E
• Connector, harness, fuse
• ADAS control unit
FAIL-SAFE F
• Conventional (fixed speed) cruise control mode G
• Predictive Forward Collision Warning (PFCW) H
• Automatic Speed Control Device (ASCD) I
1.PERFORM DTC CONFIRMATION PROCEDURE J
3. Perform “All DTC Reading” with CONSULT. K
4. Check if the “C1A01” or “C1A02” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/
ADAS”.
Is “C1A01” or “C1A02” detected as the current malfunction? L
M
1.CHECK ADAS CONTROL UNIT POWER SUPPLY AND GROUND CIRCUIT N

Check power supply and ground circuit of ADAS control unit. Refer to DAS-213, "Diagnosis Procedure".
Is the inspection result normal?
DAS
YES >> Replace the ADAS control unit. Refer to DAS-214, "Removal and Installation".
NO >> Repair or replace the malfunctioning parts.

C1A03 VEHICLE SPEED SENSOR
DTC DETECTION LOGIC
DTC
play)
If the vehicle speed signal (wheel speed) from ABS actuator and electric unit
C1A03 VHCL SPEED SE CIRC (control unit) and the A/T vehicle speed sensor signal (output shaft revolution
(3) (Vehicle speed sensor circuit) signal) from TCM, received by the ADAS control unit via CAN communication,
are inconsistent
POSSIBLE CAUSE
• Wheel speed sensor
• ABS actuator and electric unit (control unit)
• Vehicle speed sensor A/T (output speed sensor)
• TCM
FAIL-SAFE
1.CHECK DTC PRIORITY
If DTC “C1A03” is displayed with DTC “U1000” or “C1A04”, first diagnose the DTC “U1000” or “C1A04”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable.
• U1000: Refer to DAS-175, "DTC Logic"
• C1A04: Refer to DAS-108, "DTC Logic"
NO >> GO TO 2.
3. Drive the vehicle at 30 km/h (19 MPH) or more.
CAUTION:
Always drive safely.
4. Stop the vehicle.

If DTC “C1A03” is displayed with DTC “U1000” or “C1A04”, first diagnose the DTC “U1000” or “C1A04”.
Is applicable DTC detected? A
• C1A04: Refer to DAS-108, "DTC Logic" B
NO >> GO TO 2.
2.CHECK DATA MONITOR
C
2. Drive the vehicle.
3. Check that the value of “VHCL SPD AT” is almost the same as the value of “VHCL SPEED SE” in “DATA
MONITOR” of “ICC/ADAS”. D
CAUTION:
Be careful of the vehicle speed.
Is the inspection result normal? E
NO >> GO TO 3.
3.CHECK TCM SELF-DIAGNOSIS RESULTS F
1. Perform “All DTC Reading”.
2. Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
G
TM-102, "2.0L TURBO GASOLINE ENGINE : DTC Index" (2.0L turbo gasoline engine) or TM-111,
"VR30DDTT : DTC Index" (VR30DDTT). H
NO >> GO TO 4.
4.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS I
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to J
BRC-72, "DTC Index".
K
DAS

C1A04 ABS/TCS/VDC SYSTEM
C1A04 ABS/TCS/VDC SYSTEM
DTC DETECTION LOGIC
DTC
play)
C1A04 ABS/TCS/VDC CIRC
If a malfunction occurs in the VDC/TCS/ABS system
(4) (ABS/TCS/VDC circuit)
POSSIBLE CAUSE
ABS actuator and electric unit (control unit)
FAIL-SAFE
If DTC “C1A04” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
YES >> Perform diagnosis of applicable. Refer to DAS-175, "DTC Logic".
NO >> GO TO 2.

NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS

C1A05 BRAKE SW/STOP LAMP SW
A
DTC
play)
• A mismatch between a stop lamp switch signal and a brake pedal position
switch signal received from ECM and a stop lamp signal received from the
ABS actuator and electric unit (control unit) continues for 10 seconds or D
C1A05 BRAKE SW/STOP L SW more with vehicle speeds at approximately 40 km/h or more (VR30DDTT)
(5) (Brake switch/Stop lamp switch) • A mismatch between a stop lamp switch signal and a brake pedal position
switch signal received from EMCM continues for 10 seconds or more with
E
vehicle speeds at approximately 40 km/h (25 MPH) or more (2.0 TURBO
GASOLINE ENGINE)
POSSIBLE CAUSE F
• Stop lamp switch circuit
• Brake pedal position switch circuit
• Stop lamp switch
G
• Brake pedal position switch
• Incorrect stop lamp switch installation
• Incorrect brake pedal position switch installation
• ECM H
• EMCM
FAIL-SAFE I
• Conventional (fixed speed) cruise control mode J
• Blind Spot Warning (BSW)/Blind Spot Intervention K
DTC CONFIRMATION PROCEDURE L
Is applicable DTC detected? M
NO >> GO TO 2.
N
2. Turn the MAIN switch of ICC system ON. DAS
P
YES-1 >> Refer to DAS-110, "Diagnosis Procedure (VR30DDTT)" (VR30DDTT).
YES-2 >> Refer to DAS-113, "Diagnosis Procedure (2.0 TURBO GASOLINE ENGINE)" (2.0 TURBO GASO-
LINE ENGINE).

Diagnosis Procedure (VR30DDTT) INFOID:0000000012796079

NO >> GO TO 2.
2.CHECK STOP LAMP SWITCH AND BRAKE PEDAL POSITION SWITCH
Check that “STOP LAMP SW” and “BRAKE SW” operate normally in “DATA MONITOR” of “ICC/ADAS”.
YES >> GO TO 3.
NO-1 >> When “BRAKE SW” operation is malfunctioning: GO TO 4.
NO-2 >> When “STOP LAMP SW” operation is malfunctioning: GO TO 9.
3.CHECK STOP LAMP SWITCH
Check that “STOP LAMP SW” operate normally in “DATA MONITOR” of “ABS”.
YES >> GO TO 14.
NO >> GO TO 9.
4.CHECK BRAKE PEDAL POSITION SWITCH INSTALLATION
1. Turn ignition switch OFF.
2. Check brake pedal position switch for correct installation. Refer to BR-12, "Inspection and Adjustment".
YES >> GO TO 5.
NO >> Adjust brake pedal position switch installation. Refer to BR-12, "Inspection and Adjustment".
5.BRAKE PEDAL POSITION SWITCH INSPECTION
1. Disconnect brake pedal position switch connector.
2. Check brake pedal position switch. Refer to DAS-116, "Component Inspection (Brake Pedal Position
Switch)".
YES >> GO TO 6.
NO >> Replace brake pedal position switch.
6.CHECK BRAKE PEDAL POSITION SWITCH POWER SUPPLY CIRCUIT
1. Turn the ignition switch ON.
2. Check voltage between brake pedal position switch harness connector and ground.
Terminals
(+) (-) Voltage
Brake pedal position switch (Approx.)
Connector Terminal Ground

E44 1 Battery voltage
YES >> GO TO 7.
NO >> Repair the harnesses or connectors.
7.CHECK HARNESS BETWEEN BRAKE PEDAL POSITION SWITCH AND ECM
1. Turn ignition switch OFF
2. Disconnect ECM connector.
3. Check for continuity between brake pedal position switch harness connector and ECM harness connector.

Brake pedal position switch ECM A

Continuity
Connector Terminal Connector Terminal
E44 2 E152 192 Existed
B
4. Check for continuity between brake pedal position switch harness connector and ground.
Brake pedal position switch C

Continuity
E44 2 Not existed
D
YES >> GO TO 8.
E
8.PERFORM SELF-DIAGNOSIS OF ECM
1. Connect all connectors again if the connectors are disconnected.
2. Turn ignition switch ON. F
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”.
- USA and Canada
G
• Turbo high pressure model: Refer to EC6-164, "TURBO HIGH PRESSURE MODEL : DTC Index".
• Turbo low pressure model: Refer to EC6-205, "TURBO LOW PRESSURE MODEL : DTC Index".
- Mexico: Refer to EC6-1139, "DTC Index".
Is any DTC detected? H
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
I
9.CHECK STOP LAMP SWITCH INSTALLATION
2. Check stop lamp switch for correct installation. Refer to BR-12, "Inspection and Adjustment". J
YES >> GO TO 10.
NO >> Adjust stop lamp switch installation. Refer to BR-12, "Inspection and Adjustment". K
10.STOP LAMP SWITCH INSPECTION
1. Disconnect stop lamp switch connector.
2. Check stop lamp switch. Refer to DAS-116, "Component Inspection (Stop Lamp Switch)". L
YES >> GO TO 11.
NO >> Replace stop lamp switch. M
11.CHECK STOP LAMP SWITCH POWER SUPPLY CIRCUIT

Check voltage between stop lamp switch harness connector and ground. N
Terminals
(+) (-) Voltage
DAS
Stop lamp switch (Approx.)
Connector Terminal
Ground P
1
E57 Battery voltage
3
YES-1 >> GO TO 12.
12.CHECK HARNESS BETWEEN STOP LAMP SWITCH AND ECM
2. Disconnect ECM, rear combination lamp and high-mounted stop lamp connectors.
3. Check for continuity between stop lamp switch harness connector and ECM harness connector.
Stop lamp switch ECM

Continuity
4. Check for continuity between stop lamp switch harness connector and ground.
Stop lamp switch

Continuity
E57 4 Not existed
YES >> GO TO 13.
13.CHECK HARNESS BETWEEN STOP LAMP SWITCH AND ABS ACTUATOR AND ELECTRIC UNIT
(CONTROL UNIT)
1. Disconnect ABS actuator and electric unit (control unit) connector and resistor.
2. Check for continuity between stop lamp switch harness connector and ABS actuator and electric unit
(control unit) harness connector.
ABS actuator and electric unit

Stop lamp switch
(control unit) Continuity
E57 2 E35 5 Existed
Stop lamp switch

Continuity
E57 2 Not existed
YES >> GO TO 14.
2. Turn ignition switch ON.
- USA and Canada
NO >> GO TO 15.
15.PERFORM SELF-DIAGNOSIS OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”. Refer to BRC-72, "DTC Index".
NO >> Repair the ADAS control unit. Refer to DAS-214, "Removal and Installation"

Diagnosis Procedure (2.0 TURBO GASOLINE ENGINE) INFOID:0000000013399643
A
B
NO >> GO TO 2.
C
2.CHECK STOP LAMP SWITCH AND BRAKE PEDAL POSITION SWITCH
Check that “STOP LAMP SW” and “BRAKE SW” operate normally in “DATA MONITOR” of “ICC/ADAS”.
Is the inspection result normal? D
YES >> GO TO 3.
NO-1 >> When “BRAKE SW” operation is malfunctioning: GO TO 4.
NO-2 >> When “STOP LAMP SW” operation is malfunctioning: GO TO 9. E
F
YES >> GO TO 16.
NO >> GO TO 9. G
4.CHECK BRAKE PEDAL POSITION SWITCH INSTALLATION
2. Check brake pedal position switch for correct installation. Refer to BR-12, "Inspection and Adjustment". H
YES >> GO TO 5.
NO >> Adjust brake pedal position switch installation. Refer to BR-12, "Inspection and Adjustment". I
5.BRAKE PEDAL POSITION SWITCH INSPECTION
1. Disconnect brake pedal position switch connector. J
2. Check brake pedal position switch. Refer to DAS-116, "Component Inspection (Brake Pedal Position
Switch)".
K
YES >> GO TO 6.
6.CHECK BRAKE PEDAL POSITION SWITCH POWER SUPPLY CIRCUIT L
2. Check voltage between brake pedal position switch harness connector and ground.
M
Terminals
(+) (-) Voltage
(Approx.) N
Brake pedal position switch
E44 1 Battery voltage DAS
YES >> GO TO 7.
NO >> Repair the harnesses or connectors. P
7.CHECK HARNESS BETWEEN BRAKE PEDAL POSITION SWITCH AND EMCM
2. Disconnect EMCM connector.
3. Check for continuity between brake pedal position switch harness connector and EMCM harness connec-
tor.

Brake pedal position switch EMCM

Continuity
E44 2 M147 23 Existed
4. Check for continuity between brake pedal position switch harness connector and ground.

Continuity
E44 2 Not existed
YES >> GO TO 8.
8.PERFORM SELF-DIAGNOSIS OF EMCM
4. Check if any DTC is detected in “Self Diagnostic Result” of “EMCM”. Refer to EC4-165, "DTC Index".
2. Check stop lamp switch for correct installation. Refer to BR-12, "Inspection and Adjustment".
YES >> GO TO 10.
NO >> Adjust stop lamp switch installation. Refer to BR-12, "Inspection and Adjustment".
10.STOP LAMP SWITCH INSPECTION
2. Check stop lamp switch. Refer to DAS-116, "Component Inspection (Stop Lamp Switch)".
YES >> GO TO 11.
NO >> Replace stop lamp switch.
Check voltage between stop lamp switch harness connector and ground.
Terminals
(+) (-) Voltage
Connector Terminal
Ground
1
E57 Battery voltage
3
YES >> GO TO 12.
12.CHECK STOP LAMP SWITCH INPUT SIGNAL
Check the voltage between BCM harness connector and ground.

Terminals A
(+) (-) Voltage
BCM (Approx.)
B
M13 25 Battery voltage
Is the inspection result normal? C
YES >> GO TO 13.
13.CHECK HARNESS BETWEEN STOP LAMP SWITCH AND BCM D

2. Check for continuity between stop lamp switch harness connector and BCM harness connector.
E
Stop lamp switch BCM

Continuity
Connector Terminal Connector Terminal F
G
Stop lamp switch
Continuity
H
E57 4 Not existed
YES >> GO TO 14. I
J
(CONTROL UNIT)
1. Disconnect ABS actuator and electric unit (control unit) connector.
2. Check for continuity between stop lamp switch harness connector and ABS actuator and electric unit
(control unit) harness connector. K
ABS actuator and electric

Stop lamp switch L
unit (control unit) Continuity
E57 2 E35 5 Existed
M
Stop lamp switch N

Continuity
E57 2 Not existed
DAS
YES >> GO TO 15.
P
15.PERFORM SELF-DIAGNOSIS OF BCM
4. Check if any DTC is detected in “Self Diagnostic Result” of “BCM”. Refer to BCS-63, "DTC Index".

NO >> GO TO 16.
16.PERFORM SELF-DIAGNOSIS OF EMCM
4. Check if any DTC is detected in “Self Diagnostic Result” of “EMCM”. Refer to EC4-165, "DTC Index".
NO >> GO TO 17.
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”. Refer to BRC-72, "DTC Index".
Component Inspection (Brake Pedal Position Switch) INFOID:0000000012796080
1.CHECK BRAKE PEDAL POSITION SWITCH

Check for continuity between brake pedal position switch terminals.
Terminal Condition Continuity

Not exist-
When brake pedal is depressed
1 2 ed
When brake pedal is released Existed
YES >> INSPECTION END
Component Inspection (Stop Lamp Switch) INFOID:0000000012796081

Check for continuity between stop lamp switch terminals.

When brake pedal is depressed Existed
1 2 Not exist-
When brake pedal is released
ed
When brake pedal is depressed Existed
3 4 Not exist-
When brake pedal is released
ed

C1A06 OPERATION SW
C1A06 OPERATION SW
A
DTC
play)
• Any switch of the ICC steering switch is detected as “ON” continuously for
C1A06 OPERATION SW CIRC 60 seconds
(6) (Operation switch circuit) • An ON/OFF state judgment of the ICC differs between ECM and ADAS con- D
trol unit, and the state continues for 2 seconds or more
POSSIBLE CAUSE E
• ICC steering switch circuit
• ICC steering switch
• ECM
• ADAS control unit (2.0 turbo gasoline engine) F
FAIL-SAFE
G
• Forward Emergency Braking (FEB) H
• Blind Spot Warning (BSW)/Blind Spot Intervention I
1.CHECK DTC PRIORITY J
Is applicable DTC detected? K
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE L
2. Wait for approximately 5 minutes after turning theMAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT. M
YES-1 >> Refer to DAS-117, "Diagnosis Procedure (VR30DDTT)" (VR30DDTT). N
YES-2 >> Refer to DAS-119, "Diagnosis Procedure (2.0 TURBO GASOLINE ENGINE)" (2.0 turbo gasoline
engine).
NO-1 >> To check malfunction symptom before repair: Refer to GI-45, "Intermittent Incident". DAS
P
NO >> GO TO 2.

C1A06 OPERATION SW
2.CHECK ICC STEERING SWITCH

2. Disconnect the ICC steering switch connector.
3. Check the ICC steering switch. Refer to DAS-120, "Component Inspection (With ICC)".
YES >> GO TO 3.
NO >> Replace the ICC steering switch.
3.CHECK HARNESS BETWEEN SPIRAL CABLE AND ECM
1. Disconnect the ECM connector.
2. Check for continuity between the spiral cable harness connector and ECM harness connector.
Spiral cable ECM

Continuity
25 186
M87 E152 Existed
32 187
3. Check for continuity between spiral cable harness connector and ground.
Spiral cable
Continuity
Connector Terminal
Ground
25
M87 Not existed
32
YES >> GO TO 4.
4.CHECK SPIRAL CABLE
Check for continuity between spiral cable terminals.
Spiral cable
Continuity
Terminal
13 25
Existed
16 32
YES >> GO TO 5.
NO >> Replace the spiral cable.
1. Connect the connectors of ICC steering switch and ECM connector.
YES >> Perform self-diagnosis on the detected DTC and repair or replace the malfunctioning parts.
• USA and Canada
- Turbo high pressure model: Refer to EC6-164, "TURBO HIGH PRESSURE MODEL : DTC
Index".
- Turbo low pressure model: Refer to EC6-205, "TURBO LOW PRESSURE MODEL : DTC
Index".
• Mexico: Refer to EC6-1139, "DTC Index".

C1A06 OPERATION SW
A
B
NO >> GO TO 2.
C
2.CHECK ICC/ASCD STEERING SWITCH
1. Disconnect the ICC/ASCD steering switch connector.
2. Check the ICC/ASCD steering switch. Refer to DAS-120, "Component Inspection (With ICC)" (With ICC) D
or DAS-120, "Component Inspection (Without ICC)" (Without ICC).
YES >> GO TO 3. E
NO >> Replace the ICC/ASCD steering switch.
3.CHECK HARNESS BETWEEN SPIRAL CABLE AND ADAS CONTROL UNIT
F
1. Disconnect the ECM connector.
2. Check for continuity between the spiral cable harness connector and ADAS control unit harness connec-
tor.
G
Spiral cable ADAS control unit
Continuity
H
25 24
M87 B1 Existed
32 23
3. Check for continuity between spiral cable harness connector and ground. I
Spiral cable
Continuity J
Connector Terminal
Ground
25
M87 Not existed
32 K
YES >> GO TO 4.
NO >> Repair the harnesses or connectors. L
4.CHECK SPIRAL CABLE
Check for continuity between spiral cable terminals.
M
Spiral cable
Continuity
Terminal N
16 32
Existed
13 25
DAS
YES >> GO TO 5.
NO >> Replace the spiral cable.
P
5.PERFORM SELF-DIAGNOSIS OF ADAS CONTROL UNIT
1. Connect the connectors of ICC/ASCD steering switch and ADAS control unit.
4. Check if any DTC is detected in “Self Diagnostic Result” of “ICC/ADAS”.

C1A06 OPERATION SW
YES >> Perform self-diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer
to DAS-53, "DTC Index".
Component Inspection (With ICC) INFOID:0000000012796084
1.CHECK ICC STEERING SWITCH

Check resistance between ICC steering switch terminals.
Resistance
Terminal Switch operation
[Ω]
When pressing MAIN switch Approx. 0
When pressing dynamic driver assistance
Approx. 267
switch
When pressing CANCEL switch Approx. 615
Approx.
When pressing DISTANCE switch
1090 JSOIA0319GB
13 16
Approx.
When pressing SET/COAST switch
1805
When pressing RESUME/ACCELERATE Approx.
switch 2985
Approx.
When all switches are not pressed
5415
NO >> Replace the ICC steering switch.
Component Inspection (Without ICC) INFOID:0000000013501077
1.CHECK ASCD STEERING SWITCH

Check resistance between ASCD steering switch terminals.
Resistance
Terminal Switch operation
[Ω]
When pressing MAIN switch Approx. 0
When pressing CANCEL switch Approx. 249
When pressing SET/COAST switch Approx. 661
13 16
When pressing RESUME/ACCELERATE Approx.
switch 1486
JSOIA2405GB
Approx.
When all switches are not pressed
3976
NO >> Replace the ASCD steering switch.

C1A13 STOP LAMP RELAY
A
DTC
play)
• Stop lamp inactive state continues for 0.3 seconds or more despite the out-
putting of an ICC sensor ICC brake hold relay drive signal
• The stop lamp remains ON for 60 seconds or more under the following con- D
C1A13 STOP LAMP RLY FIX
ditions:
(13) (Stop lamp relay fix)
- Driving at 40 km/h (25 MPH) or more
- No stop lamp drive signal output from ADAS control unit
E
- No brake operation
POSSIBLE CAUSE
• Stop lamp switch circuit F
• Brake pedal position switch circuit
• ICC brake hold relay circuit
G
• Brake pedal position switch
• ICC brake hold relay
• Incorrect stop lamp switch installation
• Incorrect brake pedal position switch installation H
• ECM
FAIL-SAFE I
• Conventional (fixed speed) cruise control mode J
K
1.CHECK DTC PRIORITY L
M
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE (1) N
2. Perform the active test item “STOP LAMP” with CONSULT.
3. Perform “All DTC Reading”. DAS
4. Check if the “C1A13” is detected as the current malfunction in the “Self Diagnostic Result” of “ICC/ADAS”.
YES-1 >> Refer to DAS-122, "Diagnosis Procedure (VR30DDTT)". P
YES-2 >> Refer to DAS-126, "Diagnosis Procedure (2.0 TURBO GASOLINE ENGINE)".
NO >> GO TO 3.
3.PERFORM DTC CONFIRMATION PROCEDURE (2)
1. Drive at the vehicle speed of 40 km/h (25 MPH) or more for approximately 20 seconds or more without the
brake pedal depressed.
CAUTION:

NOTE:
If it is outside the above condition, repeat step 1.
3. Check if the “C1A13” is detected as the current malfunction in the “Self Diagnostic Result” of “ICC/ADAS”.
YES-1 >> Refer to DAS-122, "Diagnosis Procedure (VR30DDTT)".
YES-2 >> Refer to DAS-126, "Diagnosis Procedure (2.0 TURBO GASOLINE ENGINE)".
NO-1 >> To check malfunction symptom before repair: Refer toGI-45, "Intermittent Incident".

NO >> GO TO 2.
Check that “STOP LAMP SW” operate normally in “DATA MONITOR” of “ICC/ADAS”.
YES >> GO TO 10.
NO >> GO TO 3.
YES >> GO TO 4.
YES >> GO TO 5.
5.CHECK STOP LAMP FOR ILLUMINATION
1. Connect stop lamp switch connector.
2. Remove ICC brake hold relay.
3. Check that the stop lamp is illuminated by depressing the brake pedal to turn the stop lamp ON.
YES >> GO TO 6.
NO >> Check the stop lamp circuit, and repair or replace the malfunctioning parts.
6.CHECK HARNESS BETWEEN STOP LAMP SWITCH AND ECM
2. Disconnect stop lamp switch, ECM, rear combination lamp, and high-mounted stop lamp connectors.
3. Check for continuity between the stop lamp switch harness connector and the ECM harness connector.
Stop lamp switch ECM

Continuity

Stop lamp switch A

Continuity
E57 4 Not existed
B
YES >> GO TO 7.
NO >> Repair the harnesses or connectors. C
7.CHECK ICC BRAKE HOLD RELAY CIRCUIT
1. Connect ICC brake hold relay, ECM, rear combination lamp, and high-mounted stop lamp connectors.
2. Check that the stop lamp does not illuminate when brake pedal is not depressed. D
YES >> GO TO 9.
NO >> GO TO 8. E
8.CHECK ICC BRAKE HOLD RELAY

1. Remove ICC brake hold relay. F
2. Check ICC brake hold relay. Refer to DAS-131, "Component Inspection".
YES >> GO TO 9. G
NO >> Replace ICC brake hold relay. Refer to DAS-131, "Component Inspection"
H
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. I
- USA and Canada
• Turbo low pressure model: Refer to EC6-205, "TURBO LOW PRESSURE MODEL : DTC Index". J
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result. K
NO >> Replace ADAS control unit. Refer to DAS-214, "Removal and Installation".
10.CHECK ICC BRAKE HOLD RELAY POWER SUPPLY CIRCUIT
1. Turn ignition switch OFF. L
3. Turn ignition switch ON
4. Check the voltage between ICC brake hold relay harness connector and ground. M
Terminal
(+) (–) Voltage N
ICC brake hold relay (Approx.)
Connector Terminal
Ground DAS
Battery
E52 2
voltage
P
YES >> GO TO 11.
NO >> Repair or replace ICC brake hold relay power supply circuit.
11.CHECK HARNESS BETWEEN AND ICC BRAKE HOLD RELAY AND ADAS CONTROL UNIT
2. Disconnect ADAS control unit connectors.
3. Check for continuity between ICC brake hold relay harness connector and ADAS control unit harness
connector.

ICC brake hold relay ADAS control unit

Continuity
E52 1 B1 17 Existed
4. Check for continuity between ADAS control unit harness connector and ground.
ICC brake hold relay

Continuity
E52 1 Not existed
YES >> GO TO 12.
12.CHECK ADAS CONTROL UNIT STANDARD VOLTAGE
3. Perform “STOP LAMP” on “Active Test” of “ICC/ADAS”, and then check the voltage between ADAS con-
trol unit harness connector and ground.
Terminal
Condition
(+) (–)
Voltage
ADAS control unit Active Test (Approx.)
item
Connector Terminal “STOP LAMP”
Ground
Battery
Off
B1 17 voltage
On 0V
YES >> GO TO 13.
2. Check the voltage between ICC brake hold relay harness connector and ground.
Terminal
(+) (–) Voltage
Connector Terminal
Ground
Battery
E52 5
voltage
YES >> GO TO 14.
14.CHECK HARNESS BETWEEN ICC BRAKE HOLD RELAY AND ECM
1. Disconnect ECM, rear combination lamp, and high-mounted stop lamp connectors and remove ICC brake
hold relay.
2. Check for continuity between ICC brake hold relay harness connector and ECM harness connector.

ICC brake hold relay ECM A

Continuity
B
3. Check for continuity between ICC brake hold relay harness connector and ground.
ICC brake hold relay C

Continuity
E52 3 Not existed
D
YES >> GO TO 15.
E
2. Check ICC brake hold relay. Refer to DAS-131, "Component Inspection". F
YES >> GO TO 16.
NO >> Replace ICC brake hold relay. G
Check that “STOP LAMP SW” operate normally in “DATA MONITOR” of “ABS”. H
YES >> GO TO 21.
NO >> GO TO 17. I
2. Check stop lamp switch for correct installation. Refer to BR-12, "Inspection and Adjustment". J
Is the inspection result9normal?
YES >> GO TO 18.
NO >> Adjust stop lamp switch installation. Refer to BR-12, "Inspection and Adjustment". K
1. Disconnect stop lamp switch connector. L
YES >> GO TO 19. M
1. Connect stop lamp switch connector. N
2. Check the voltage between stop lamp switch harness connector and ground.
Terminal DAS
(+) (–) Voltage
P
Connector Terminal
Ground
Battery
E57 1
voltage
YES >> GO TO 20.
NO >> Repair or replace stop lamp switch power supply circuit.

(CONTROL UNIT)
2. Disconnect stop lamp switch, ABS actuator and electric unit (control unit), and resistor connectors.
3. Check for continuity between the stop lamp switch harness connector and the ABS actuator and electric
unit (control unit) harness connector.

Stop lamp switch
unit (control unit) Continuity
E57 2 E35 5 Existed
Stop lamp switch

Continuity
E57 2 Not existed
YES >> GO TO 21.
- USA and Canada
NO >> GO TO 22.
4. Check if any DTC is detected in “Self Diagnostic Result” of “ABS”. Refer to BRC-72, "DTC Index".

NO >> GO TO 2.
Check that “STOP LAMP SW” operate normally in “DATA MONITOR” of “ICC/ADAS”.
YES >> GO TO 13.

NO >> GO TO 3.
3.CHECK STOP LAMP SWITCH INSTALLATION A

B
YES >> GO TO 4.
C
2. Check stop lamp switch. Refer to DAS-116, "Component Inspection (Stop Lamp Switch)". D
YES >> GO TO 5.
NO >> Replace stop lamp switch. E
5.CHECK STOP LAMP FOR ILLUMINATION
1. Connect stop lamp switch connector. F
3. Check that the stop lamp is illuminated by depressing the brake pedal to turn the stop lamp ON.
G
YES >> GO TO 6.
NO >> Check the stop lamp circuit, and repair or replace the malfunctioning parts.
6.CHECK STOP LAMP SWITCH INPUT SIGNAL H
Check the voltage between BCM harness connector and ground.
Terminals I
(+) (-) Voltage
BCM (Approx.)
J
Is the inspection result normal? K
YES >> GO TO 7.
7.CHECK HARNESS BETWEEN STOP LAMP SWITCH AND BCM L
1. Disconnect the stop lamp switch connector.

2. Check for continuity between stop lamp switch harness connector and BCM harness connector. M
Stop lamp switch BCM

Continuity
Connector Terminal Connector Terminal N
DAS
Stop lamp switch
Continuity
P
E57 4 Not existed
YES >> GO TO 8.
8.CHECK ICC BRAKE HOLD RELAY CIRCUIT

2. Check that the stop lamp does not illuminate when brake pedal is not depressed.
YES >> GO TO 10.
NO >> GO TO 9.
YES >> GO TO 10.
NO >> Replace ICC brake hold relay.
10.PERFORM SELF-DIAGNOSIS OF BCM
NO >> GO TO 11.
Terminal
(+) (–) Voltage
Connector Terminal
Ground
Battery
E52 2
voltage
YES >> GO TO 12.
12.CHECK HARNESS BETWEEN AND ICC BRAKE HOLD RELAY AND ADAS CONTROL UNIT
2. Disconnect ADAS control unit connectors.
3. Check for continuity between ICC brake hold relay harness connector and ADAS control unit harness
connector.
ICC brake hold relay ADAS control unit

Continuity
E52 1 B1 17 Existed

Continuity
E52 1 Not existed
YES >> GO TO 13.

13.CHECK ADAS CONTROL UNIT STANDARD VOLTAGE A

3. Perform “STOP LAMP” on “Active Test” of “ICC/ADAS”, and then check the voltage between ADAS con-
B
trol unit harness connector and ground.
Terminal
Condition C
(+) (–)
Voltage
ADAS control unit Active Test (Approx.)
item
Connector Terminal D
“STOP LAMP”
Ground
Battery
Off
B1 17 voltage
E
On 0V
YES >> GO TO 14. F
1. Turn ignition switch OFF. G
H
Terminal
(+) (–) Voltage
I
Connector Terminal
Ground
Battery
E52 5
voltage J
YES >> GO TO 15.
NO >> Repair or replace ICC brake hold relay power supply circuit. K
15.CHECK STOP LAMP SWITCH INPUT SIGNAL
Check the voltage between BCM harness connector and ground. L
Terminals
(+) (-) Voltage M
BCM (Approx.)

N
YES >> GO TO 16. DAS
16.CHECK HARNESS BETWEEN ICC BRAKE HOLD RELAY AND BCM
1. Turn ignition switch OFF P
2. Check for continuity between ICC brake hold relay harness connector and BCM harness connector.
ICC brake hold relay BCM

Continuity

3. Check for continuity between ICC brake hold relay harness connector and ground.

Continuity
E52 3 Not existed
YES >> GO TO 17.
YES >> GO TO 18.
NO >> Replace ICC brake hold relay.
YES >> GO TO 23.
NO >> GO TO 19.
YES >> GO TO 20.
YES >> GO TO 21.
1. Connect stop lamp switch connector.
2. Check the voltage between stop lamp switch harness connector and ground.
Terminal
(+) (–) Voltage
Connector Terminal
Ground
Battery
E57 1
voltage
YES >> GO TO 22.
NO >> Repair or replace stop lamp switch power supply circuit.
(CONTROL UNIT)
2. Disconnect stop lamp switch, ABS actuator and electric unit (control unit), and resistor connectors.

3. Check for continuity between the stop lamp switch harness connector and the ABS actuator and electric
unit (control unit) harness connector. A

Stop lamp switch
unit (control unit) Continuity B
E57 2 E35 5 Existed
C
Stop lamp switch

Continuity D
E57 2 Not existed
Is the inspection result normal? E
YES >> GO TO 23.
23.PERFORM SELF-DIAGNOSIS OF BCM F

G
H
NO >> GO TO 24.
24.PERFORM SELF-DIAGNOSIS OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) I
3. Perform “All DTC Reading”. J
4. Check if any DTC is detected in “Self Diagnostic Result” of “ABS”. Refer to BRC-72, "DTC Index".
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result. K
Component Inspection INFOID:0000000012796087
L
Apply battery voltage to ICC brake hold relay terminals 1 and 2, and
then check for continuity under the following conditions. M

N
When the battery voltage is applied Existed
3 5 When the battery voltage is not ap- Not exist-
plied ed
DAS
NO >> Replace ICC brake hold relay. JSOIA0075GB
P

C1A14 ECM
C1A14 ECM
DTC DETECTION LOGIC
DTC
play)
C1A14 ECM CIRCUIT
If ECM is malfunctioning
(14) (ECM circuit)
POSSIBLE CAUSE
• Accelerator pedal position sensor
• ECM
FAIL-SAFE
NO >> GO TO 2.
2. Operate the ICC system and drive.
CAUTION:

NO >> GO TO 2.
Check if “U1000” is detected other than “C1A14” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected?

C1A14 ECM
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer toDAS-175, "DTC Logic". A
NO >> GO TO 3.
B
Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”.
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts.
C
• 2.0L turbo gasoline engine: Refer to EC4-146, "DTC Index".
• VR30DDTT for USA and Canada
Index". D
Index".
• VR30DDTT for Mexico: Refer to EC6-1139, "DTC Index". E
DAS

C1A15 GEAR POSITION
C1A15 GEAR POSITION
ADAS control unit judges the gear position based on the following signals.
• Current gear position signal transmitted from TCM via CAN communication.
• Value of gear ratio calculated from input speed signal transmitted from TCM via CAN communication.
• Value of gear ratio calculated from the vehicle speed signal transmitted from ABS actuator and electric unit
(control unit) via CAN communication.
DTC DETECTION LOGIC
DTC
play)
A mismatch between an current gear position signal transmitted from TCM via
C1A15 GEAR POSITION
CAN communication and a gear position calculated by the ADAS control unit
(15) (Gear position)
continues for approximately 11 minutes or more
POSSIBLE CAUSE
• Input speed sensor
• Vehicle speed sensor A/T (output speed sensor)
• TCM
FAIL-SAFE
If DTC “C1A15” is displayed with DTC “U1000” or “C1A03”, or “C1A04” first diagnose the DTC
“U1000”,“C1A03”, or “C1A04”
NO >> GO TO 2.
3. Drive the vehicle at 10 km/h (6 MPH) or faster for approximately 15 minutes or more.
CAUTION:
6. Check if “C1A15” is detected as the current malfunction in the “Self Diagnostic Result” of “ICC/ADAS”.

C1A15 GEAR POSITION
A
If DTC “C1A15” is displayed with DTC “U1000” or “C1A03”, or “C1A04” first diagnose the DTC
“U1000”,“C1A03”, or “C1A04” B
• U1000: Refer to DAS-175, "DTC Logic" C
NO >> GO TO 2. D
2.CHECK VEHICLE SPEED SIGNAL
Check that “VHCL SPEED SE” operates normally in “DATA MONITOR” of “ICC/ADAS”.
E
CAUTION:
Be careful of the vehicle speed.
F
YES >> GO TO 3.
NO >> GO TO 7.
3.CHECK GEAR POSITION G
Check that “GEAR” operates normally in “DATA MONITOR” of “ICC/ADAS”.
CAUTION:
Be careful of the vehicle speed. H
YES >> GO TO 5.
NO >> GO TO 4. I
4.CHECK GEAR POSITION SIGNAL
Check that “GEAR” operates normally in “DATA MONITOR” of “TRANSMISSION”.
J
YES >> GO TO 5.
NO >> GO TO 6.
K
5.CHECK INPUT SPEED SENSOR SIGNAL
Check that “INPUT SPEED” operates normally in “DATA MONITOR” of “TRANSMISSION”.
Is the inspection result normal? L
NO >> GO TO 6.
6.CHECK TCM SELF-DIAGNOSIS RESULTS M

N
DAS
"VR30DDTT : DTC Index" (VR30DDTT).
7.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS P
2. Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.

C1A24 NP RANGE
C1A24 NP RANGE
DTC DETECTION LOGIC
DTC
play)
A mismatch between a shift position signal transmitted from TCM via CAN
C1A24 NP RANGE
communication and an current gear position signal continues for 60 seconds
(24) (NP range)
or more
POSSIBLE CAUSE
• TCM
• Transmission range switch
FAIL-SAFE
NO >> GO TO 2.
2.CHECK DTC REPRODUCE (1)
3. Wait for approximately 5 minutes or more after shifting the selector lever to “P” position.
NO >> GO TO 3.
3.CHECK DTC REPRODUCE (2)
1. Wait for approximately 5 minutes or more after shifting the selector lever to “N” position.


C1A24 NP RANGE
YES >> Perform diagnosis of applicable. Refer to DAS-175, "DTC Logic". A
NO >> GO TO 2.
2.CHECK TCM DATA MONITOR
B
Check that “SLCT LVR POSI” operates normally in “DATA MONITOR” of “TRANSMISSION”.
YES >> GO TO 3. C
NO >> Perform diagnosis for transmission range switch circuit and repair or replace the malfunctioning
parts. Refer to TM-177, "Diagnosis Procedure".
3.PERFORM TCM SELF-DIAGNOSIS D
Is any DTC detected? E
"VR30DDTT : DTC Index" (VR30DDTT). F
DAS

C1A26 ECD MODE MALFUNCTION
DTC DETECTION LOGIC
DTC
play)
C1A26 ECD MODE MALF
If an abnormal condition occurs with ECD system
(26) (ECD mode malfunction)
POSSIBLE CAUSE
FAIL-SAFE
If DTC “C1A26” is displayed with DTC “U1000”, “U0415” or “U0121”, first diagnose the DTC “U1000”“U0415”
or “U0121”.
NO >> GO TO 2.
2. Wait for approximately 1 minute after turning theMAIN switch of ICC system ON.

or “U0121”.
NO >> GO TO 2.
Is any DTC detected? A
NO >> Replace ADAS control unit. Refer to DAS-214, "Removal and Installation". B
DAS

C1A27 ECD POWER SUPPLY CIRCUIT
DTC DETECTION LOGIC
DTC
play)
C1A27 ECD PWR SUPLY CIR
ECD system power supply voltage is excessively low
(27) (ECD power supply circuit)
POSSIBLE CAUSE
• ABS actuator and electric unit (control unit) power supply circuit
FAIL-SAFE
or “U0121”.
NO >> GO TO 2.
2. Wait for approximately 1 minute after turning the MAIN switch of ICC system ON.

or “U0121”.
NO >> GO TO 2.

2.CHECK POWER SUPPLY CIRCUIT OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) A
Check power supply circuit of ABS actuator and electric unit (control unit). Refer to BRC-171, "Diagnosis Pro-
cedure".
Is the inspection result normal? B
YES >> Perform self-diagnosis of ABS actuator and electric unit (control unit). Refer to BRC-72, "DTC
Index".
C
DAS

C1A33 CAN TRANSMISSION ERROR
C1A33 CAN TRANSMISSION ERROR
DTC DETECTION LOGIC
DTC
play)
C1A33 CAN TRANSMISSION ERR If an error occurs in the CAN communication signal that ADAS control unit
(33) (CAN transmission error) transmits to ECM
POSSIBLE CAUSE
ADAS control unit
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.
Check if “U1000” is detected other than “C1A33” in “Self Diagnostic Result” of “ICC/ADAS”.

C1A34 COMMAND ERROR
C1A34 COMMAND ERROR
A
DTC
play)
C1A34 COMMAND ERROR If an error occurs in the command signal that ADAS control unit transmits to
(34) (Command error) ECM via CAN communication
D
POSSIBLE CAUSE
ADAS control unit
E
FAIL-SAFE
• Conventional (fixed speed) cruise control mode F
• Predictive Forward Collision Warning (PFCW) G
1.CHECK DTC PRIORITY H
Is applicable DTC detected? I
NO >> GO TO 2.
CAUTION: K
4. Perform “All DTC Reading” with CONSULT. L
YES >> Refer to DAS-143, "Diagnosis Procedure". M
Diagnosis Procedure INFOID:0000000012796102 N

Check if “U1000” is detected other than “C1A34” in “Self Diagnostic Result” of “ICC/ADAS”. DAS
Refer to DAS-175, "DTC Logic". P

DTC DETECTION LOGIC
DTC
play)
C1A35 APA CIR
If the accelerator pedal actuator is malfunctioning
(35) (Accelerator pedal actuator circuit)
POSSIBLE CAUSE
Accelerator pedal actuator
FAIL-SAFE
NO >> GO TO 2.
2. Turn the DCA system ON.
4. Check if the “C1A35” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.

NO >> GO TO 2.
2.CHECK ACCELERATOR PEDAL ACTUATOR SELF-DIAGNOSIS RESULTS
Check if the DTC is detected in “Self Diagnostic Result” of “ACCELE PEDAL ACT”.

C1A36 ACCELERATOR PEDAL ACTUATOR CAN COMM
C1A36 ACCELERATOR PEDAL ACTUATOR CAN COMM
A
DTC
play)
APA CAN COMM CIR
C1A36 If an error occurs in the signal that the accelerator pedal actuator transmits via
(Accelerator pedal actuator CAN
(36) ITS communication D
circuit)
POSSIBLE CAUSE
• ADAS control unit E
• Accelerator pedal actuator
• ITS communication system
FAIL-SAFE F
• Distance Control Assist (DCA) G
DTC CONFIRMATION PROCEDURE H
I
NO >> GO TO 2.
J
2. Turn the DCA system ON. K
Is “C1A36” detected as the current malfunction? L
NO-2 >> Confirmation after repair: INSPECTION END M
1.CHECK DTC PRIORITY N

DAS
NO >> GO TO 2.
2.CHECK ACCELERATOR PEDAL ACTUATOR SELF-DIAGNOSIS RESULTS P
Check if the DTC is detected in “Self Diagnostic Result” of “ACCELE PEDAL ACT”.

C1A37 ACCELERATOR PEDAL ACTUATOR CAN 2
DTC DETECTION LOGIC
DTC
play)
APA CAN CIR2
C1A37 If ADAS control unit detects an error signal that is received from accelerator
(133) pedal actuator via ITS communication
circuit2)
POSSIBLE CAUSE
Accelerator pedal actuator malfunction
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.
2.REPLACE ACCELERATOR PEDAL ASSEMBLY
2. Replace the accelerator pedal assembly.
4. Erases All self-diagnosis results.
5. Perform “All DTC Reading” again.
6. Check if the DTC “C1A37” is detected in self-diagnosis results of “ICC/ADAS”.
Is “C1A37” detected?

A
DTC
play)
APA CAN CIR1
C1A38 If ADAS control unit detects an error signal that is received from accelerator
(132) pedal actuator via ITS communication D
circuit1)
POSSIBLE CAUSE
Accelerator pedal actuator malfunction E
FAIL-SAFE
• Vehicle-to-vehicle distance control mode F
YES >> Perform diagnosis of applicable. Refer to DAS-175, "DTC Logic". I
NO >> GO TO 2.
J
4. Check if the “C1A38” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”. K
M
If DTC “C1A38” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. N
NO >> GO TO 2. DAS
2. Replace the accelerator pedal assembly. P
4. Erases All self-diagnosis results.
6. Check if the “C1A38” is detected in self-diagnosis results of “ICC/ADAS”.

C1A39 STEERING ANGLE SENSOR
C1A39 STEERING ANGLE SENSOR
DTC DETECTION LOGIC
DTC
play)
C1A39 STRG SEN CIR
If the steering angle sensor is malfunction
(39) (Steering angle sensor circuit)
POSSIBLE CAUSE
Steering angle sensor
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.

C1B00 CAMERA UNIT MALF
A
DTC
play)
If lane camera unit is malfunctioning
(81) (Camera unit malfunction) D
POSSIBLE CAUSE
Lane camera unit
E
FAIL-SAFE
F
1.PERFORM DTC CONFIRMATION PROCEDURE G
3. Check if the “C1B00” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. H
Is “C1B00” detected as the current malfunction?
NO-1 >> To check malfunction symptom before repair: Refer to GI-45, "Intermittent Incident" I
J

Check if “C1B00” is detected in “Self Diagnostic Result” of “LANE CAMERA”. K
Is “C1B00” detected?
YES >> Refer to DAS-444, "LANE CAMERA UNIT : DTC Logic"
NO >> Replace the ADAS control unit. Refer to DAS-214, "Removal and Installation". L
DAS

C1B01 CAM AIMING INCMP
DTC DETECTION LOGIC
DTC
play)
Camera aiming is not completed
(82) (Camera aiming incomplete)
POSSIBLE CAUSE
• Lane camera aiming is not adjusted
• Lane camera aiming adjustment has been interrupted
FAIL-SAFE
2. Operate the LDP system and drive.
CAUTION:
4. Check if the “C1B01” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.

Check if “C1B01” is detected in “Self Diagnostic Result” of “LANE CAMERA”.
NO >> GO TO 2.
2.CHECK DATA MONITOR
2. Check that “OK” is indicated for the value of “AIMING RESULT” in “DATA MONITOR” of “LANE CAM-
ERA”.
Is “OK” indicated?
NO >> Replace the lane camera unit. Refer to DAS-507, "Removal and Installation".

C1B03 ABNRML TEMP DETECT
A
DTC
play)
CAM ABNRML TMP DETCT
C1B03
(Camera abnormal temperature Temperature around lane camera unit is excessively high D
(83)
detect)
POSSIBLE CAUSE
Interior room temperature is excessively high E
FAIL-SAFE
• Lane Departure Warning (LDW)/Lane Departure Prevention (LDP) F
DTC CONFIRMATION PROCEDURE G
2. Turn the LDP system ON. H
4. Check if the “C1B03” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A39” detected as the current malfunction? I
NO-2 >> Confirmation after repair: INSPECTION END J
1.CHECK LANE CAMERA UNIT SELF-DIAGNOSIS RESULTS K

2. Check if the “C1B03” is detected in “Self Diagnostic Result” of “LANE CAMERA”
L
NO >> GO TO 2.
M
2.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS
1. Erase all self-diagnosis results with CONSULT.
2. Perform “All DTC Reading”. N
3. Check if the “C1B03” is detected in “Self Diagnostic Result” of “ICC/ADAS”
YES >> Replace the ADAS control unit. Refer to DAS-214, "Removal and Installation". DAS

C1B5D FEB OPE COUNT LIMIT
C1B5D FEB OPE COUNT LIMIT
DTC DETECTION LOGIC
DTC
play)
FEB OPE COUNT LIMIT
C1B5D
(Forward Emergency Braking oper- FEB system operated 3 times within ignition switch ON.
(198)
ation count limit)
NOTE:
If “C1B5D” detected, perform the ICC system action test and check ICC system operates normally.
POSSIBLE CAUSE
FEB system operated 3 times within ignition switch ON.
FAIL-SAFE
1.PERFORM ICC SYSTEM ACTION TEST
Perform the ICC system action test.
Is there any malfunction symptom?
1.DTC CHECK SELF-DIAGNOSIS RESULTS

4. Check if the “C1B5D” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is C1B5D detected as current malfunction?
NO >> Perform ICC system action test. Refer to CCS-126, "Description".

C1B53 SIDE RADAR RIGHT MALFUNCTION
C1B53 SIDE RADAR RIGHT MALFUNCTION
A
DTC
play)
C1B53 SIDE RDR R MALF
ADAS control unit detects that side radar RH has a malfunction.
(84) (Side radar right malfunction) D
POSSIBLE CAUSE
Side radar RH
E
FAIL-SAFE
F
3. Check if the “C1B53” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. H
NO-1 >> To check malfunction symptom before repair: Refer to GI-45, "Intermittent Incident". I
J

Check if “U1000” is detected other than “C1B53” in “Self Diagnostic Result” of “ICC/ADAS”. K
Refer to DAS-175, "DTC Logic". L
NO >> GO TO 2.
M
Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR RIGHT”.
N
DAS-347, "DTC Index" (SIDE RADAR LH), DAS-349, "DTC Index" (SIDE RADAR RH).
DAS

C1B54 SIDE RADAR LEFT MALFUNCTION
C1B54 SIDE RADAR LEFT MALFUNCTION
DTC DETECTION LOGIC
DTC
play)
C1B54 SIDE RDR L MALF
ADAS control unit detects that side radar LH has a malfunction.
(85) (Side radar left malfunction)
POSSIBLE CAUSE
Side radar LH
FAIL-SAFE

Check if “U1000” is detected other than “C1B54” in “Self Diagnostic Result” of “ICC/ADAS”.
Refer to DAS-175, "DTC Logic".
NO >> GO TO 2.
Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR LEFT”.
DAS-347, "DTC Index" (SIDE RADAR LH), DAS-349, "DTC Index" (SIDE RADAR RH).

C1B56 SONAR CIRCUIT
C1B56 SONAR CIRCUIT
A
DTC
play)
C1B56 SONAR CIRCUIT MALF
ADAS control unit detects that rear sonar control unit circuit has a malfunction.
(86) (Sonar controller circuit) D
POSSIBLE CAUSE
Sonar control unit
E
FAIL-SAFE
Back-up Collision Intervention (BCI)
F
G
H
NO-2 >> Confirmation after repair: INSPECTION END I
J
Is “U1000” detected? K
NO >> GO TO 2. L
Check if any DTC is detected in “Self Diagnostic Result” of “SONAR”.
M
AV-490, "DTC Index".
N
DAS

C1B57 AVM CIRCUIT
C1B57 AVM CIRCUIT
DTC DETECTION LOGIC
DTC
play)
C1B57 AVM CIRCUIT MALF ADAS control unit detects that around view monitor control unit has a malfunc-
(87) (Around view monitor circuit) tion.
POSSIBLE CAUSE
Around view monitor control unit
FAIL-SAFE

NO >> GO TO 2.
Check if any DTC is detected in “Self Diagnostic Result” of “AVM”.

C1B59 CCM
C1B59 CCM
A
DTC
play)
C1B59 CCM CIRCUIT
ADAS control unit detects that chassis control module has a malfunction.
(184) (Chassis control module circuit)
D
POSSIBLE CAUSE
• Chassis control module
• ADAS control unit E
FAIL-SAFE
• Lane Departure Warning (LDW)/Lane Departure Prevention (LDP) G
I
CAUTION:
3. Stop the vehicle. J
Is “C1B59” detected as the current malfunction? K
NO-2 >> Confirmation after repair: INSPECTION END L
1.CHECK DTC PRIORITY M

If DTC “C1B59” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
N
NO >> GO TO 2.
2.PERFORM SELF-DIAGNOSIS OF ECM DAS
Check if any DTC is detected in “Self Diagnostic Result” of “CHASSIS CONTROL”.
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to P

C1B82 DISTANCE SENSOR OFF-CENTER
C1B82 DISTANCE SENSOR OFF-CENTER
DTC DETECTION LOGIC
DTC
play)
C1B82 DIST SEN OFF-CENTER
ICC sensor is off the alignment point
(12) (Distance sensor off-center)
POSSIBLE CAUSE
Radar alignment is off the aiming point
FAIL-SAFE
1.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS

2. Check if the “C1A12” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
YES >> Refer to CCS-134, "DTC Logic".
NO >> GO TO 2.
Check if the “C1B82” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
YES >> Replace ADAS control unit. Refer to DAS-214, "Removal and Installation".

C1B84 DISTANCE SENSOR
C1B84 DISTANCE SENSOR
A
DTC
play)
C1B84 DIST SEN MALFUNCTION
If ICC sensor is malfunctioning
(17) (Distance sensor malfunction)
D
POSSIBLE CAUSE
ICC sensor
E
FAIL-SAFE
• Distance Control Assist (DCA) F

1. Start the engine. H
Is “C1B84” detected as the current malfunction? I
1.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS K

2. Check if “U1000” is detected other than “C1B84” in “Self Diagnostic Result” of “ICC/ADAS“.
Is “C1B84” detected? L
YES >> Perform the CAN communication system inspection. Refer to DAS-175, "DTC Logic".
NO >> GO TO 2.
M
Check if any DTC is detected in““Self Diagnostic Result” “LASER/RADAR “
N
CCS-71, "DTC Index".
NO >> Replace ADAS control unit. Refer to DAS-214, "Removal and Installation". DAS

C1B85 DISTANCE SENSOR ABNORMAL TEMP
C1B85 DISTANCE SENSOR ABNORMAL TEMP
DTC DETECTION LOGIC
DTC
play)
DIST SEN ABNORMAL TEMP
C1B85
(Distance sensor abnormal temper- ICC sensor judges high temperature abnormality
(21)
ature)
POSSIBLE CAUSE
Temperature around the ICC sensor becomes high
FAIL-SAFE
2. Wait for 10 minutes or more to cool the ICC sensor.
4. Turn the ICC system ON.

Check if “C1B85” is detected in “Self Diagnostic Result” of “ICC/ADAS”.
DAS-160, "DTC Logic".

C1B86 DISTANCE SENSOR POWER SUPPLY CIRCUIT
A
DTC
play)
DIST SEN PWR SUP CIR
C1B86
(Distance sensor power supply cir- ICC sensor power supply voltage is malfunction
(80) D
cuit)
POSSIBLE CAUSE
• Harness, connector, fuse E
• ICC sensor
FAIL-SAFE
• Forward Emergency Braking (FEB) G
Is applicable DTC detected? I
NO >> GO TO 2.
3. Perform “All DTC Reading” with CONSULT. K
4. Check if the “C1B86” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
YES >> Refer to DAS-161, "Diagnosis Procedure". L
M

N
YES >> Perform diagnosis of applicable. Refer to DAS-175, "DTC Logic". DAS
NO >> GO TO 2.
1. Perform “All DTC Reading” with CONSULT. P
2. Check if the “C1B86” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
YES >> Refer to DAS-161, "DTC Logic".
NO >> GO TO 3.
Check if the “C1B86” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
YES >> Replace ADAS control unit. Refer to DAS-214, "Removal and Installation".

A
DTC
play)
APA MOTOR MALF
C1F01
(Accelerator pedal actuator mal- If the accelerator pedal actuator motor error is detected
(91) D
function)
POSSIBLE CAUSE
Accelerator pedal actuator integrated motor malfunction E
FAIL-SAFE
1.PERFORM DTC CONFIRMATION PROCEDURE H

3. Slowly depress the accelerator pedal completely, and then release it. I
4. Repeat step 3 several times.
6. Check if the DTC “C1F01” is detected as the current malfunction on the self-diagnosis results of “ICC/ J
ADAS”.
Is “C1F01” detected as the current malfunction?
YES >> Refer to DAS-163, "Diagnosis Procedure". K
L

M
Check if “U1000” is detected other than “C1F01” in “Self Diagnostic Result” of “ICC/ADAS”.
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. N
NO >> GO TO 2.
2.CHECK ACCELERATOR PEDAL ACTUATOR SELF-DIAGNOSIS RESULTS DAS
Check if “C1F01” is detected in “Self Diagnostic Result” of “ACCELE PEDAL ACT”.
Is “C1F01” detected?
YES >> Refer to DAS-345, "DTC Index". P

DTC DETECTION LOGIC
DTC
play)
APA C/U MALF
C1F02
(Accelerator pedal actuator internal If the accelerator pedal actuator integrated control unit error is detected
(92)
malfunction)
POSSIBLE CAUSE
Accelerator pedal actuator integrated control unit malfunction
FAIL-SAFE
4. Check if the “C1F02” is detected as the current malfunction on the self-diagnosis results of “ICC/ADAS”.

NO >> GO TO 2.
YES >> Refer to DAS-345, "DTC Index".

C1F05 ACCELERATOR PEDAL ACTUATOR POWER SUPPLY CIRCUIT
A
DTC
play)
APA PWR SUPLY CIR
C1F05 The battery voltage sent to accelerator pedal actuator remains less than 7.9 V
(Accelerator pedal actuator power
(95) or more than 19.3 V for 5 seconds D
supply circuit)
POSSIBLE CAUSE
• Harness, connector, or fuse E
FAIL-SAFE
• Forward Emergency Braking (FEB) G
2. Turn the DCA system ON. I
4. Check if the “C1F05” is detected as the current malfunction on the self-diagnosis results of “ICC/ADAS”.
Is “C1F05” detected as the current malfunction? J
NO-2 >> Confirmation after repair: INSPECTION END K
1.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS L
Is “U1000” detected? M
NO >> GO TO 2. N
Is “C1F05” detected? DAS
YES >> Refer to DAS-345, "DTC Index".
P

U0121 VDC CAN 2
U0121 VDC CAN 2
DTC DETECTION LOGIC
DTC
play)
U0121 VDC CAN CIR2 If ADAS control unit detects an error signal that is received from ABS actuator
(127) (VDC CAN circuit2) and electric unit (control unit) via CAN communication
POSSIBLE CAUSE
FAIL-SAFE
If DTC “U0121” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
NO >> GO TO 2.
4. Check if the “U0121” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U0121” detected as the current malfunction?

NO >> GO TO 2.

U0126 STRG SEN CAN 1
A
DTC
play)
U0126 STRG SEN CAN CIR1 If ADAS control unit detects an error signal that is received from steering angle
(130) (Steering sensor CAN circuit1) sensor via CAN communication
D
POSSIBLE CAUSE
E
FAIL-SAFE
I
NO >> GO TO 2. J
2. Turn the MAIN switch of ICC system ON. K
Is “U0126” detected as the current malfunction? L

DAS
NO >> GO TO 2.

U0235 ICC SENSOR CAN 1
DTC DETECTION LOGIC
DTC
play)
U0235 ICC SENSOR CAN CIR1 If ADAS control unit detects an error signal that is received from ICC sensor via
(144) (ICC sensor CAN circuit1) ITS communication
POSSIBLE CAUSE
ICC sensor
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.
Check if any DTC is detected in “Self Diagnostic Result” of “LASER/RADAR”.

U0401 ECM CAN 1
U0401 ECM CAN 1
A
DTC
play)
U0401 ECM CAN CIR1 If ADAS control unit detects an error signal that is received from ECM via CAN
(120) (ECM CAN circuit1) communication
D
POSSIBLE CAUSE
ECM
E
FAIL-SAFE
H
I
YES >> Perform diagnosis of applicable. Refer to DAS-175, "DTC Logic". J
NO >> GO TO 2.
1. Start the engine. K
4. Check if the “U0401” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. L
NO-1 >> To check malfunction symptom before repair: Refer to GI-45, "Intermittent Incident". M
N
DAS
NO >> GO TO 2.
P
2.CHECK ECM SELF-DIAGNOSIS RESULTS

U0401 ECM CAN 1
Index".
Index".
• VR30DDTT for Mexico: Refer to EC6-1139, "DTC Index".

U0402 TCM CAN 1
U0402 TCM CAN 1
A
DTC
play)
U0402 TCM CAN CIRC1 If ADAS control unit detects an error signal that is received from TCM via CAN
(122) (TCM CAN circuit1) communication
D
POSSIBLE CAUSE
TCM
E
FAIL-SAFE
H
I
NO >> GO TO 2.
4. Check if the “U0402” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. L
N
DAS
NO >> GO TO 2.
P
2.CHECK TCM SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
TM-102, "2.0L TURBO GASOLINE ENGINE : DTC Index".

U0415 VDC CAN 1
U0415 VDC CAN 1
DTC DETECTION LOGIC
DTC
play)
U0415 VDC CAN CIR1 If ADAS control unit detects an error signal that is received from ABS actuator
(126) (VDC CAN circuit1) and electric unit (control unit) via CAN communication
POSSIBLE CAUSE
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.

U0424 HVAC CAN CIRCUIT 1
U0424 HVAC CAN CIRCUIT 1
A
ADAS control unit reads status of signal that is transmitted from A/C auto AMP. to ADAS control unit. B
DTC DETECTION LOGIC C
DTC
(On board dis- Display Item Malfunction detected condition D
play)
U0424 HVAC CAN CIR 1
When signal that is transmitted from A/C auto amp. is not the latest information
(156) (HVAC CAN circuit 1)
E
POSSIBLE CAUSE
A/C auto amp.
F
FAIL-SAFE
None
If DTC “U0424” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. H
NO >> GO TO 2. I
2. Turn the MAIN switch of ICC system ON. J
Is “U0424” detected as the current malfunction? K
Is applicable DTC detected? N
NO >> GO TO 2.
2.CHECK A/C AUTO AMP. SELF-DIAGNOSIS RESULTS DAS
Check if any DTC is detected in “Self Diagnostic Result” of “HVAC”.
HAC-48, "DTC Index".

DTC DETECTION LOGIC
DTC
play)
U0428 STRG SEN CAN CIR2 If ADAS control unit detects an error signal that is received from steering angle
(131) (Steering sensor CAN circuit2) sensor via CAN communication
POSSIBLE CAUSE
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.

U1000 CAN COMM CIRCUIT
A
CAN COMMUNICATION B
CAN (Controller Area Network) is a serial communication line for real time applications. It is an on-vehicle mul-
tiplex communication line with high data communication speed and excellent error detection ability. Modern
vehicle is equipped with many electronic control units, and each control unit shares information and links with C
other control units during operation (not independent). In CAN communication, control units are connected
with 2 communication lines (CAN-H, CAN-L) allowing a high rate of information transmission with less wiring.
Each control unit transmits/receives data but selectively reads the required data only.
CAN communication signal chart. Refer to LAN-67, "CAN COMMUNICATION SYSTEM : CAN Communica- D
tion Signal Chart (2.0L Turbo Gasoline Engine Models)".
ITS COMMUNICATION
E
• ITS communication is a multiplex communication system. This enables the system to transmit and receive
large quantities of data at high speed by connecting control units with 2 communication lines.
• ITS communication lines adopt twisted-pair line style (two lines twisted) for noise immunity.
F
CHASSIS COMMUNICATION
• Chassis communication is a multiplex communication system. This enables the system to transmit and
receive large quantities of data at high speed by connecting control units with 2 communication lines.
• Chassis communication lines adopt twisted-pair line style (two lines twisted) for noise immunity. G
H
DTC DETECTION LOGIC
DTC
I
play)
U1000 CAN COMM CIRCUIT If ADAS control unit is not transmitting or receiving CAN communication signal,
(100) (CAN communication circuit) ITS communication or chassis communication signal for 2 seconds or more J
NOTE:
If “U1000” is detected, first diagnose the CAN communication system.
K
POSSIBLE CAUSE
• CAN communication system
L
• Chassis communication system
FAIL-SAFE
The following systems are canceled. M
• Forward Emergency Braking (FEB) N
• Blind Spot Warning (BSW)/Blind Spot Intervention DAS
NOTE:
With the detection of “U1000” some systems do not perform the fail-safe operation.A system controlling based P
on a signal received from the control unit performs fail-safe operation when the communication with the ADAS
control unit becomes inoperable.

1.PERFORM THE SELF-DIAGNOSIS

2. Turn the MAIN switch of ICC system ON, and then wait for 30 seconds or more.
YES >> Refer to LAN-41, "Trouble Diagnosis Flow Chart".

U1010 CONTROL UNIT (CAN)
A
CAN controller controls the communication of CAN communication signal and ITS communication signal, and B
the error detection.
C
DTC DETECTION LOGIC
DTC D
play)
U1010 CONTROL UNIT (CAN) E
If ADAS control unit detects malfunction by CAN controller initial diagnosis
(110) [Control unit (CAN)]
POSSIBLE CAUSE
ADAS control unit F
FAIL-SAFE
• Vehicle-to-vehicle distance control mode G
• Forward Emergency Braking (FEB) H
I
DTC CONFIRMATION PROCEDURE J
1.PERFORM DTC CONFIRMATION PROCEDURE N

3. Check if the “U1010” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. DAS
NO-1 >> To check malfunction symptom before repair: Refer to GI-45, "Intermittent Incident". P

U150B ECM CAN 3
U150B ECM CAN 3
DTC DETECTION LOGIC
DTC
play)
U150B ECM CAN CIRC 3 ADAS control unit detects an error signal that is received from ECM via CAN
(157) (ECM CAN circuit 3) communication
POSSIBLE CAUSE
ECM
FAIL-SAFE
If DTC “U0150B” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
NO >> GO TO 2.
4. Check if the “U150B” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U150B” detected as the current malfunction?

If DTC “U0150B” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
NO >> GO TO 2.
2.CHECK ECM SELF-DIAGNOSIS RESULTS

U150B ECM CAN 3
Index". A
Index".
• VR30DDTT for Mexico: Refer to EC6-1139, "DTC Index".
B
DAS

U150C VDC CAN 3
U150C VDC CAN 3
DTC DETECTION LOGIC
DTC
play)
U150C VDC CAN CIRC 3 ADAS control unit detects an error signal that is received from ABS actuator
(158) (VDC CAN circuit 3) and electric unit (control unit) via CAN communication
POSSIBLE CAUSE
FAIL-SAFE
If DTC “U0150C” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
NO >> GO TO 2.
4. Check if the “U150C” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U150C” detected as the current malfunction?

If DTC “U0150C” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
NO >> GO TO 2.

U150D TCM CAN 3
U150D TCM CAN 3
A
DTC
play)
U150D TCM CAN CIRC 3 ADAS control unit detects an error signal that is received from TCM via CAN
(159) (TCM CAN circuit 3) communication
D
POSSIBLE CAUSE
TCM
E
FAIL-SAFE
H
I
If DTC “U0150D” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
NO >> GO TO 2.
4. Check if the “U150D” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. L
Is “U150D” detected as the current malfunction?
N
If DTC “U0150D” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
DAS
NO >> GO TO 2.
P
2.CHECK TCM SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
TM-102, "2.0L TURBO GASOLINE ENGINE : DTC Index".

U150E BCM CAN 3
U150E BCM CAN 3
DTC DETECTION LOGIC
DTC
play)
U150E BCM CAN CIRC 3 ADAS control unit detects an error signal that is received from BCM via CAN
(160) (BCM CAN circuit 3) communication
POSSIBLE CAUSE
BCM
FAIL-SAFE
If DTC “U0150E” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
NO >> GO TO 2.
4. Check if the “U150E” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U150E” detected as the current malfunction?

If DTC “U0150E” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
NO >> GO TO 2.
2.CHECK BCM SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “BCM”.
BCS-63, "DTC Index".

U150F AV CAN 3
U150F AV CAN 3
A
DTC
play)
U150F AV CAN CIRC 3 ADAS control unit detects an error signal that is received from display control
(161) (AV CAN circuit 3) unit via CAN communication
D
POSSIBLE CAUSE
Display
E
FAIL-SAFE
None
DTC CONFIRMATION PROCEDURE F
If DTC “U0150F” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
G
NO >> GO TO 2.
H
2. Turn the DCA, LDP, or Blind Spot Intervention system ON. I
4. Check if the “U150F” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U150F” detected as the current malfunction? J
1.CHECK DTC PRIORITY L

M
NO >> GO TO 2.
2.CHECK AV CONTROL UNIT SELF-DIAGNOSIS RESULTS N
Check if any DTC is detected in “Self Diagnostic Result” of “MULTI AV”.
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to DAS
P

U1500 CAM CAN 2
U1500 CAM CAN 2
DTC DETECTION LOGIC
DTC
play)
U1500 CAM CAN CIR2 ADAS control unit detects an error signal that is received from lane camera via ITS
(145) (Camera can circuit 2) communication
POSSIBLE CAUSE
Lane camera unit
FAIL-SAFE
NO >> GO TO 2.
2. Turn the Blind Spot Intervention system ON.

NO >> GO TO 2.
2.CHECK LANE CAMERA UNIT SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “LANE CAMERA”.
DAS-362, "WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : DTC Index".

U1501 CAM CAN 1
U1501 CAM CAN 1
A
DTC
play)
U1501 CAM CAN CIR 1 ADAS control unit detects an error signal that is received from lane camera via ITS
(146) (Camera can circuit 1) communication
D
POSSIBLE CAUSE
Lane camera unit
E
FAIL-SAFE
• Blind Spot Warning (BSW)/Blind Spot Intervention F
1.CHECK DTC PRIORITY G
H
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE I
3. Perform “All DTC Reading” with CONSULT. J
Diagnosis Procedure INFOID:0000000013400252 L

If DTC “U1501” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. M
NO >> GO TO 2. N
Check if any DTC is detected in “Self Diagnostic Result” of “LANE CAMERA”. DAS
DAS-362, "WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : DTC Index". P

U1502 ICC SENSOR CAN COMM CIRC
U1502 ICC SENSOR CAN COMM CIRC
DTC DETECTION LOGIC
DTC
play)
ICC SEN CAN COMM CIR
U1502 ADAS control unit detects an error signal that is received from ICC sensor via
(ICC sensor CAN communication
(147) CAN communication
circuit)
POSSIBLE CAUSE
ICC sensor
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.

U1503 SIDE RDR L CAN 2
A
DTC
play)
U1503 SIDE RDR L CAN CIR 2 ADAS control unit detects an error signal that is received from side radar LH
(150) (Side radar left CAN circuit 2) via ITS communication
D
POSSIBLE CAUSE
Side radar LH
E
FAIL-SAFE
• Back-up Collision Intervention (BCI) F
If DTC “U1503” is displayed with DTC “U1000” or “U1508”, first diagnose the DTC “U1000” or “U1508”.
H
NO >> GO TO 2. I
M
• U1508: Refer to DAS-192, "DTC Logic" DAS
NO >> GO TO 2.
2.CHECK SIDE RADAR LH SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR LEFT”. P

DTC DETECTION LOGIC
DTC
play)
U1504 SIDE RDR L CAN CIR 1 ADAS control unit detects an error signal that is received from side radar LH
POSSIBLE CAUSE
Side radar LH
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.
Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR LEFT”.

U1505 SIDE RDR R CAN 2
A
DTC
play)
U1505 SIDE RDR R CAN CIR 2 ADAS control unit detects an error signal that is received from side radar RH
(152) (Side radar right CAN circuit 2) via ITS communication
D
POSSIBLE CAUSE
Side radar RH
E
FAIL- SAFE
H
NO >> GO TO 2. I
M
NO >> GO TO 2.
2.CHECK SIDE RADAR RH SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR RIGHT”. P

DTC DETECTION LOGIC
DTC
play)
U1506 SIDE RDR R CAN CIR 1 ADAS control unit detects an error signal that is received from side radar RH
POSSIBLE CAUSE
Side radar RH
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.

U1507 LOST COMM(SIDE RDR R)
U1507 LOST COMM(SIDE RDR R)
A
DTC
play)
LOST COMM(SIDE RDR R)
U1507 ADAS control unit cannot receive ITS communication signal from side radar
[Lost communication (Side radar
(154) RH for 2 seconds or more D
right)]
POSSIBLE CAUSE
• Side radar RH right/left switching signal circuit E
• Side radar RH
FAIL-SAFE F
• Back-up Collision Intervention (BCI) G
YES >> Perform diagnosis of applicable. Refer to DAS-175, "DTC Logic". I
NO >> GO TO 2.
J
4. Check if the “U1507” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. K
M
If DTC “U1507” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. N
NO >> GO TO 2. DAS
2.CHECK RIGHT/LEFT SWITCHING SIGNAL CIRCUIT
Check right/left switching signal circuit. Refer to DAS-483, "Diagnosis Procedure".
Is the inspection result normal? P
Refer to LAN-41, "Trouble Diagnosis Flow Chart".
NO >> Repair right/left switching signal circuit.

U1508 LOST COMM(SIDE RDR L)
U1508 LOST COMM(SIDE RDR L)
DTC DETECTION LOGIC
DTC
play)
LOST COMM(SIDE RDR L)
U1508 ADAS control unit cannot receive ITS communication signal from side radar
[Lost communication (Side radar
(155) LH for 2 seconds or more
left)]
POSSIBLE CAUSE
• Side radar LH harness connector
• Side radar LH
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.
2.CHECK SIDE RADAR HARNESS CONNECTOR
2. Check the terminals and connectors of the side radar LH for damage, bend and short (unit side and con-
nector side).
NO >> Repair the terminal or connector.

U1512 HVAC CAN 3
U1512 HVAC CAN 3
A
DTC
play)
U1512 HVAC CAN CIRC 3 ADAS control unit detects an error signal that is received from A/C auto amp.
(162) (HVAC CAN circuit 3) via CAN communication
D
POSSIBLE CAUSE
A/C auto amp.
E
FAIL- SAFE
H
NO >> GO TO 2.

NO >> GO TO 2. N
2.CHECK A/C AUTO AMP. SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “HVAC”. DAS
HAC-48, "DTC Index". P

U1513 METER CAN 3
U1513 METER CAN 3
DTC DETECTION LOGIC
DTC
play)
U1513 METER CAN CIRC 3 ADAS control unit detects an error signal that is received from combination
(163) (Meter CAN circuit 3) meter via CAN communication
POSSIBLE CAUSE
Combination meter
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.
2.CHECK COMBINATION METER SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “METER/M&A”.
MWI-87, "DTC Index".

A
DTC
play)
U1514 STRG SEN CAN CIRC 3 ADAS control unit detects an error signal that is received from steering angle
(164) (Steering sensor CAN circuit 3) sensor via CAN communication
D
POSSIBLE CAUSE
E
FAIL-SAFE
I
NO >> GO TO 2. J

DAS
NO >> GO TO 2.

DTC DETECTION LOGIC
DTC
play)
U1515 ICC SENSOR CAN CIRC 3 ADAS control unit detects an error signal that is received from ICC sensor via
(165) (ICC sensor CAN circuit 3) ITS communication
POSSIBLE CAUSE
ICC sensor
FAIL-SAFE
NO >> GO TO 2.
2. Turn the ICC MAIN switch of ICC system ON.

NO >> GO TO 2.

U1516 CAM CAN 3
U1516 CAM CAN 3
A
DTC
play)
U1516 CAM CAN CIRC 3 ADAS control unit detects an error signal that is received from lane camera unit via
(166) (Camera CAN circuit 3) CAN communication
D
POSSIBLE CAUSE
Lane camera unit
E
FAIL-SAFE
H
NO >> GO TO 2.

NO >> GO TO 2. N
Check if any DTC is detected in “Self Diagnostic Result” of “LANE CAMERA”. DAS
DAS-362, "WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : DTC Index". P

U1517 ACCELERATOR PEDAL ACTUATOR CAN 3
U1517 ACCELERATOR PEDAL ACTUATOR CAN 3
DTC DETECTION LOGIC
DTC
play)
APA CAN CIRC 3
U1517 ADAS control unit detects an error signal that is received from accelerator ped-
(167) al actuator via CAN communication
circuit 3)
POSSIBLE CAUSE
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.
Check if any DTC is detected in “Self Diagnostic Result” of “ACCELE PEDAL ACT”.

A
DTC
play)
U1518 SIDE RDR L CAN CIRC 3 ADAS control unit detects an error signal that is received from side radar LH
D
POSSIBLE CAUSE
Side radar LH
E
FAIL-SAFE
H
NO >> GO TO 2. I
M
NO >> GO TO 2.
Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR LEFT”. P

DTC DETECTION LOGIC
DTC
play)
U1519 SIDE RDR R CAN CIRC 3 ADAS control unit detects an error signal that is received from side radar RH
POSSIBLE CAUSE
Side radar RH
FAIL-SAFE
If DTC “U1519” is detected along with DTC “U1000”, or “U1507”, first diagnose the DTC “U1000” or “U1507”.
• Refer to DAS-175, "DTC Logic" for DTC “U1000”.
• Check if “U1000” or “U1507” is detected other than “U1519” in “Self Diagnostic Result” of “ICC/ADAS”.
NO >> GO TO 2.

NO >> GO TO 2.

U1521 SONAR CAN 2
U1521 SONAR CAN 2
A
DTC
play)
U1521 SONAR CAN COMMUNICATION 2 ADAS control unit detects an error signal that is received from sonar control
(177) (Sonar CAN communication 2) unit via ITS communication
D
POSSIBLE CAUSE
Sonar control unit
E
FAIL-SAFE
F
If DTC “U1521” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-175, "DTC
Logic".
G
Is applicable DTC detected? H
NO >> GO TO 2.

2. Turn the Backup Collision Intervention system ON. J
K
L

YES >> Perform diagnosis of applicable. Refer to DAS-175, "DTC Logic". N
NO >> GO TO 2.
2.CHECK SONAR SYSTEM SELF-DIAGNOSIS RESULTS
DAS

U1522 SONAR CAN 1
U1522 SONAR CAN 1
DTC DETECTION LOGIC
DTC
play)
POSSIBLE CAUSE
Sonar control unit
FAIL-SAFE
NO >> GO TO 2.
2. Turn the Backup Collision Intervention system ON.

NO >> GO TO 2.
2.CHECK SONAR SELF-DIAGNOSIS RESULTS

U1523 SONAR CAN 3
U1523 SONAR CAN 3
A
DTC
play)
D
POSSIBLE CAUSE
Sonar control unit
E
FAIL-SAFE
F
If DTC “U1523” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. G
H
NO >> GO TO 2.
1. Start the engine. I
2. Turn the Backup Collision Intervention system ON.
4. Check if the “U1523” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. J
NO-1 >> To check malfunction symptom before repair: Refer to GI-45, "Intermittent Incident". K
L
Is applicable DTC detected? M
NO >> GO TO 2.
N
Is any DTC detected? DAS
NO >> Replace the ADAS control unit. Refer to DAS-214, "Removal and Installation". P

U1524 AVM CAN 1
U1524 AVM CAN 1
DTC DETECTION LOGIC
DTC
play)
AVM CAN COMMUNICATION 1
U1524 ADAS control unit detects an error signal that is received from around view
(Around view monitor CAN commu-
(180) monitor control unit via ITS communication
nication 1)
POSSIBLE CAUSE
Around view monitor control unit
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.
Check if any DTC is detected in “Self Diagnostic Result” of “AVM”.

U1525 AVM CAN 3
U1525 AVM CAN 3
A
DTC
play)
AVM CAN COMMUNICATION 3
U1525 ADAS control unit detects an error signal that is received from around view
(Around view monitor CAN commu-
(181) monitor control unit via ITS communication D
nication 3)
POSSIBLE CAUSE
Around view monitor control unit E
FAIL-SAFE
Back-up Collision Intervention (BCI) F
YES >> Perform diagnosis of applicable. Refer to DAS-175, "DTC Logic". H
NO >> GO TO 2.
2. Turn the Back-up Collision Intervention system ON.
J
K

NO >> GO TO 2. N
Check if any DTC is detected in “Self Diagnostic Result” of “AVM”. DAS
AV-485, "DTC Index". P

U1527 CCM CAN 1
U1527 CCM CAN 1
DTC DETECTION LOGIC
DTC
play)
CCM CAN CIR 1
U1527
(Chassis control module CAN circuit ADAS control unit detects that chassis control module has a malfunction.
(185)
1)
POSSIBLE CAUSE
Chassis control module
FAIL-SAFE

Check if “U1000” is detected other than “U1527” in “Self Diagnostic Result” of “ICC/ADAS”.
NO >> GO TO 2.

U153F CCM CAN 2
U153F CCM CAN 2
A
DTC
play)
CCM CAN CIR 2
U153F
(Chassis control module CAN circuit ADAS control unit detects that chassis control module has a malfunction.
(186) D
2)
POSSIBLE CAUSE
Chassis control module E
FAIL-SAFE
• Lane Departure Warning (LDW)/Lane Departure Prevention (LDP) G
I
NO >> GO TO 2.
J
2. Turn the DCA system ON. K
4. Check if the “U153F” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U153F” detected as the current malfunction? L

DAS
NO >> GO TO 2.
2.CHECK CHASSIS CONTROL MODULE SELF-DIAGNOSIS RESULTS P

U1530 DR ASSIST BUZZER CAN 1
U1530 DR ASSIST BUZZER CAN 1
DTC DETECTION LOGIC
DTC
play)
DR ASSIST BUZZER CAN CIR 1
U1530 ADAS control unit detects an error signal that is received from driver assis-
(Driver assistance buzzer CAN cir-
(183) tance buzzer control module via ITS communication
cuit 1)
POSSIBLE CAUSE
Driver assistance buzzer control module
FAIL-SAFE
None
NO >> GO TO 2.
If DTC “U1530” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-175, "DTC
Logic".
NO >> GO TO 2.
2.CHECK DRIVER ASSISTANCE BUZZER CONTROL MODULE SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “BSW/BUZZER”.

U1538 EMCM CAN 3
U1538 EMCM CAN 3
A
DTC
play)
EMCM CAN CIRCUIT 3
U1538 (Energy management control ADAS control unit detects an error signal that is received from EMCM via CAN
(197) module controller area network communication D
3)
POSSIBLE CAUSE E
EMCM
FAIL-SAFE
G
• Blind Spot Warning (BSW)/Blind Spot Intervention H

If DTC “U1538” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. J
NO >> GO TO 2. K
L
2. Turn the ICC/ASCD system ON.
Is “U1538” detected as the current malfunction? M
NO-2 >> Confirmation after repair: INSPECTION END N
1.CHECK DTC PRIORITY DAS
Is applicable DTC detected? P
NO >> GO TO 2.
2.CHECK EMCM SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “EMCM”.

U1538 EMCM CAN 3
EC4-165, "DTC Index".

U1540 DAST 3 CAN 1
U1540 DAST 3 CAN 1
A
DTC
play)
DAST 3 CAN CIR 1
U1540
(Direct adaptive steering 3 control- ADAS control unit detects that chassis control module has a malfunction. D
(200)
ler area network circuit 1)
POSSIBLE CAUSE
Chassis control module E
FAIL-SAFE
G
If DTC “U1540” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. H
NO >> GO TO 2. I
L

N
NO >> GO TO 2.
2.CHECK SELF-DIAGNOSIS RESULTS DAS

U1541 DAST 3 CAN 2
U1541 DAST 3 CAN 2
DTC DETECTION LOGIC
DTC
play)
DAST 3 CAN CIR 2
U1541 ADAS control unit detects an error signal that is received from chassis control
(Direct adaptive steering 3 control-
(201) module via CAN communication
ler area network circuit 2)
POSSIBLE CAUSE
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.
2.CHECK BCM SELF-DIAGNOSIS RESULTS

POWER SUPPLY AND GROUND CIRCUIT
A
1.CHECK FUSES B
Check if any of the following fuses are blown:
Signal name Fuse No. C

Ignition power supply (VR30DDTT) 22
Ignition power supply (2.0 L turbo gasoline engine) 75
D
YES >> GO TO 2.
NO >> Replace the blown fuse after repairing the affected circuit if a fuse is blown. E
2.CHECK ADAS CONTROL UNIT POWER SUPPLY CIRCUIT
Check voltage between ADAS control unit harness connector and ground.
F
Terminal
Condition
(+) (–) Voltage
G
ADAS control unit (Approx.)
Ignition
Connector Terminal switch
Ground OFF 0V H
B1 12 Battery volt-
ON
age
Is the inspection result normal? I
YES >> GO TO 3.
NO >> Repair the ADAS control unit power supply circuit.
J
3.CHECK ADAS CONTROL UNIT GROUND CIRCUIT
2. Disconnect the ADAS control unit connector. K
ADAS control unit L

Continuity
B1 5 Existed
Is the inspection result normal? M
NO >> Repair the ADAS control unit ground circuit.
N
DAS

ADAS CONTROL UNIT
< REMOVAL AND INSTALLATION > [ADAS CONTROL UNIT]
REMOVAL AND INSTALLATION

ADAS CONTROL UNIT
Removal and Installation INFOID:0000000012796221
REMOVAL
CAUTION:
Before replacing ADAS control unit, perform “Read/Write Configuration” to save or print current vehi-
cle specification (With ICC models). For details, refer to DAS-100, "Work Procedure".
1. Remove the rear parcel shelf finisher. Refer to INT-37, "Removal and Installation".
2. Remove the trunk finisher front upper Refer to INT-57, "Removal and Installation".
3. Disconnect ADAS control unit connector.
4. Remove mounting bolts from ADAS control unit.
5. Remove ADAS control unit.
JSOIA0882ZZ
INSTALLATION
CAUTION:
Be sure to perform “Read/Write Configuration” when replacing ADAS control unit (With ICC models).
For details, refer to DAS-101, "Work Procedure".
Install in the reverse order of removal.

PRECAUTIONS
< PRECAUTION > [DRIVER ASSISTANCE SYSTEM]
PRECAUTION A
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT B
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along C
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted. D
Service Manual.
WARNING: E
F
see “SRS AIR BAG”. G
connectors. H
WARNING:
Always observe the following items for preventing accidental activation. I
a hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly causing J
serious injury.
K

L
switch and wait at least 30 seconds. M
N
DAS
SEF289H
P
NOTE:
NOTE:

PRECAUTIONS
• Example of high-load driving
NOTE:
nected, then DTC may be detected.
NOTE:
The removal of 12V battery may cause a DTC detection error.
ITS communication uses a twisted pair line. Be careful when repairing it.
NOTE:
SKIB8766E
• Bypass connection is never allowed at the repaired area.

NOTE:
Bypass connection may cause ITS communication error. The
line are lost.
SKIB8767E
DCA System Service INFOID:0000000013401433
CAUTION:
• Turn the DCA system OFF in conditions similar to driving, such as free rollers or a chassis dyna-
mometer.
• Erase DTC when replacing parts of DCA system, then check the operation of DCA system after radar
alignment if necessary.
PRECAUTION FOR ICC SENSOR
• Never use the ICC sensor removed from vehicle. Never disassemble or remodel.

PRECAUTIONS
• Never install a part that the radar irradiation range is interfered
with. A
• If a part interferes with the radar irradiation range, then the follow-
ing conditions are caused:
- The condition of ICC sensor becomes equal to an unclean condi-
B
tion, and this makes it difficult to measure the distance between
cars.
- When it is impossible to measure the distance between cars, the
following functions stop and DTC is detected. C
• Intelligent Cruise Control (ICC) JSOIA2053ZZ
• Distance Control Assist (DCA) D
PFCW System Service INFOID:0000000013401434
E
CAUTION:
• Turn the PFCW/FEB system OFF in conditions similar to driving, such as free rollers or a chassis
dynamometer.
• Erase DTC when replacing parts of ICC system, then check the operation of ICC system after radar F
alignment if necessary.
PRECAUTION FOR ICC SENSOR
G
• Never use the ICC sensor removed from vehicle. Never disassemble or remodel.
• Never install a part that the radar irradiation range is interfered
with.
• If a part interferes with the radar irradiation range, then the follow- H
ing conditions are caused:
- The condition of ICC sensor becomes equal to an unclean condi-
tion, and this makes it difficult to measure the distance between I
cars.
- When it is impossible to measure the distance between cars, the
following functions stop and DTC is detected.
• Forward Emergency Braking (FEB) J
• Intelligent Cruise Control (ICC) JSOIA2053ZZ
• Predictive Forward Collision Warning (PFCW) K
LDW/LDP System Service INFOID:0000000012796227
WARNING: L
Be careful of traffic conditions and safety around the vehicle when performing road test.
CAUTION:
• Never use the LDP system when driving with free rollers or a chassis dynamometer. M
• Never perform the active test while driving.
• Never disassemble and remodel the lane camera unit.
• Do not use the lane camera unit that is removed from the vehicle.
N
Blind Spot Warning/Blind Spot Intervention System Service INFOID:0000000012796228
WARNING: DAS
CAUTION:
• Never use the Blind Spot Intervention system when driving with free rollers or a chassis dynamome-
ter. P
• Do not use the lane camera unit that is removed from the vehicle.
• Never change BSW initial state ON ⇒ OFF without the consent of the customer.
TO KEEP THE BLIND SPOT WARNING/BLIND SPOT INTERVENTION SYSTEM OPERATING
PROPERLY, BE SURE TO OBSERVE THE FOLLOWING ITEMS:

PRECAUTIONS
Lane Camera Unit Maintenance
The lane camera unit for the LDW/LDP system is located above the inside mirror. To keep the proper opera-
tion of the LDW/LDP systems and prevent a system malfunction, be sure to observe the following:
• Always keep the windshield clean.
• Do not attach a sticker (including transparent material) or install an accessory near the camera unit.
• Do not place reflective materials, such as white paper or a mirror, on the instrument panel. The reflection of
sunlight may adversely affect the camera unit capability of detecting the lane markers.
• Do not strike or damage the areas around the camera unit.
• Do not touch the camera lens or remove the screw located on the camera unit.
System Maintenance
The two side radar for the Blind Spot Warning and Blind Spot Intervention systems are located near the rear
bumper.
• Always keep the area near the side radar clean.
• Do not attach stickers (including transparent material), install accessories or apply additional paint near the
side radar.
• Do not strike or damage the area around the side radar.
BCI system service INFOID:0000000012796229
WARNING:
CAUTION:
• Never use the BCI system when driving with free rollers or a chassis dynamometer.
• Never change BCI initial state ON ⇒ OFF without the consent of the customer.
TO KEEP THE BCI SYSTEM OPERATING PROPERLY, BE SURE TO OBSERVE THE FOLLOWING
ITEMS:
System Maintenance
The two side radars for the BCI system are located near the rear bumper.
• Always keep the area near the side radars clean.
side radars.
• Do not strike or damage the area around the side radars.
System Maintenance
The four rear sonars for the BCI system are located in the rear bumper.
• Always keep the area near the rear sonars clean.
rear sonars.
• Do not strike or damage the area around the rear sonars.

COMPONENT PARTS
< SYSTEM DESCRIPTION > [DRIVER ASSISTANCE SYSTEM]
SYSTEM DESCRIPTION A
COMPONENT PARTS
B
N
JSOIA2503ZZ
Instrument panel (Center) Instrument lower panel (RH) Engine room (RH) (2.0L turbo gaso-
line engine) DAS
Front bumper (RH) Engine room (LH) (VR30DDTT) Upper side of brake pedal

COMPONENT PARTS

• When a distance from an obstacle is detected, a distance signal is transmitted to the
Sonar sensor (rear) sonar control unit.
• Refer to AV-435, "Component Parts Location" for detailed installation location.
• ADAS control unit calculates a target distance between vehicles and a target speed,
based on signals received from each sensor and switch to transmit a brake fluid pres-
sure control signal to ABS actuator and electric unit (control unit) via CAN communica-
tion
ADAS control unit • ADAS control unit transmits the buzzer output signal to the combination meter via CAN
communication
• ADAS control unit transmits an accelerator pedal feedback force control signal to the
accelerator pedal actuator via ITS communication
• Refer to DAS-16, "Component Parts Location" for detailed installation location.
Side radar RH Refer to DAS-224, "Side Radar LH/RH"
Lane camera unit Refer to DAS-223, "Lane Camera Unit"

• EMCM transmits the brake pedal position switch signal and stop lamp switch signal to
ADAS control unit via CAN communication
EMCM
• Refer to EC4-25, "ENGINE CONTROL SYSTEM : Component Parts Location" for de-
tailed installation location.
Blind Spot Warning/Blind Spot In-
Refer to DAS-224, "Blind Spot Warning/Blind Spot Intervention Indicator LH/RH"
tervention indicator RH
• ECM transmits the accelerator pedal position signal, ICC brake switch signal, stop lamp
switch signal, ICC steering switch signal, etc. to ADAS control unit via CAN communi-
ECM (2.0L turbo gasoline engine) cation
• Refer to EC4-25, "ENGINE CONTROL SYSTEM : Component Parts Location" for de-
tailed installation location.
• ECM transmits the accelerator pedal position signal, ICC brake switch signal, stop lamp
switch signal, ICC steering switch signal, etc. to ADAS control unit via CAN communi-
cation
ECM (VR30DDTT)
• Refer to EC6-33, "ENGINE CONTROL SYSTEM : Component Parts Location" (USA
and Canada) or EC6-1024, "ENGINE CONTROL SYSTEM : Component Parts Loca-
tion" (Mexico) for detailed installation location.
• Transmits the turn indicator signal and position light request signal to ADAS control unit
via CAN communication
BCM
• Refer to BCS-5, "BODY CONTROL SYSTEM : Component Parts Location" for detailed
installation location.
• Direct adaptive steering system is controlled by three control modules of steering force
control module, steering angle main control module and steering angle sub control
Steeling angle main control module module.
• Receives steering reaction force request signal and controls the steering reaction force.
• Refer to STC-113, "Component Parts Location" for detailed installation location.
• The warning buzzer outputs by inputting the sensor signal from sonar sensors.
• Sensor signal that corresponds to the detected distance to an obstacle is transmitted to
Sonar control unit
around view monitor control unit via can communication.
• TCM transmits the signal related to A/T control to ADAS control unit.
TCM • Refer to TM-13, "A/T CONTROL SYSTEM : Component Parts Location" for detailed in-
stallation location.
• ABS actuator and electric unit (control unit) transmits the vehicle speed signal (wheel
speed), stop lamp signal and VDC/TCS/ABS system operation condition to ADAS con-
ABS actuator and electric unit trol unit via CAN communication
(control unit) • ABS actuator and electric unit (control unit) controls the brake, based on a brake fluid
pressure control signal received from ADAS control unit via CAN communication
• Refer to BRC-10, "Component Parts Location" for detailed installation location.
• Chassis control module transmits the drive mode signal to ADAS control unit via CAN
Chassis control module communication
• Refer to DAS-516, "Component Parts Location" for detailed installation location.

COMPONENT PARTS
A
• The warning buzzer sounds with the signal from the sonar control unit.
Buzzer
Blind Spot Warning/Blind Spot In-
Refer to DAS-224, "Blind Spot Warning/Blind Spot Intervention Indicator LH/RH" B
tervention indicator LH
Side radar LH Refer to DAS-224, "Side Radar LH/RH"
• Display control unit transmits the system selection signal to ADAS control unit via CAN
C
Display control unit communication
• ECM receives an ICC steering switch (dynamic driver assistance switch) signal and
Dynamic driver assistance switch transmits the signal to ADAS control unit via CAN communication (VR30DDTT) D
(On the ICC steering switch) • ADAS control unit receives an ICC steering switch (dynamic driver assistance switch)
signal (2.0 TURBO GASOLINE ENGINE)
• Measures the rotation amount, rotation speed, and rotation direction of steering wheel, E
Steering angle sensor and then transmits them to ADAS control unit via CAN communication
• Refer to BRC-10, "Component Parts Location" for detailed installation location.
Performs the following operations using the signals received from the ADAS control unit F
via the CAN communication
• Displays the system operation status using the meter display signal
Combination meter • Illuminates the system FEB warning lamp using the FEB warning lamp signal
• Operates the buzzer using the buzzer output signal G
• Refer to MWI-8, "METER SYSTEM : Component Parts Location" for detailed installa-
tion location.
Accelerator pedal actuator Refer to DAS-223, "Accelerator Pedal Actuator" H
• Change each system setting by switch operation
Integral switch
Driver assistance buzzer Refer to DAS-224, "Driver Assistance Buzzer" I
Driver assistance buzzer control
Refer to DAS-223, "Driver Assistance Buzzer Control Module"
module
ICC brake hold relay Refer to DAS-222, "ICC Brake Hold Relay"
J
ICC sensor Refer to DAS-221, "ICC Sensor"
Stop lamp switch K

Refer to DAS-222, "Brake Pedal Position Switch / Stop Lamp Switch"
ICC Sensor INFOID:0000000012796231 L
• ICC sensor is installed on the back of the front bumper and detects
a vehicle ahead by using millimeter waves. M
• ICC sensor detects radar reflected from a vehicle ahead by irradi-
ating radar forward and calculates a distance from the vehicle
ahead and relative speed, based on the detected signal.
• ICC sensor transmits the presence/absence of vehicle ahead and N
the distance from the vehicle to ADAS control unit via ITS commu-
nication.
DAS
JSOIA0811ZZ
ICC Steering Switch INFOID:0000000013401958

P
• ICC steering switch is installed to the steering wheel and allows the driver to operate the ICC system by
using this switch.
• ICC steering switch allows the ON/OFF of the Intelligent Cruise Control and the settings of a vehicle speed
and distance between vehicles.
• ICC steering switch signal is transmitted to ECM. ECM transmits the signal to the ADAS control unit via CAN
communication. (VR30DDTT)

COMPONENT PARTS
• ICC steering switch signal is transmitted to ADAS control unit. ADAS control unit transmits the signal to the
ADAS control unit via CAN communication. (2.0 TURBO GASOLINE ENGINE)
Brake Pedal Position Switch / Stop Lamp Switch INFOID:0000000012796233
• Brake pedal position switch is installed at the upper part of the

brake pedal and detects a brake operation performed by the driver.
JSOIA0812ZZ
• Brake pedal position switch is turned OFF when depressing the brake pedal.
• Brake pedal position switch signal is input to ECM. Brake pedal position switch signal is transmitted from
ECM to ADAS control unit via CAN communication. (VR30DDTT)
• Brake pedal position switch signal is input to EMCM. Brake pedal position switch signal is transmitted from
EMCM to ADAS control unit via CAN communication. (2.0 TURBO GASOLINE ENGINE)
• Stop lamp switch is installed at the upper part of the brake pedal
and detects a brake operation performed by the driver.
• Stop lamp switch is turned ON, when depressing the brake pedal.
• Stop lamp switch signal is input to ECM and ABS actuator and
electric unit (control unit). Stop lamp switch signals are transmitted
from ECM and ABS actuator and electric unit (control unit) to
ADAS control unit via CAN communication. (VR30DDTT)
• Stop lamp switch signal is input to BCM and ABS actuator and
electric unit (control unit). Stop lamp switch signals are transmitted
from BCM and ABS actuator and electric unit (control unit) to
ADAS control unit via CAN communication. (2.0 TURBO GASO-
JSOIA0439ZZ
LINE ENGINE)
ICC Brake Hold Relay INFOID:0000000012796234
• ICC brake hold relay is installed in the engine room (right side).
• When the brake is activated by the system, the ICC brake hold
relay turns ON the stop lamp by bypassing the circuit of the stop
lamp, according to a signal transmitted from the ADAS control unit.
JSOIA0565ZZ
Combination Meter INFOID:0000000012796235
• Receives meter display signal from ADAS control unit via CAN communication.
• Displays the system status according to a signal received from the ADAS control unit.

COMPONENT PARTS
Accelerator Pedal Actuator INFOID:0000000012796236
A
• Installed to the upper portion of the accelerator pedal, this consists
of the accelerator pedal actuator together with the accelerator
pedal position sensor, and is linked with the accelerator pedal. B
• If accelerator pedal feedback force control signal is received from
ADAS control unit via ITS communication, it operates the inte-
grated motor for applying control to move the accelerator pedal
upward. C
D
JSOIA0813ZZ
Lane Camera Unit INFOID:0000000012796237

E
Lane camera unit detects the lane marker in travel lane and located above the inside mirror.
WITH DIRECT ADAPTIVE STEERING SYSTEM
F
Transmits lane marker signal to Chassis Control Module via Chassis
communication.
I
JSOIA0828ZZ
WITHOUT DIRECT ADAPTIVE STEERING SYSTEM

Transmits lane marker signal to ADAS control unit via ITS communi- J
cation.
JSOIA0580ZZ M
Driver Assistance Buzzer Control Module INFOID:0000000012796238
• Driver assistance buzzer control module is installed at the behind N

of glove box.
• When driver assistance buzzer signal is received from the ADAS
control unit, the driver assistance buzzer control module transmits DAS
the warning buzzer signal to driver assistance buzzer.
JSOIA0816ZZ

COMPONENT PARTS
Driver Assistance Buzzer INFOID:0000000012796239
• Driver assistance buzzer is installed at the behind the display con-

trol unit.
• When a warning buzzer signal is received from the driver assis-
tance buzzer control module, the driver assistance buzzer sounds
a buzzer.
JSOIA0815ZZ
Side Radar LH/RH INFOID:0000000012796240
• Installed near the rear bumper, the side radar detects other vehi-
cles beside own vehicle in an adjacent lane.
• Connected with the ADAS control unit via ITS communication, the
side radar transmits a vehicle detection signal.
• Receives a Blind Spot Warning/Blind Spot Intervention indicator
signal and a Blind Spot Warning/Blind Spot Intervention indicator
dimmer signal from the ADAS control unit and transmits an indica-
tor operation signal to the Blind Spot Warning/Blind Spot Interven-
tion indicator LH/RH.
• Since side radar RH and side radar LH have the same specifica-
tions, side radar RH has the right/left switching signal circuit for
JSOIA0504ZZ
identification.
Blind Spot Warning/Blind Spot Intervention Indicator LH/RH INFOID:0000000012796241
• Installed on the front door corner cover, the Blind Spot Warning/Blind Spot Intervention indicator warns the
driver by lighting/blinking.
• Receives a Blind Spot Warning/Blind Spot Intervention indicator operation signal from the side radar LH/RH
and blinks or turns ON/OFF the Blind Spot Warning/Blind Spot Intervention indicator.
Dynamic Driver Assistance Switch INFOID:0000000012796242
• Dynamic driver assistance switch is integrated in ICC steering switch.

• ICC steering switch is input to ADAS control unit.
NOTE:
Dynamic driver assistance switch is shared with following systems.
• Lane Departure Prevention (LDP)

SYSTEM
SYSTEM
A
DCA
DCA : System Description INFOID:0000000012796243
B
SYSTEM DIAGRAM
VR30DDTT C
DAS
JSOIA0995GB

SYSTEM
2.0 TURBO GASOLINE ENGINE
JSOIA0887GB
NOTE:
trol unit via ECM.
Input Signal Item

SYSTEM

Idle switch signal Receives idle position state (ON/OFF)
Closed throttle position signal Receives idle position state (ON/OFF)
Accelerator pedal position signal Receives accelerator pedal position (angle)
B
CAN com- Engine speed signal Receives engine speed
munica-
ECM Stop lamp switch signal Receives an operational state of the brake pedal
tion C
*1 Receives an operational state of the brake pedal
Brake pedal position switch signal
Dynamic driver as-
ICC steering switch Receives the operational state of the dynamic driver as-
sistance switch sig- D
signal sistance switch
nal
CAN com-
EMCM*2 munica- Brake pedal position switch signal Receives an operational state of the brake pedal E
tion
CAN com- Current gear position signal Receives a current gear position
TCM F
munica-
(Via ECM*2) tion Shift position signal Receives a selector lever position
G

ABS warning lamp signal Receives an ON/OFF state of ABS warning lamp H
TCS malfunction signal Receives a malfunction state of TCS
ABS actuator CAN com- TCS operation signal Receives an operational state of TCS
and electric unit munica- I
VDC OFF switch signal Receives an ON/OFF state of VDC
(control unit) tion
J
Vehicle speed signal (ABS) Receives wheel speeds of four wheels
Stop lamp switch signal Receives an operational state of the brake pedal K
Steering angle sensor malfunction signal Receives a malfunction state of steering angle sensor
CAN com-
munica- Steering angle sensor signal L
tion
CAN com-
Display control
Receives a selection state of each item in “Driver Aids” M
unit selected with the integral switch
tion
ITS com-
Receives detection results, such as the presence or ab- N
tion
ITS com-
Accelerator Accelerator pedal actuator operation status Receives an operational state of accelerator pedal ac-
munica- DAS
pedal actuator signal tuator
tion
*1: VR30DDTT engine models
*2: 2.0L turbo gasoline engine models P
Output Signal Item

SYSTEM

ABS actuator
and electric CAN commu- Transmits a brake fluid pressure control signal to acti-
Brake fluid pressure control signal
unit (control nication vates the brake
unit)
Vehicle ahead detection
Combination CAN commu- Meter display indicator signal Transmits a signal to display a state of the system on the
meter nication signal DCA system display information display
signal
Transmits a vehicle speed calculated by the ADAS con-
ITS commu- trol unit
ICC sensor
nication Transmits a steering angle sensor signal received from
Steering angle sensor signal
the steering angle sensor
Transmits an accelerator pedal angle calculated by the
Accelerator pedal position signal
Accelerator ITS commu- ADAS control unit
pedal actuator nication Accelerator pedal feedback force control Transmits a target actuation force value calculated by
signal the ADAS control unit
Driver assis-
ITS commu- Transmits a driver assistance buzzer signal to active the
nication buzzer
control module
ICC brake hold Activates the brake hold relay and turns ON the stop
ICC brake hold relay drive signal
relay lamp
FUNCTION DESCRIPTION
When a vehicle is detected ahead
• The vehicle ahead detection indicator comes ON.
When vehicle approaches a vehicle ahead
• If the driver is not depressing the accelerator pedal, the system activates the brakes to decelerate smoothly
as necessary. If the vehicle ahead comes to a stop, the vehicle decelerates to a standstill within the limita-
tions of the system.
• If the driver is depressing the accelerator pedal, the system moves the accelerator pedal upward to assist
the driver to release the accelerator pedal.
When brake operation by driver is required
• The system alerts the driver by a warning chime and blinking the vehicle ahead detection indicator. If the
driver is depressing the accelerator pedal after the warning, the system moves the accelerator pedal upward
to assist the driver to switch to the brake pedal.
CAUTION:
If the vehicle ahead comes to a standstill, the vehicle decelerates to a standstill within the limitations
of the system. The system will release brake control with a warning chime once it judges the vehicle is
at a standstill. To prevent the vehicle from moving, the driver must depress the brake pedal. [The sys-
tem will resume control automatically once the system reaches 5 km/h (3 MPH)].
NOTE:
• Depending on the position of the accelerator pedal, the system may not be able to assist the driver to
release the accelerator pedal appropriately.
• When the driver depresses the accelerator pedal even further while the system is moving the accelerator
pedal upward, the accelerator pedal control will be canceled.
• When the driver is depressing the accelerator pedal, the brake control by the system is not operated.
• When the driver is depressing the brake pedal, neither the brake control nor the alert by the system oper-
ates.
• When the ICC system is set, the DCA system will be canceled.
• Setting of DCA is performed in synchronization with the log-in function of on-board personal assistant. For
details of the log-in function, refer to DMS-17, "LOG-IN FUNCTION : System Description".
OPERATION DESCRIPTION
ICC sensor calculates a distance from a vehicle ahead and a relative speed to transmit the ICC sensor signal
to the ADAS control unit via ITS communication. Based on the received signal, the ADAS control unit trans-

SYSTEM
mits a control signal to the accelerator pedal actuator via ITS communication and to the ABS actuator control
unit (control unit) via CAN communication. A
B
If the driver is not depressing the acceler-
ator pedal, the system activates the
brakes to decelerate smoothly as neces-
sary C
JSOIA0222ZZ
When vehicle approaches a vehicle ahead
D
If the driver is depressing the accelerator

pedal, the system moves the accelerator
pedal upward to assist the driver to re-
E
lease the accelerator pedal
JSOIA0094ZZ F
The system alerts the driver by a warning

chime and blinking the vehicle ahead de-
tection indicator. If the driver is depressing G
When brake operation by driver is required the accelerator pedal after the warning,
the system moves the accelerator pedal
upward to assist the driver to switch to the H
brake pedal
JPOIA0170GB
It transmits the brake fluid pressure control signal to the ABS actuator and electric unit (control unit) via I
Deceleration control
chassis control module and performs the brake control
Accelerator pedal actuation It transmits the accelerator pedal feedback force control signal to the accelerator pedal actuator via ITS
control communication and controls the accelerator pedal in the upward direction J
Operation Condition
ADAS control unit performs the control when the following conditions are satisfied.
• When the dynamic driver assistance switch is turned to ON. K
• When the DCA system display is ON (green). (Dynamic driver assistance icon ON in “Forward” position)
• When the brake pedal is not depressed.
• When the vehicle speed is above approximately 5 km/h (3 MPH). L
• When the vehicle ahead is detected.
• When the ICC system is not set.
No Operation Condition M
The ADAS control unit is not operate when the system is under any conditions of the no operation condition.
• When the brake pedal depressed.
• When the ICC system is set.
N
• When the system judges that the vehicle comes to a standstill by the system control.
• When the vehicle ahead is not detected.
Operation Cancellation Condition DAS
The ADAS control unit cancels the operation when the system is under any conditions of the operation cancel-
lation condition.
• When the dynamic driver assistance switch is turned to OFF.
• When the system malfunction occurs. P
• When ABS or VDC (including the TCS) operates.
• When the VDC is turned OFF.
• When the drive mode select switch is in SNOW position.
• When the front bumper grille near the ICC sensor is dirty and the measurement of the distance between the
vehicles becomes difficult.
Operation At The Driver Operation
Give priority to the driver operation in the following situation.

SYSTEM
• When the accelerator pedal is depressed again.
• When the brake pedal is depressed.
PFCW
PFCW : System Description INFOID:0000000012796244
SYSTEM DIAGRAM
JSOIA0888GB

Input Signal Item

and electric unit munica- Vehicle speed signal (ABS) Receives wheel speeds of four wheels
(control unit) tion
CAN com-
Display control Receives a selection state each item in “Driver Aids” se-
unit lected with the integral switch
tion
ITS com-
tion
Output Signal Item

Vehicle ahead detec- Transmits a signal to display a state of the system on
Combination CAN commu- Meter display tion indicator signal the information display
meter nication signal PFCW/FEB system in- Transmits a signal to turn ON the PFCW/FEB system
dicator signal indicator
ITS commu- Transmits a vehicle speed calculated by the ADAS
ICC sensor Vehicle speed signal
nication control unit
Driver assis-
ITS commu- Transmits a driver assistance buzzer signal to activate
nication the buzzer
control module
DESCRIPTION
• The PFCW system will function when own vehicle is driven at speeds of approximately 5 km/h (3 MPH) and
above.

SYSTEM
• The Predictive Forward Collision Warning (PFCW) System alerts the driver by the vehicle ahead detection
indicator and chime when the distance between own vehicle and a vehicle in front of the vehicle ahead A
becomes closer.
JSOIA0905ZZ
F
NOTE:
The PFCW/FEB system shares the diagnosis function with ICC/DCA system.
FUNCTION DESCRIPTION G
The distance from the vehicle in front of the vehicle ahead and a relative speed are calculated by using the
ICC sensor and an ICC sensor signal is transmitted to the ADAS control unit via ITS communication. When
judging the necessity of warning according to the received ICC sensor signal, the ADAS control unit transmits
H
a driver assistance buzzer signal to the chassis control module via ITS CAN and meter display signal to the
combination meter via CAN communication.
PFCW Operating Condition
I
• PFCW/FEB system display (white): ON (Speaker icon ON in “Forward” position)
• Vehicle speed: Approximately 5 km/h (3 MPH) and above.
• Vehicle in front of the vehicle ahead: Detected.
NOTE: J
• ON/OFF of PFCW/FEB system is performed with the integral switch.
• Setting of PFCW/FEB is performed in synchronization with the log-in function of on-board personal assis-
tant. For details of the log-in function, refer to DMS-17, "LOG-IN FUNCTION : System Description". K
LDW (WITH DIRECT ADAPTIVE STEERING SYSTEM)
DAS

SYSTEM
LDW (WITH DIRECT ADAPTIVE STEERING SYSTEM) : System Description
INFOID:0000000013403087
SYSTEM DIAGRAM
JSOIA1563GB
INPUT/OUTPUT SIGNAL ITEM
Reception unit Transmit unit Signal name Description

Chassis Detected lane condition signal Receives detection results of lane marker
Lane camera
communi-
unit Lane camera unit condition signal Receives lane camera unit condition
cation
ABS actuator
CAN com-
and electric unit Vehicle speed signal (ABS) Receives wheel speeds of front wheels
munication
(control unit)
Receives an operational state of the turn
Chassis control Turn indicator signal
CAN com- signal lamp and the hazard lamp
module BCM
munication Receives an operational state of the front
Front wiper request signal
wiper
Chassis
ADAS control
communi- LDW ON signal Receives an ON/OFF state of LDW
unit
cation
Drive mode se-
Hard wire Drive mode select switch signal Detects the snow mode selection.
lect switch
Receives a selection state of each item in
ADAS control Display control CAN com-
System selection signal “Driver Aids” selected with the integral
unit unit munication
switch.

SYSTEM
A
Transmits a vehicle speed calculated by the
Chassis Vehicle speed signal
Lane camera chassis control module
communi-
unit Transmits a turn indicator signal received
cation Turn indicator signal
from BCM B
Combination
meter Chassis control Transmits a signal to display a state of the
LDW system display signal
(Via ADAS con- module system on the information display C
trol unit) Chassis
Driver assis- communi-
tance buzzer cation
Transmits warning buzzer signal to acti- D
control module Warning buzzer signal
vates the warning buzzer
(Via ADAS con-
trol unit)
E
• Lane Departure Warning (LDW) system provides a lane departure warning function when the vehicle is
driven at speeds of approximately 70 km/h (45 MPH) or more.
• When the vehicle approaches either the left or the right side of the traveling lane, a warning will sound and F
LDW system display on the combination meter will blink to alert the driver.
• The warning does not occur during turn signal operation (Lane change side).
• The warning function will stop when the vehicle returns inside of the lane markers. G
EXAMPLE
JPOIA0014GB
L
When the vehicle approaches the right lane marker, the driver is alerted by the buzzer and the blinking of LDW
system display.
NOTE: M
For details of LDW system indication on the combination meter, refer to DAS-266, "PFCW/LDW/BSW : Menu
Displayed by Pressing Each Switch".
OPERATION DESCRIPTION N
• LDW system is controlled by chassis control module and ADAS control unit.
• When the system is turned ON by operating the warning systems switch, ADAS control transmits LDW ON
signal to combination meter via CAN communication. DAS
• Lane camera unit monitors lane markers of the traveling lane and transmits the detected lane condition sig-
nal to chassis control module via chassis communication.
• When judging from a lane marker detection signal that the vehicle is approaching the lane marker, chassis
control module controls the following items. P
- Transmits LDW system display signal and warning buzzer signal to ADAS control unit via chassis communi-
cation.
• ADAS control unit controls the following items according to the signals from chassis control module.
- Transmits warning buzzer signal to warning buzzer through driver assistance buzzer control module via ITS
communication.
- Transmits LDW system display signal to combination meter via CAN communication.
• Combination meter displays LDW system display on the vehicle information display.

SYSTEM
OPERATING CONDITION
• LDW system display (white): ON (Speaker icon ON in “Lane” position)
• Vehicle speed: approximately 70 km/h (45 MPH) or more
• Turn indicator signal: After 2 seconds or more from turned OFF
NOTE:
• LDW system ON/OFF can be set on the integral switch.
• After the operating conditions of warning are satisfied, the warning continues until the vehicle speed reaches
approximately 60 km/h (37 MPH)
• LDP system is OFF. (Dynamic driver assistance icon OFF in “Lane” position).
• LDW system may not function properly, depending on the situation. Refer to DAS-283, "Precautions for Lane
Departure Warning/Lane Departure Prevention"
LDW (WITHOUT DIRECT ADAPTIVE STEERING SYSTEM)
LDW (WITHOUT DIRECT ADAPTIVE STEERING SYSTEM) : System Description
INFOID:0000000013403088
SYSTEM DIAGRAM
JSOIA0889GB

Input Signal Item

and electric unit munica- Vehicle speed signal (ABS) Receives wheel speeds of four wheels
(control unit) tion
CAN com-
BCM munica- Turn indicator signal
and the hazard lamp
tion
CAN com-
Display control Receives a selection state of each item in “Driver Aids”
tion
ITS com-
Lane camera
unit
tion
Output Signal Item

SYSTEM
Reception unit Signal name Description A

Combination CAN commu- Meter display LDW system display Transmits a meter display signal to turn ON the LDW
meter nication signal signal system display
Transmits a vehicle speed calculated by the ADAS B
Lane camera ITS commu- Vehicle speed signal
control unit
unit nication
Turn indicator signal Transmits a turn indicator signal received from BCM
Driver assis- Transmits a warning buzzer signal to activates the C
Driver assistance buzzer signal
tance buzzer buzzer
D
• Lane Departure Warning (LDW) system provides a lane departure warning function when the vehicle is
driven at speeds of approximately 60 km/h (37 MPH) or more.
• When the vehicle approaches either the left or the right side of the traveling lane, a warning will sound and
the lane departure warning lamp (yellow) on the combination meter will blink to alert the driver. E
• The warning does not occur during turn signal operation (Lane change side).
• The warning function will stop when the vehicle returns inside of the lane markers.
EXAMPLE F
JPOIA0014GB
When the vehicle approaches the right lane marker, the driver is alerted by the buzzer and the blinking of LDW K
warning display (yellow).
• Lane camera unit monitors lane markers of the traveling lane. It transmits the detected lane condition signal L
to ADAS control unit via ITS communication.
• When judging from a lane marker detection signal that the vehicle is approaching the lane marker, the ADAS
control unit controls the following item to alert the driver. M
- Activates warning buzzer by driver assistance buzzer control module.
- ADAS control unit transmits a meter display signal to combination meter via CAN communication and turns
ON/OFF the LDW system display.
N
OPERATING CONDITION
• LDW system display (white): ON (Speaker icon ON in “Lane” position)
• Turn indicator signal: After 2 seconds or more from turned OFF DAS
NOTE:
• LDW system ON/OFF can be set on the integral switch.
• After the operating conditions of warning are satisfied, the warning continues until the vehicle speed reaches P
• LDP system is OFF. (Dynamic driver assistance icon OFF in “Lane” position)
• The LDW system may not function properly, depending on the situation. Refer to DAS-283, "Precautions for
Lane Departure Warning/Lane Departure Prevention"
LDP (WITH DIRECT ADAPTIVE STEERING SYSTEM)

SYSTEM
LDP (WITH DIRECT ADAPTIVE STEERING SYSTEM) : System Description
INFOID:0000000013403089
SYSTEM DIAGRAM
JSOIA1038GB

SYSTEM
Reception unit Transmit unit Signal name Description A

Lane camera
communi-
cation
B
Direct adaptive steering status sig-
Receives status of Direct Adaptive Steering
nal
Steering angle Chassis Direct adaptive steering malfunc- Receives a malfunction state of Direct C
main control communi- tion signal Adaptive Steering
module cation Steering force actuator status sig- Receives torque state of steering force ac-
nal tuator.
D
ALC permission signal Receives a permission state of the ALC.
ABS operation signal Receives an operational state of ABS E
ABS actuator F
CAN com- VDC operation signal Receives an operational state of VDC
and electric unit
munication EBD operation signal Receives an operational state of EBD
(control unit)
Vehicle speed signal (ABS) Receives wheel speeds of front wheels G
Chassis control Yaw rate signal Receives yaw rate acting on the vehicle
module Side G sensor signal Receives lateral G acting on the vehicle
H
Stop lamp switch Receives stop lamp switch state
CAN com-
ECM Accelerator pedal position signal Receives accelerator pedal position (angle)
munication
I
BCM
Front wiper request signal J
wiper
TCM
munication Shift position signal Receives a selector lever position
K
CAN com-
A/C auto amp. Ambient temperature signal Receives an ambient temperature
munication
Chassis L
ADAS control
communi- LDP ON signal Receives an ON/OFF state of LDP
unit
cation
Combination CAN com- Receives an operational state of the park-
Parking brake switch signal M
meter munication ing brake
Drive mode se-
lect switch
N
ICC steering Dynamic driver assistance switch Detects the operational state of the dynam-
Hard wire
switch signal ic driver assistance switch.
ADAS control
unit Receives a selection state of each item in
Display control CAN com- DAS
unit munication
switch.

SYSTEM
Steering angle Chassis
main control communi- Steering angle request signal Transmits steering angle request signal
module cation
communi-
from BCM
Chassis control
Combination
module
meter Transmits a signal to display a state of the
LDP system display signal
(Via ADAS con- system on the information display
trol unit) Chassis
Driver assis- communi-
tance buzzer cation
Transmits warning buzzer signal to acti-
control module Warning buzzer signal
(Via ADAS con-
trol unit)
• Lane Departure Prevention (LDP) system provides a lane departure warning and steering control assistance
when the vehicle is driven at speeds of approximately 70 km/h (45 MPH) or more.
• When the vehicle approaches either the left or the right side of the traveling lane, a warning sounds and the
LDP system display on the combination meter blinks to alert the driver. Then, the LDP system automatically
applies the steering to help assist the driver to return the vehicle to the center of the traveling lane.
• Warning and steering control are not performed during turn signal operation (lane change side).
• The warning and assist functions stop when the vehicle returns to a position inside of the lane marker.
EXAMPLE
JSOIA1039GB
When the vehicle approaches the right lane marker, the driver is alerted by the buzzer and the blinking of LDP
system display. Simultaneously, the steering is controlled to return the vehicle to the lane.
NOTE:
For details of LDP system indication on the combination meter, refer to DAS-272, "DCA/LDP/BLIND SPOT
INTERVENTION : Menu Displayed by Pressing Each Switch".
• LDP system is controlled by chassis control module and ADAS control unit.
• When the system is turned ON by dynamic driver assistance switch, ADAS control unit transmits LDP ON
signal to chassis control module via chassis communication.
• Lane camera unit monitors lane markers of the traveling lane and transmits the detected lane condition sig-
• When judging from a lane marker detection signal that the vehicle is approaching the lane marker, chassis
control module controls the following items.
- Transmits LDP system display signal and warning buzzer signal to ADAS control unit via chassis communi-
cation.

SYSTEM
- Calculates necessary steering angle to transmit steering angle signal to steering angle main control module
via chassis communication. A
communication.
B
- Transmits LDP system display signal to combination meter via CAN communication.
• Direct Adaptive Steering* controls steering angle according to the steering angle signal.
*: Direct Adaptive Steering is controlled by three control modules of steering force control module, steering
angle main control module and steering angle sub control module. C
• Combination meter displays LDP system display on the information display.
OPERATING CONDITION
• LDP system display (green): ON (Dynamic driver assistance icon ON “Lane” position and dynamic driver D
assistance switch ON)
• Turn indicator signal: After 2 seconds or more from turned OFF E
NOTE:
• LDP system ON/OFF can be set on the integral switch.
• After the operating conditions are satisfied, the control continues until the vehicle speed reaches approxi-
mately 60 km/h (37 MPH). F
• LDP system may not function properly, depending on the situation. Refer to DAS-283, "Precautions for Lane
Departure Warning/Lane Departure Prevention".
LDP (WITHOUT DIRECT ADAPTIVE STEERING SYSTEM) G
DAS

SYSTEM
LDP (WITHOUT DIRECT ADAPTIVE STEERING SYSTEM) : System Description
INFOID:0000000013403090
SYSTEM DIAGRAM
JSOIA0890GB
NOTE:
trol unit via ECM.

SYSTEM
Input Signal Item
A
CAN com- Accelerator pedal position signal Receives accelerator pedal position (angle)
ECM munica- B
tion Engine speed signal Receives engine speed

CAN com- Current gear position signal Receives a current gear position C
TCM
munica-
(Via ECM) Shift position signal Receives a selector lever position
tion
D
TCS malfunction signal Receives a malfunction state of TCS E
ABS actuator CAN com- VDC OFF switch signal Receives an ON/OFF state of VDC
and electric unit munica- F
(control unit) tion VDC malfunction signal Receives a malfunction state of VDC
G
CAN com- H
Combination
munica- Parking brake switch signal Receives an operational state of the parking brake
meter
tion
CAN com-
I
BCM munica- Turn indicator signal
and the hazard lamp
tion
Steering angle sensor malfunction signal Receives a malfunction state of steering angle sensor J
CAN com-
munica- Steering angle sensor signal
tion
Steering angle speed signal Receives the turning angle speed of the steering wheel K
CAN com-
tion
L
ITS com-
tion
M
ITS com-
Lane camera
unit
tion
Dynamic driver as- N
Steering switch Receives the operational state of the dynamic driver as-
ICC steering switch signal sistance switch sig-
RH sistance switch
nal
DAS
Output Signal Item

P
ABS actuator
and electric CAN commu- Transmits a target yaw moment signal to generate
Target yaw moment signal
unit (control nication yaw moment to the vehicle
unit)
Combination CAN commu- Meter display Transmits an meter display signal to turn ON the LDP
LDP system display
meter nication signal system display

SYSTEM
Lane camera ITS commu- Vehicle speed signal
control unit
unit nication
Driver assis-
ITS commu- Transmits a driver assistance buzzer signal to acti-
nication vates the buzzer
control module
• Lane Departure Prevention (LDP) system provides a lane departure warning and brake control assistance
when the vehicle is driven at speeds of approximately 60 km/h (37 MPH) or more.
• When the vehicle approaches either the left or the right side of the traveling lane, a warning sounds and the
LDP warning display (Yellow) on the combination meter blinks to alert the driver. Then, the LDP system auto-
matically applies the brakes for a short period of time to help assist the driver to return the vehicle to the cen-
ter of the traveling lane.
• Warning and brake control are not performed during turn signal operation (lane change side).
• The warning and assist functions stop when the vehicle returns to a position inside of the lane marker.
EXAMPLE
JPOIA0013GB
When the vehicle approaches the right lane marker, the driver is alerted by the buzzer and the blinking of LDP
warning display (yellow). Simultaneously, the left brake is controlled independently to generate force toward
the direction to recover the vehicle from the lane departure.
• When the system is turned ON by dynamic driver assistance switch, ADAS control unit transmits meter dis-
play signal to combination meter via CAN communication.
• Lane camera unit monitors lane markers of the traveling lane. It transmits the detected lane condition signal
to ADAS control unit via ITS communication.
• When judging from a lane marker detection signal that the vehicle is approaching the lane marker, ADAS
control unit controls the following items.
- Transmits a meter display signal to combination meter via CAN communication.
- Calculates necessary yaw moment to transmit a target yaw moment signal to ABS actuator and electric unit
(control unit) via CAN communication.
• When receiving the target yaw moment signal, ABS actuator and electric unit (control unit) controls brake
pressure of four wheels, respectively.
• When receiving the signal from ADAS control unit, combination meter turns ON/OFF the LDP system dis-
play.
OPERATING CONDITION
• LDP system display (green): ON (Dynamic driver assistance icon ON “Lane” position)
• Turn indicator signal: After 2 seconds or more from turned OFF
NOTE:
• When the LDP system setting on the integral switch is ON.

SYSTEM
• After the operating conditions are satisfied, the control continues until the vehicle speed reaches approxi-
mately 50 km/h (32 MPH). A
• The LDP system may not function properly, depending on the situation. Refer to DAS-283, "Precautions for
Lane Departure Warning/Lane Departure Prevention".
BSW B
BSW : System Description INFOID:0000000012796247
C
SYSTEM DIAGRAM
H
JSOIA0898GB
ADAS CONTROL UNIT INPUT/OUTPUT SIGNAL ITEM I

ADAS control unit receives signals via CAN communication. It also detects vehicle conditions that are neces-
sary for Blind Spot Warning control.
Input Signal Item J

TCM CAN communication Shift position signal Receives a selector lever position K
ABS actuator
and electric unit CAN communication Vehicle speed signal (ABS) Receives wheel speeds of four wheels
(control unit)
L
Receives an operational state of the turn signal lamp and
BCM CAN communication the hazard lamp
Dimmer signal Receives ON/OFF state of dimmer signal M
CAN communication System selection signal
Side radar LH, N
ITS communication Vehicle detection signal Receives vehicle detection condition of detection zone.
RH
Output Signal Item

DAS
Combination CAN communi- BSW system dis- Transmits a meter display signal to turn ON the Blind
Meter display signal
meter cation play Spot Warning system display P

SYSTEM
tion indicator signal to turn ON the Blind Spot Warning/
Blind Spot Intervention indicator
Side radar LH, ITS communi- Transmits a Blind Spot Warning/Blind Spot Interven-
RH cation tion indicator dimmer signal to dimmer Blind Spot
tion indicator dimmer signal
Warning/Blind Spot Intervention indicator
control unit
Driver assis-
ITS communi- Transmits a driver assistance buzzer signal to acti-
cation vates the buzzer
control module
• The BSW system can help alert the driver of other vehicles in adjacent lanes when changing lanes.
• The BSW system uses side radar installed near the rear bumper to detect vehicles in an adjacent lane.
• The side radar can detect vehicles on either side of vehicle within the detection zone shown as illustrated.
• This detection zone starts from the outside mirror of vehicle and extends approximately 10 ft (3.0 m) behind
the rear bumper, and approximately 10 ft (3.0 m) sideways.
• The BSW system operates above approximately 32 km/h (20 MPH).
• If the side radar detects vehicles in the detection zone, the Blind Spot Warning/Blind Spot Intervention indi-
cator illuminates.
JSOIA0257GB
• If the driver then activates the turn signal, a buzzer will sound twice and the Blind Spot Warning/Blind Spot
Intervention indicator will blink.
NOTE:
A buzzer sounds if the side radar have already detected vehicles when the driver activates the turn signal. If
a vehicle comes into the detection zone after the driver activates the turn signal, then only the Blind Spot
Warning/Blind Spot Intervention indicator blinks and no buzzer sounds.
JSOIA0258GB

SYSTEM
BLIND SPOT WARNING SYSTEM OPERATION DESCRIPTION
• ADAS control unit enables BSW system. A
• The ADAS control unit turns on the BSW system when the turned ON by integral switch.
• Side radar detects a vehicle in the adjacent lane, and transmits the vehicle detection signal to ADAS control
unit via ITS communication. B
• ADAS control unit starts the control as follows, based on a vehicle detection signal, turn signal and dimmer
signal transmitted from BCM via CAN communication:
- Blind Spot Warning/Blind Spot Intervention indicator signal and Blind Spot Warning/Blind Spot Intervention
indicator dimmer signal transmission to side radar. C
• Side radar transmits an indicator operation signal to the Blind Spot Warning/Blind Spot Intervention indicator
according to Blind Spot Warning/Blind Spot Intervention indicator signal and Blind Spot Warning/Blind Spot D
Intervention indicator dimmer signal.
OPERATING CONDITION
• Blind Spot Warning system display (white): ON (Speaker icon ON in “Blind spot” position) E
• Vehicle speed: Approximately 32 km/h (20 MPH) or more.
NOTE:
ON/OFF of Blind Spot Warning system is performed with the integral switch.
• After the operating conditions of warning are satisfied, the warning continues until the vehicle speed reaches F
• The Blind Spot Warning system may not function properly, depending on the situation. Refer to DAS-284,
"Precautions for Blind Spot Warning/Blind Spot Intervention". G
• Setting of BSW is performed in synchronization with the log-in function of on-board personal assistant. For
BLIND SPOT INTERVENTION (WITH DIRECT ADAPTIVE STEERING SYSTEM) H
BLIND SPOT INTERVENTION (WITH DIRECT ADAPTIVE STEERING SYSTEM) :
I
DAS

SYSTEM
SYSTEM DIAGRAM
JSOIA1040GB

SYSTEM

Lane camera
communi-
cation
B
nal
nal tuator.
D
ABS actuator F
and electric unit
(control unit)
Vehicle speed signal (ABS) Receives wheel speeds of front wheels G
Chassis control H
module
CAN com-
ECM Accelerator pedal position signal Receives accelerator pedal position (angle)
munication
I
BCM
Front wiper request signal J
wiper
TCM
munication Shift position signal Receives a selector lever position
K
CAN com-
munication
Chassis L
ADAS control
communi- BSI ON signal Receives an ON/OFF state of BSI
unit
cation
Combination CAN com- Receives an operational state of the park-
Parking brake switch signal M
meter munication ing brake
Side radar RH/
Chassis
LH Receives vehicle detection condition of de-
communi- Vehicle detection signal
(Via ADAS con- tection zone. N
cation
trol unit)
Drive mode se-
lect switch DAS
ICC steering Dynamic driver assistance switch Detects the operational state of the dynam-
Hard wire
switch signal ic driver assistance switch.
ADAS control
unit Receives a selection state of each item in P
Display control CAN com-
unit munication
switch.

SYSTEM
Steering angle Chassis Steering angle request signal Transmits steering angle request signal
main control communi- Steering reaction force request sig- Transmits steering reaction force request
module cation nal signal
communi-
from BCM
Combination
meter Blind Spot Intervention system dis- Transmits a signal to display a state of the
Chassis control
(Via ADAS con- play signal system on the information display
module
trol unit)
Driver assis-
tance buzzer Chassis
Transmits warning buzzer signal to acti-
control module communi- Warning buzzer signal
(Via ADAS con- cation
trol unit)
Side radar RH/
Transmits Blind Spot Intervention indication
LH Blind Spot Intervention indication
signal to turn ON the Blind Spot Warning/
(Via ADAS con- signal
Blind Spot Intervention indicator
trol unit)
• The Blind Spot Intervention system can help alert the driver of other vehicles in adjacent lanes when chang-
ing lanes. Blind Spot Intervention always operates together with Blind Spot Warning.
• The Blind Spot Intervention system operates above approximately 60 km/h (37 MPH).
• The Blind Spot Intervention system uses side radar installed near the rear bumper to detect other vehicles
beside vehicle in an adjacent lane.
• If the Blind Spot Warning/Blind Spot Intervention indicator is illuminated while vehicle is approaching a lane
marker, the Blind Spot Warning/Blind Spot Intervention indicator blinks and an audible warning will sound
three times. Then the system applies the steering to help return the vehicle back to the center of the lane.
JSOIA1041GB
• Blind Spot Intervention operates regardless of turn signal usage.

• The brightness of Blind Spot Warning/Blind Spot Intervention indicator lights is adjusted automatically
depending on the brightness of the ambient light.
NOTE:
• Blind Spot Intervention is typically activated earlier than LDP when getting closer to the lane marker.
• Warning and steering control will only be activated if the Blind Spot Warning/Blind Spot Intervention indicator
is already illuminated when vehicle approaches a lane marker.
• If another vehicle comes into the detection zone after vehicle has crossed a lane marker, no warning or
steering control will be activated.

SYSTEM
• For details of Blind Spot Intervention system indication on the combination meter, refer to DAS-272, "DCA/
LDP/BLIND SPOT INTERVENTION : Menu Displayed by Pressing Each Switch". A
BLIND SPOT INTERVENTION SYSTEM OPERATION DESCRIPTION
• Blind Spot Intervention system is controlled by chassis control module and ADAS control unit.
• When dynamic driver assistance switch is turned ON and Blind Spot Intervention system setting ON the inte- B
gral switch. Then Blind Spot Intervention ON indicator comes on.
• Combination meter displays Blind Spot Intervention system display according to the signals from ADAS con-
trol unit via CAN communication. C
• Side radar detects a vehicle in the adjacent lane, and transmits the vehicle detection signal to chassis con-
trol module through ADAS control unit via chassis communication and ITS communication.
• Side radar receives vehicle speed signal from ADAS control unit and changes its detecting function.
• Lane camera unit monitors lane markers of the traveling lane and transmits the detected lane condition sig- D
• Chassis control module starts the control as follows, based on a vehicle detection signal, lane condition sig-
nal, turn signal and position light request signal transmitted from each unit; E
- Calculates necessary steering angle to transmit steering angle signal to steering angle main control module
via chassis communication.
- Transmits Blind Spot Intervention indication signal and warning buzzer signal to ADAS control unit via chas-
sis communication. F
communication. G
- Transmits Blind Spot Warning/Blind Spot Intervention indicator signal and Blind Spot Warning/Blind Spot
Intervention indicator dimmer signal to side radar via ITS communication.
- Transmits a Blind Spot Intervention system display signal to combination meter via CAN communication.
H
• Direct Adaptive Steering* controls steering angle according to the steering angle signal.
angle main control module and steering angle sub control module.
• Side radar turns ON the Blind Spot Warning/Blind Spot Intervention indicator according to Blind Spot Warn- I
ing/Blind Spot Intervention indicator operation signal and Blind Spot Warning/Blind Spot Intervention indica-
tor dimmer signal.
• Combination meter displays the Blind Spot Intervention system display and the vehicle information display. J
Operation Condition of Blind Spot Intervention System
Chassis control module performs the control when the following conditions are satisfied.
• Blind Spot Intervention system display (green): ON (Dynamic driver assistance icon ON in “Blind spot” posi- K
tion)
• When the vehicle drives at 60 km/h (37 MPH) or more.
NOTE:
• Blind Spot Intervention system ON/OFF can be set on the integral switch. L
• The Blind Spot Intervention system may not function properly, depending on the situation. Refer to DAS-284,
"Precautions for Blind Spot Warning/Blind Spot Intervention".
• Blind Spot Intervention steering will not operate or will stop operating and only a warning chime will sound M
under the following conditions.
- When the brake pedal is depressed.
- When the accelerator pedal is depressed while steering control assist is provided.
- When steering quickly. N
- When the ICC, DCA, PFCW or FEB warnings sound.
- When the hazard warning flashers are operated.
- When driving on a curve at a high speed. DAS
• Under the following conditions, the Blind Spot Intervention system will be turned off automatically, a beep will
sound and the Blind Spot Intervention system display will change color to yellow. The BSW system is still
available, but the Blind Spot Intervention system will not be available until the conditions no longer exist.
- When the VDC system (except TCS function) or ABS operates. P
- When the VDC system is turned OFF.
- When the drive mode select switch is turned to the SNOW mode.
BLIND SPOT INTERVENTION (WITHOUT DIRECT ADAPTIVE STEERING SYS-
TEM)
BLIND SPOT INTERVENTION (WITHOUT DIRECT ADAPTIVE STEERING SYS-

SYSTEM
TEM) : System Description INFOID:0000000013404247
SYSTEM DIAGRAM
JSOIA0901GB
NOTE:
trol unit via ECM.
Input Signal Item

SYSTEM

Accelerator pedal position sig-
Receives accelerator pedal position (angle)
ECM CAN communication nal
Engine speed signal Receives engine speed B
TCM Current gear position signal Receives a current gear position

CAN communication C
(Via ECM) Shift position signal Receives a select lever position
ABS malfunction signal Receives a malfunction state of ABS D
TCS malfunction signal Receives a malfunction state of TCS
E
ABS actuator VDC OFF switch signal Receives an ON/OFF state of VDC
and electric unit CAN communication
(control unit) VDC malfunction signal Receives a malfunction state of VDC
F
Yaw rate signal Receives yaw rate acting on the vehicle G
Combination
meter
CAN communication Parking brake switch signal Receives an operational state of the parking brake H
Receives an operational state of the turn signal lamp and

BCM CAN communication the hazard lamp
I
Position light request signal Receives an operational state of tail lamp
Steering angle sensor mal-
Receives a malfunction state of steering angle sensor
function signal
Steering angle J
CAN communication Receives the number of revolutions, turning direction of
sensor Steering angle sensor signal
the steering wheel
K
CAN communication System selection signal
Receives detection results, such as the presence or ab- L
ICC sensor ITS communication ICC sensor signal
Lane camera Detection lane condition sig-
ITS communication Receives detection results of lane marker
unit nal
M
Side radar LH,
ITS communication Vehicle detection signal Receives vehicle detection condition of detection zone.
RH
Dynamic driv-
ICC steering
ICC steering switch signal er assistance
Receives the operational state of the dynamic driver as- N
switch sistance switch
switch signal
Output Signal Item DAS

ABS actuator P
Transmits a target yaw moment signal to generate yaw
and electric unit CAN communication Target yaw moment signal
moment to the vehicle
(control unit)

SYSTEM
Blind Spot Warning/Blind Spot Transmits a Blind Spot Warning/Blind Spot Intervention
Intervention warning lamp sig- warning lamp signal to turn ON the Blind Spot Warning/
Combination nal Blind Spot Intervention warning lamp
CAN communication
meter Transmits a Blind Spot Intervention ON indictor lamp sig-
Blind Spot Intervention ON in-
nal to turn ON the Blind Spot Intervention ON indictor
dictor lamp signal
lamp
Transmits a vehicle speed calculated by the ADAS control
Lane camera Vehicle speed signal
ITS communication unit
unit
Transmits a Blind Spot Warning/Blind Spot Intervention in-
Blind Spot Warning/Blind Spot
dicator signal to turn ON the Blind Spot Warning/Blind
Intervention indicator signal
Spot Intervention indicator
Side radar LH, Blind Spot Warning/Blind Spot Transmits a Blind Spot Warning/Blind Spot Intervention in-
ITS communication
RH Intervention indicator dimmer dicator dimmer signal to dimmer Blind Spot Warning/Blind
signal Spot Intervention indicator
unit
Driver assis-
Driver assistance buzzer sig- Transmits a driver assistance buzzer signal to activates
tance buzzer ITS communication
nal the buzzer
control module
• The Blind Spot Intervention system can help alert the driver of other vehicles in adjacent lanes when chang-
ing lanes. Blind Spot Intervention always operates together with Blind Spot Warning.
• The Blind Spot Intervention system operates above approximately 60 km/h (37 MPH).
• The Blind Spot Intervention system uses side radar installed near the rear bumper to detect other vehicles
beside vehicle in an adjacent lane.
• If the Blind Spot Warning/Blind Spot Intervention indicator is illuminated while vehicle is approaching a lane
marker, the Blind Spot Warning/Blind Spot Intervention indicator blinks and an audible warning will sound
three times. Then the system applies the brakes on one side of the vehicle for a short period of time to help
return the vehicle back to the center of the lane.
JSOIA0260GB
• Blind Spot Intervention operates regardless of turn signal usage.

• The brightness of Blind Spot Warning/Blind Spot Intervention indicator lights is adjusted automatically
depending on the brightness of the ambient light.
NOTE:
• Blind Spot Intervention is typically activated earlier than LDP when getting closer to the lane marker.
• Warning and brake control will only be activated if the Blind Spot Warning/Blind Spot Intervention indicator is
already illuminated when vehicle approaches a lane marker.

SYSTEM
• If another vehicle comes into the detection zone after vehicle has crossed a lane marker, no warning or
brake control will be activated. A
BLIND SPOT INTERVENTION SYSTEM OPERATION DESCRIPTION
• ADAS control unit enables Blind Spot Intervention system.
• Turn ON the dynamic driver assistance switch, and Blind Spot Intervention system setting on the integral B
switch. Then Blind Spot Intervention ON indicator comes on.
• Combination meter turns Blind Spot Intervention system display ON/OFF according to the signals from
ADAS control unit via CAN communication. C
• Side radar detects a vehicle in the adjacent lane, and transmits the vehicle detection signal to ADAS control
unit via ITS communication.
• Lane camera unit monitors lane markers of the traveling lane and transmits the detected lane condition sig- D
nal to ADAS control unit via ITS communication.
• ADAS control unit starts the control as follows, based on a vehicle detection signal, lane condition signal,
turn signal and position light request signal transmitted from BCM via CAN communication: E
- Blind Spot Warning/Blind Spot Intervention indicator signal and Blind Spot Warning/Blind Spot Intervention
indicator dimmer signal transmission to side radar.
- Driver assistance buzzer signal transmission to driver assistance buzzer control module via ITS communica-
tion. F
- Calculation of necessary yaw moment and transmission of the target yaw moment signal to ABS actuator
and electric unit (control unit).
• Side radar transmits an indicator operation signal to the Blind Spot Warning/Blind Spot Intervention indicator G
according to Blind Spot Warning/Blind Spot Intervention indicator operation signal and Blind Spot Warning/
Blind Spot Intervention indicator dimmer signal.
• ABS actuator and electric unit (control unit) controls brake pressure of four wheels respectively according to
H
the target yaw moment signal.
Operation Condition of Blind Spot Intervention System
• Blind Spot Intervention system display (green): ON (Dynamic driver assistance icon ON in “Blind spot” posi-
I
tion)
• Vehicle speed: Approximately 60 km/h (37 MPH) or more
NOTE:
• When the Blind Spot Intervention system setting on the integral switch is ON. J
• The Blind Spot Intervention system may not function properly, depending on the situation. Refer to DAS-284,
"Precautions for Blind Spot Warning/Blind Spot Intervention".
• Blind Spot Intervention braking will not operate or will stop operating and only a warning chime will sound K
- When the brake pedal is depressed.
- When the accelerator pedal is depressed while brake control assist is provided.
- When steering quickly. L
- When the ICC, DCA, PFCW or FEB warnings sound.
- When driving on a curve at a high speed. M
• Under the following conditions, the Blind Spot Intervention system will be turned off automatically, a beep will
sound and the Blind Spot Intervention system display will change color to yellow. The BSW system is still
available, but the Blind Spot Intervention system will not be available until the conditions no longer exist.
- When the VDC system (except TCS function) or ABS operates. N
- When the VDC system is turned OFF.
- When the drive mode select switch is turned to the SNOW mode.
BCI DAS

SYSTEM
BCI : System Description INFOID:0000000012796249
SYSTEM DIAGRAM
JSOIA0990GB
NOTE:
Models with 2.0L turbo gasoline engine: TCM is connected to drivetrain CAN communication and transmits a
CAN communication signal to ADAS control unit via ECM.
Input Signal Item

SYSTEM

CAN communi- Accelerator pedal position signal Receives accelerator pedal position (angle)
ECM
cation Engine speed signal Receives engine speed
Current gear position signal Receives a current gear position
B
CAN communi-
TCM
cation Shift position signal Receives a select lever position
ABS malfunction signal Receives a malfunction state of ABS C
ABS actuator
CAN communi-
and electric unit VDC malfunction signal Receives a malfunction state of VDC
cation
(control unit)
Display control ITS communica- Receives a selection state of each item in “Camera” se- D
System selection signal
unit tion lected with the integral switch
Sonar control ITS communica- Receives objects detection result of rear area behind ve-
Rear object detection signal
unit tion hicle E
Side radar LH, ITS communica-
Vehicle detection signal Receives vehicle detection condition of detection zone.
RH tion
Output Signal Item F

ABS actuator
G
CAN communi- Transmits a brake fluid pressure control signal to activate
and electric unit Brake fluid pressure control signal.
cation the brake.
(control unit)
Combination CAN communi- Meter display sig- BCI system dis- Transmits a meter display signal to turn ON the BCI sys- H
meter cation nal play tem display
Sonar control ITS communica-
Buzzer drive signal Transmits a buzzer drive signal to activate buzzer
unit tion I
Around view
ITS communica- Transmits a BCI warning signal to indicate a yellow/red
monitor control BCI warning signal
tion frame on the upper display
unit
J
Accelerator ITS communica- Accelerator pedal feedback force Transmits an accelerator pedal feedback force control
pedal actuator tion control signal signal to activate the accelerator pedal actuator
Transmits a Blind Spot Warning/Blind Spot Intervention in- K
Blind Spot Warning/Blind Spot Inter-
dicator signal to turn ON the Blind Spot Warning/Blind
vention indicator signal
Side radar LH, ITS communica- Transmits a Blind Spot Warning/Blind Spot Intervention in-
RH tion
Blind Spot Warning/Blind Spot Inter-
dicator dimmer signal to dimmer Blind Spot Warning/Blind
L
vention indicator dimmer signal
Vehicle speed signal M
unit
• The Back-up Collision Intervention system can help alert the driver of approaching vehicles or rear objects
N
when the driver is backing out of a parking space.
• The BCI system comprise of to main detection systems. The side radar LH/RH, and the four sonar sensors
mounted on the rear bumper.
• The BCI system operates at speeds below 8 km/h (5 MPH) whenever the vehicle is in reverse. DAS

SYSTEM
• The BCI system uses the side radar LH/RH installed near the rear
bumper to detect approaching vehicles and rear obstacles.
• The side radar can detect vehicles on either side of vehicle within
the detection zone shown as illustrated.
• The radar sensors detect the approaching vehicle from up to
approximately 15 m (49 ft) away.
JSOIA0977ZZ
• The sonar sensors can detect rear obstacles of up to approxi-

mately 1.5 m (4.9 ft).
ALOIA0075ZZ
• If the radar detects a vehicle approaching from the side or the sonar detects close objects in the rear, the
system gives visual and audible warnings, and applies the brake for a moment when the vehicle is moving
backwards. If the driver's foot is on the accelerator pedal, the system pushes the accelerator upward before
applying the brake. If the driver continues to press the accelerator, the system will not engage the brake.
JSOIA0906ZZ
• If the side radar detects an approaching vehicle from the side, the
BCI system sounds a beep (single beep), the Blind spot warning
indicator on the side of the approaching vehicle flashes and the
frame of the around view monitor screen is shown in yellow. If
the detected vehicle approaches closer and own vehicle is backing
up toward the detected vehicle, the system sounds a beep (three
times) and the frame of the around view monitor screen is
shown in red.
JSOIA1055ZZ
BACK-UP COLLISION INTERVENTION SYSTEM OPERATION DESCRIPTION

SYSTEM
• ADAS control unit enables Back-up Collision Intervention system.
• The BCI system is automatically turned ON every time the engine is started. A
• Side radar detects a vehicle approaching, and transmits the vehicle detection signal to ADAS control unit via
ITS communication.
B
• ADAS control unit starts the control as follows, based on a vehicle detection signal.
Operation Condition of Back-up Collision Intervention System
ADAS control unit performs the control when the following conditions are satisfied. C
• Back-up Collision Intervention: ON (Selected by integral switch)
• When the vehicle is moving in reverse at 8 km/h (5 MPH) or less.
NOTE:
• When the Back-up Collision Intervention system setting is ON in the integral switch. D
• Setting of BCI is performed in synchronization with the log-in function of on-board personal assistant. For
E
DAS

SYSTEM
VR30DDTT
JSOIA2502GB

SYSTEM
A
DAS
JSOIA2372GB
P

SYSTEM
Warning lamp/Warning dis-

play
High-
tone
High-
tone
tone (Forward position: Yellow)
High-
tone
High-
tone
Low-
tone
Blind Spot Warning (BSW) — Cancel
Low-
tone
High-
tone
Fail-safe (ICC Sensor) INFOID:0000000013404609
If a malfunction occurs in the ICC sensor, ADAS control unit cancels control, sounds a beep, and turns ON the
ICC system warning in the information display.
Fail-safe (Side Radar) INFOID:0000000013404691
FAIL-SAFE CONTROL BY DTC

Blind Spot Warning (BSW)
If a malfunction occurs in the side radar, ADAS control unit cancels control, and turns ON the Blind Spot Warn-
ing/Blind Spot Intervention malfunction in information display.
TEMPORARY DISABLED STATUS AT BLOCKAGE
When the side radar is blocked, the operation is temporarily cancelled. Then the Blind Spot Warning malfunc-
tion in information display. Also, under the following conditions, the operation may be temporarily cancelled.
• The side radar may be blocked by temporary ambient conditions such as splashing water, mist or fog.
• The blocked condition may also be caused by objects such as ice, frost or dirt obstructing the side radar.
When the side radar is blocked, the operation is temporarily cancelled. Then the buzzer sounds and then the
Blind Spot Intervention malfunction in information display. Also, under the following conditions, the operation
may be temporarily cancelled.

SYSTEM
When the side radar is blocked, the operation is temporarily cancelled. Then the buzzer sounds. Also, under
the following conditions, the operation may be temporarily cancelled. A
Fail-safe (Lane Camera Unit with DAST) INFOID:0000000013404652 B

C
Active Lane Control
If a malfunction occurs in the lane camera unit, chassis control module cancels control, and turns ON the
Chassis Control Module malfunction in information display.
D
Lane Departure Warning (LDW)
If a malfunction occurs in the lane camera unit, chassis control module cancels control, and turns ON the LDW
malfunction in information display.
E
Lane Departure Prevention (LDP)
If a malfunction occurs in the lane camera unit, chassis control module cancels control, sounds a beep, and
turns ON the LDP malfunction in information display.
F
turns ON the Blind Spot Intervention malfunction in information display.
G
TEMPORARY DISABLED STATUS AT HIGH TEMPERATURE
• If the vehicle is parked in direct sunlight under high temperature conditions, the system may be deactivated H
automatically. And the LDW malfunction in information display.
• When interior temperature is reduced, the system will resume operation automatically and the LDW mal-
function in the combination meter will stop blinking. I
• If the vehicle is parked in direct sunlight under high temperature conditions, the system may be deactivated
automatically. And the buzzer sounds and LDP malfunction in information display. J
• When interior temperature is reduced, the system will resume when dynamic driver assistance switch is
turned ON.
Blind Spot Intervention K
automatically. And the buzzer sounds and Blind Spot Intervention malfunction in information display.
• When interior temperature is reduced, the system will resume when dynamic driver assistance switch is L
turned ON.
Fail-safe (Lane Camera Unit Without DAST) INFOID:0000000013404653
M
N
If a malfunction occurs in the lane camera unit, ADAS control unit cancels control, and turns ON the LDW mal-
function in information display.
DAS
If a malfunction occurs in the lane camera unit, ADAS control unit cancels control, sounds a beep, and turns
ON the LDP malfunction in information display.
P
ON the Blind Spot Intervention malfunction in information display.

SYSTEM
function in the combination meter will stop blinking.
automatically. And the buzzer sounds and LDP malfunction in information display.
turned ON.
turned ON.
Fail-Safe (Chassis Control Module) INFOID:0000000013508423
When a malfunction occurs in the chassis control module, the master warning lamp turns ON and an interrupt
is displayed on the information display of the combination meter.
DTC Vehicle condition

C1B90-00 The following functions are suspended.
• Active lane control function
• LDW function
C1B91-00 • LDP function
• Blind spot intervention function
The following functions are suspended.
• Active trace control function
C1B92-00
• LDW function
• LDP function
• LDW function
• LDW function
• Intelligent cruise control function
• LDW function
C1B99-00
• LDP function
• Infiniti InTuition function
• Digital motion control function
C1BA6-00
C1BA7-00
C1BA9-00 The following functions are suspended.
• LDW function
C1BAA-00 • LDP function
C1BAB-00

SYSTEM
A
C1BAC-00
C1BAD-00 • LDP function
C1BAE-00 B
C1BAF-00
C1BB0-06 Normal control C
C1BB2-00 The following functions are suspended.
C1BB3-00
D
C1BB4-00 • LDW function
• LDP function
C1BB5-00 • Infiniti InTuition function E
C1BB6-00
F
C1BB8-00
C1BB9-00 • LDW function G
• LDP function
C1BBA-00
C1BBB-00 H
C1BBC-00 Normal control
I
• LDW function
C1BBD-00
• LDP function J
C1BBE-11
K
C1BBE-12
C1BBE-19 L
C1BBE-1D
C1BEE-39
C1BEE-64 M
C1BBF-11 • Digital motion control function
C1BBF-12
N
C1BBF-19
C1BBF-1D
C1BBF-39 DAS
C1BBF-64
C1BC0-00 The following functions are suspended.
• Active trace control function P
C1BC1-00 • Active lane control function

SYSTEM
C1BC7-11
C1BC7-12
C1BC7-19
C1BC7-1D
C1BC7-39
C1BC8-11 • Digital motion control function
C1BC8-12
C1BC8-19
C1BC8-1D
C1BC8-39
C1BC8-64
U1000-00
• LDW function
• LDP function
U1010-49 • Active trace control function
U1A31-00 • LDW function
• LDP function
U1A35-00
• LDW function
• LDP function
U1A3E-00 Normal control
WARNING/INDICATOR/CHIME LIST
WARNING/INDICATOR/CHIME LIST : Warning/Indicator (On Information Display)
INFOID:0000000012796256

SYSTEM
Name Design Function
A
B
Following system dis- • Withe: DAS-266, "PFCW/LDW/BSW : Menu Dis-
play played by Pressing Each Switch"
• PFCW (FEB) • Green: DAS-272, "DCA/LDP/BLIND SPOT IN-
• LDW TERVENTION : Menu Displayed by Pressing Each C
• BSW Switch"
D
JSOIA1057ZZ
E
Following system dis-
• Withe: DAS-266, "PFCW/LDW/BSW : Menu Dis-
play
played by Pressing Each Switch"
• DCA
• Green: DAS-272, "DCA/LDP/BLIND SPOT IN-
F
• LDP
TERVENTION : Menu Displayed by Pressing Each
• Blind Spot Interven-
Switch"
tion
G
JSOIA1056ZZ
Following system
malfunction/warning
• PFCW (FEB) • Withe: DAS-266, "PFCW/LDW/BSW : Menu Dis- I
• DCA played by Pressing Each Switch"
• LDW • Green: DAS-272, "DCA/LDP/BLIND SPOT IN-
• LDP TERVENTION : Menu Displayed by Pressing Each
J
• BSW Switch"
• Blind Spot Interven-
tion
K
JSOIA0959ZZ
BCI malfunction/ DAS-279, "BCI : Menu Displayed by Pressing Each M

warning Switch"
JSOIA0960ZZ
DAS

OPERATION
OPERATION
PFCW/LDW/BSW
PFCW/LDW/BSW : Switch Name and Function INFOID:0000000012796257
PFCW/LDW/BSW
JSOIA1058ZZ
No. Switch name Description

PFCW/FEB system setting screen
The setting of PFCW/FEB system can be switched between ON and OFF
(Integral switch settings screen)
LDW system setting screen
The setting of LDW system can be switched between ON and OFF
BSW system setting screen
The setting of BSW system can be switched between ON and OFF
PFCW/LDW/BSW : Menu Displayed by Pressing Each Switch INFOID:0000000012796258
SYSTEM DISPLAY
PFCW/LDW/BSW
JSOIA0910ZZ

Warning systems indicator Indicates that PFCW/FEB/LDW/BSW systems are ON
Indicates whether it detects a vehicle ahead
NOTE:
Vehicle ahead detection indicator
The vehicle ahead detection indicator turns OFF when the no operation condition is sat-
isfied
Warning systems indicator “For-
ward” position Indicates that PFCW/FEB system is ON
(Speaker icon)

OPERATION
A
Warning systems indicator “Lane”
position Indicates that LDW system is ON
(Speaker icon)
Warning systems indicator “Blind B
spot” position Indicates that BSW system is ON
(Speaker icon)
Blind Spot Warning/Blind Spot Inter- • Illuminates when detect other vehicles beside vehicle in an adjacent lane C
vention indicator LH/RH • Blinks when BSW system is warning to driver
DISPLAY AND WARNING (PFCW/LDW/BSW)

D
System Display
The PFCW/LDW/BSW systems operate when ON is selected with the integral switch.
E
System status Condition Display on combination meter Indicator color
PFCW/LDW/BSW OFF — —
JSOIA0911ZZ
PFCW/LDW/BSW ON System ON White I
JSOIA0912ZZ J
K
PFCW ON
System ON White
(FEB ON)
L
JSOIA0913ZZ
LDW ON System ON White

N
JSOIA0914ZZ
DAS
BSW ON System ON White P
JSOIA0915ZZ

OPERATION
PFCW/LDW/BSW are malfunc-

System malfunction Yellow
tion
JSOIA0916ZZ
Yellow
JSOIA1129ZZ
Operation conditions not satis-

fied (dirt around the ICC sensor)
White
JSOIA0932ZZ
The PFCW/FEB system is auto- Unavailable Front Radar Obstruction

matically canceled.
White
(Blink)
JSOIA0913ZZ
Accelerator pedal high tempera-

ture
White
JSOIA0932ZZ
Unavailable High Accelerator Temperature

OPERATION
A
White B
(Blink)
C
JSOIA0914ZZ
Lane camera unit high tempera- The LDW system is automati-

ture cally canceled.
D
White
E
JSOIA0931ZZ
Unavailable High Cabin Temperature F
G
White
(Blink)
H
JSOIA0915ZZ
The BSW system is automati-

Dirt around the side radar
cally canceled.
I
White J
JSOIA0936ZZ
Unavailable Side Radar Obstruction K
Warning Operation
• PFCW operation L
Action
Condition
Indication on the combination meter Indicator color Buzzer
M
N
System ON White OFF
DAS
JSOIA0913ZZ

OPERATION
Action
Condition
Indication on the combination meter Indicator color Buzzer
Yellow (Blink)
When judged that the distance between JSOIA0921ZZ

own vehicle and a vehicle in front of the ve- Beep
hicle ahead becomes closer
Yellow (Blink)
JSOIA1123ZZ
Operation conditions not satisfied (dirt

Yellow Beep
around the ICC sensor)
JSOIA0932ZZ
Unavailable Front Radar Obstruction

• LDW operation
Vehicle condition/ Driver's operation Action

Vehicle speed Status of vehi-
Turn signal condi-
(Approx.) cle close to Indication on the combination meter Indicator color Buzzer
tion
[km/h (MPH)] lane marker
Less than Approx.

Close to lane
60 km/h (37 MPH) — White OFF
marker
JSOIA0914ZZ
• OFF
Close to lane Short continu-
• ON (Opposite to Yellow (Blink)
marker ous beeps
the deviate side)
JSOIA1124ZZ
Approx. 70 km/h (45
MPH) or more
Close to lane
ON (Deviate side) White OFF
marker
JSOIA0914ZZ
NOTE:

OPERATION
After the operating conditions of warning are satisfied, the warning continues until the vehicle speed reaches
approximately 60 km/h (37 MPH). Refer to DAS-234, "LDW (WITHOUT DIRECT ADAPTIVE STEERING A
SYSTEM) : System Description".
• BSW operation
B
Status of vehi- Indication on the
Vehicle speed Turn sig-
cle detection Blind Spot Warning/ Indicator
(Approx.) nal condi- Indication on the combination meter Buzzer C
within detec- Blind Spot Intervention color
[km/h (MPH)] tion
tion area indicator
D
Less than ap-
prox. — — OFF White OFF
29 (18) E
JSOIA0915ZZ
—
Vehicle is not
OFF White OFF
G
detected
H
JSOIA0915ZZ
I
Vehicle is de-
OFF ON White OFF
tected
J
Approx. JSOIA0915ZZ
32 (20)
or more K
Before turn
Short
signal oper-
Yellow continu-
ates Blink L
(Blink) ous
Vehicle is de-
beeps
tected
ON
(vehicle JSOIA1125ZZ
M
detected
direction)
Vehicle is de-
N
tected after Yellow
Blink OFF
turn signal op- (Blink)
erates
DAS
JSOIA1125ZZ
NOTE:
• If vehicle speed exceeds approximately 32 km/h (20MPH), BSW function operates until the vehicle speed P
becomes lower than approximately 29km/h (18MPH).
• Time shown in the figure is approximate time.
• Always Blind Spot Intervention system operates together with BSW system. Whenever Blind Spot Inter-
vention system is turned ON by pushing the dynamic driver assistance switch, BSW system also be turned
on even if the BSW system is turned off.
DCA/LDP/BLIND SPOT INTERVENTION

OPERATION
DCA/LDP/BLIND SPOT INTERVENTION : Switch Name and Function INFOID:0000000012796259
DCA/LDP/Blind Spot Intervention
JSOIA0991ZZ

Turns DCA/LDP/Blind Spot Intervention system ON/OFF
Dynamic driver assistance switch
(When the setting of system on the navigation system setting screen is ON)
DCA system setting screen
The setting of DCA system can be switched between ON and OFF
(Integral switch)
LDP system setting screen
The setting of LDP system can be switched between ON and OFF
(Integral switch)
Blind Spot Intervention system set-
ting screen The setting of Blind Spot Intervention system can be switched between ON and OFF
(Integral switch)
DCA/LDP/BLIND SPOT INTERVENTION : Menu Displayed by Pressing Each Switch

INFOID:0000000012796260
SYSTEM DISPLAY

OPERATION
DCA/LDP/Blind Spot Intervention
A
E
JSOIA0926ZZ

F
Dynamic driver assistance systems
Indicates that DCA/LDP/Blind Spot Intervention systems are ON
indicator
Indicates whether it detects a vehicle ahead G
NOTE:
Vehicle ahead detection indicator
The vehicle ahead detection indicator turns OFF when the no operation condition is sat-
isfied
Dynamic driver assistance systems
H
indicator “Forward” position Indicates that DCA systems are ON
(Dynamic driver assistance icon)
Dynamic driver assistance systems I
indicator “Lane” position Indicates that LDP systems are ON
Dynamic driver assistance systems J
indicator “Blind spot” position Indicates that Blind Spot Intervention systems are ON
Blind Spot Warning/Blind Spot Inter- • Illuminates when detect other vehicles beside vehicle in an adjacent lane
vention indicator LH/RH • Blinks when Blind Spot Intervention system is warning to driver
K
DISPLAY AND WARNING (DCA/LDP/BLIND SPOT INTERVENTION)

L
System Display
When the dynamic driver assistance switch is pressed while the engine is running, the DCA/LDP/Blind Spot
Intervention system operates the system for which ON is selected with the integral switch.
M
System status Condition Display on combination meter Indicator Buzzer
When the dynamic driver assistance

switch is turned ON with settings of DCA DAS
— White Beep
system, LDP system and Blind Spot In-
tervention system OFF
JSOIA0920ZZ
Unavailable Select Driving Aids in

P
Settings

OPERATION
DCA/LDP/Blind Spot Intervention OFF

— — —
(PFCW/LDW/BSW are OFF)
JSOIA0911ZZ
DCA/LDP/Blind Spot Intervention ON System ON Green —
JSOIA0927ZZ
DCA ON System ON Green —
JSOIA0928ZZ
LDP ON System ON Green —
JSOIA0929ZZ
Blind Spot Intervention ON System ON Green —
JSOIA0930ZZ
JSOIA0916ZZ
DCA/LDP/Blind Spot Intervention are
malfunction System malfunction Yellow Beep
JSOIA0931ZZ
Malfunction See Owner's Manual

OPERATION
A
— OFF
Operation conditions not satisfied (dirt

Beep
around the ICC sensor) Green
C
The DCA system is automatical- JSOIA0932ZZ
ly canceled. Unavailable Front Radar Obstruc-

NOTE:
D
tion
The system operates if the dy-
namic driver assistance switch — OFF
is turned OFF⇒ON after the E
condition improves
Accelerator pedal high temperature Beep F

Green
JSOIA0932ZZ G
Unavailable High Accelerator Tem-
perature
— OFF H
The LDP/Blind Spot Intervention

system is automatically can-
celed.
I
NOTE:
Lane camera unit high temperature Beep
The system operates if the dy- Green
namic driver assistance switch J
is turned OFF⇒ON after the
condition improves JSOIA0931ZZ
Unavailable High Cabin Tempera-

ture K
— OFF
L
The Blind Spot Intervention sys-
tem is automatically canceled.
NOTE:
Dirt around the side radar The system operates if the dy- Beep M
namic driver assistance switch Green
N
Unavailable Side Radar Obstruc-
tion
— OFF
DAS
The DCA/LDP/Blind Spot Inter-
vention system is automatically
• When the VDC or ABS (including the
canceled.
TCS) operates
NOTE:
P
• When the VDC is turned OFF Beep
The system operates if the dy- Green
• When the drive mode select switch is
in SNOW position
Currently unavailable
Warning Operation

OPERATION
• DCA operation
Approach Warning
- If own vehicle comes closer to the vehicle ahead due to rapid deceleration of that vehicle or if another vehi-
cle cuts in, the system warns the driver with the chime and DCA system display. Decelerate by depressing
the brake pedal to maintain a safe vehicle distance if:
• The vehicle ahead detection indicator blinks.
• The chime sounds.
- The warning chime may not sound in some cases when there is a short distance between vehicles. Some
examples are:
• When the vehicles are traveling at the same speed and the distance between vehicles is not changing
• When the vehicle ahead is traveling faster and the distance between vehicles is increasing
• When a vehicle cuts in near own vehicle
- The warning chime will not sound when own vehicle approaches vehicles that are parked or moving slowly.
Action
Condition
Dynamics action Display on combination meter Indicator Buzzer
System ON — Green —
JSOIA0928ZZ
Yellow (Blink)
• When the system detected

vehicle ahead • Accelerator pedal ac- JSOIA0921ZZ
• When the system judges that tuation Beep
the brake operation by the • Operates brake
driver is necessary
Yellow (Blink)
JSOIA1126ZZ
• LDP operation

OPERATION
Vehicle condition/ Driver's operation Action A

Vehicle speed Status of vehicle
Turn signal condi- Yawing con- Indication on the combination
(Approx.) close to lane Indicator Buzzer
tion trol meter
[km/h (MPH)] marker
B
Less than Ap-

Close to lane
C
prox. 60 km/h — OFF Green —
marker
(37 MPH)
D
JSOIA0929ZZ
E
• Turn signal OFF
Short con-
• Turn signal ON Close to lane Yellow
ON tinuous
(Opposite to the marker (Blink)
beeps F
deviate side)
JSOIA1127ZZ
Approx. 70
Turn signal ON Close to lane H
km/h (45 OFF Green —
(Deviate side) marker
MPH) or more
JSOIA0929ZZ I
• Turn signal OFF J

Close to lane Short con-
• Turn signal ON Yellow
marker with soft OFF tinuous
(Opposite to the (Blink)
braking beeps
deviate side)
K
JSOIA1127ZZ
NOTE:
L
After the operating conditions of warning are satisfied, the warning continues until the vehicle speed reaches
approximately 60 km/h (37 MPH). Refer to DAS-240, "LDP (WITHOUT DIRECT ADAPTIVE STEERING
• Blind Spot Intervention operation M
DAS

OPERATION

Vehicle Status of ve- Indication
speed hicle detec- Status of ap- on the
Yaw con-
(Approx.) tion within proach to ad- Blind Spot Indication on the combination meter Indicator Buzzer
trol
[km/h detection jacent lane Intervention
(MPH)] area indicator
Less than
approx. — — OFF OFF Green OFF
60 (37)
JSOIA0930ZZ
Vehicle is
— OFF OFF Green OFF
not detected
JSOIA0930ZZ
Approx.
Vehicle is Not ap-
60 (37) ON OFF Green OFF
detected proaching
or more
JSOIA0930ZZ
Short
Vehicle is Yellow continu-
Approaching Blink ON
detected (Blink) ous
beeps
JSOIA1128ZZ
NOTE:
• If vehicle speed exceeds approximately 32 km/h (20MPH), BSW function operates until the vehicle speed
becomes lower than approximately 29km/h (18MPH).
• Time shown in the figure is approximate time.
• Always Blind Spot Intervention system operates together with BSW system. Whenever Blind Spot Inter-
vention system is turned ON by pushing the dynamic driver assistance switch, BSW system also be turned
on even if the BSW system is turned off.
BCI

OPERATION
BCI : Switch Name and Function INFOID:0000000012796261
A
BCI
D
JSOIA1059ZZ
No. Switch name Description E

BCI system setting screen
The setting of BCI system can be switched between ON and OFF
(Integral switch)
BCI system temporary switch
Turns BCI system temporarily OFF
F
(Navigation screen)
BCI : Menu Displayed by Pressing Each Switch INFOID:0000000012796262

G
SYSTEM DISPLAY
H
JSOIA1055ZZ
K
No. Name Description
BCI warning frame (yellow) Blinks when BCI system is warning to driver (Detecting vehicle)
BCI warning frame (red) Blinks when BCI system is warning to driver (Vehicle approaching) L
DISPLAY AND WARNING (BCI)

M
Blind Spot
Status of de- Warning/
Vehicle condition/Driver′s Indication on the combination
tection within Vehicle speed Blind Spot In- Action
operation meter N
detection area tervention in-
dicator
DAS
• BCI system OFF

— — OFF —
• Shift lever in reverse P
JSOIA0941ZZ
System OFF

OPERATION
Blind Spot
Status of de- Warning/
Vehicle condition/Driver′s Indication on the combination
tection within Vehicle speed Blind Spot In- Action
operation meter
detection area tervention in-
dicator
Vehicle is ab-
— OFF — —
sent
• Buzzer sounds
0 km/h (0 (single beep)
Blink —
MPH) • Display frame is
yellow
• Buzzer sounds
(3 times)
• BCI system ON
• Display frame is
• Engine running
Vehicle is de- red
• Shift lever in reverse
tected • Accelerator pedal
is pushed upward
8 km/h (5.0
Blink NOTE: —
MPH) or less
When accelerator
pedal is depressed
• Brake operation
NOTE:
When accelerator
pedal is released
• Beep
• Temporary switch
BCI system malfunction — — OFF (navigation dis-
play) is deactivat-
ed
JSOIA0941ZZ
Malfunction See Owner's Manual
• Beep
When radar blockage is
— — OFF (navigation dis-
detected
play) is deactivat-
ed
JSOIA0941ZZ
Unavailable Side Radar Obstruc-

tion
• Beep
When the accelerator
pedal actuator detects
— — OFF (navigation dis-
that the internal motor
play) is deactivat-
temperature is high.
ed
JSOIA0941ZZ
Unavailable High Accelerator

Temperature
Under the following conditions, the BCI system will be turned off automatically, a beep will sound. The BCI system will not be available
until the conditions no longer exist.
• When the accelerator pedal actuator detects that the internal motor temperature is high.
• When side radar blockage is detected.

HANDLING PRECAUTION
HANDLING PRECAUTION
A
Precautions for Distance Control Assist INFOID:0000000012796263
• If the vehicle ahead comes to a stop, the vehicle decelerates to a standstill within the limitations of the sys- B
tem. The system will cancel once it judges that the vehicle has come to a standstill with a warning chime. To
prevent the vehicle from moving, the driver must depress the brake pedal.
• The DCA system will not apply brake control while the driver's foot is on the accelerator pedal.
• This system is only an aid to assist the driver and is not a collision warning or avoidance device. It is the C
driver's responsibility to stay alert, drive safely and be in control of the vehicle at all times.
• This system will not adapt automatically to road conditions. Do not use the system on roads with sharp
curves, or on icy roads, in heavy rain or in fog. D
• The distance sensor will not detect the following object.
- Stationary and slow moving vehicles
- Pedestrians or objects in the roadway
- Oncoming vehicles in the same lane E
- Motorcycles traveling offset in the travel lane
• As there is a performance limit to the distance control function, never rely solely on the DCA system. This
system does not correct careless, inattentive or absent-minded driving, or overcome poor visibility in rain, F
fog, or other bad weather. Decelerate the vehicle speed by depressing the brake pedal, depending on the
distance to the vehicle ahead and the surrounding circumstances in order to maintain a safe distance
between vehicles.
• The system may not detect the vehicle in front of own vehicle in certain road or weather conditions. To avoid G
accidents, never use the DCA system under the following conditions.
- On roads with sharp curves
- On slippery road surfaces such as on ice or snow, etc. H
- During bad weather (rain, fog, snow, etc.)
- When rain, snow or dirt adhere to the system sensor
- On steep downhill roads (frequent braking may result in overheating the brakes)
I
- On repeated uphill and downhill roads
• In some road or traffic conditions, a vehicle or object can unexpectedly come into the sensor detection zone
and cause automatic braking. Driver may need to control the distance from other vehicles using the acceler-
ator pedal. Always stay alert and avoid using the DCA system when it is not recommended in this section. J
• The following are some conditions in which the sensor cannot detect the signals.
- When the snow or road spray from traveling vehicles reduces the sensor's visibility
- When excessively heavy baggage is loaded in the rear seat or the luggage room of own vehicle K
• The DCA system is designed to automatically check the sensor's operation. When the sensor area of front
bumper is covered with dirt or is obstructed, the system will automatically be canceled. If the sensor is cov-
ered with ice, a transparent or translucent vinyl bag, etc., the DCA system may not detect them. In these
instances, the DCA system may not be able to decelerate the vehicle properly. Be sure to check and clean L
the sensor regularly.
• The DCA system is designed to help assist the driver to maintain a following distance from the vehicle
ahead. The system will decelerate as necessary and if the vehicle ahead comes to a stop, the vehicle decel- M
erates to standstill. However, the DCA system can only apply up to approximately 40% of the vehicles total
braking power. If a vehicle moves into the traveling lane ahead or if a vehicle traveling ahead rapidly decel-
erates, the distance between vehicles may become closer because the DCA system cannot decelerate the
vehicle quickly enough. If this occurs, the DCA system will sound a warning chime and blink the system dis- N
play to notify the driver to take necessary action.
• The DCA system does not control vehicle speed or warn when driver approach stationary and slow moving
vehicles. Driver must pay attention to vehicle operation to maintain proper distance from vehicles ahead. DAS

HANDLING PRECAUTION
• The detection zone of the sensor is limited. A vehicle ahead must
be in the detection zone for the system to operate.
- A vehicle ahead may move outside of the detection zone due to its
position within the same lane of travel. Motorcycles may not be
detected in the same lane ahead if they are traveling offset from
the center line of the lane. A vehicle that is entering the lane ahead
may not be detected until the vehicle has completely moved into
the lane. If this occurs, the system may warn driver by blinking the
system indicator and sounding the chime. The driver may have to
manually control the proper distance away from vehicle traveling
ahead.
JPOIA0221ZZ
- When driving on some roads, such as winding, hilly, curved, nar-

row roads, or roads which are under construction, the sensor may
detect vehicles in a different lane, or may temporarily not detect a
vehicle traveling ahead. This may cause the system to work inap-
propriately. The detection of vehicles may also be affected by vehi-
cle operation (steering maneuver or traveling position in the lane,
etc.) or vehicle condition. If this occurs, the system may warn
driver by blinking the system indicator and sounding the chime
unexpectedly. The driver will have to manually control the proper
distance away from the vehicle traveling ahead.
• The approach warning chime may sound and the driver assist sys-
tem forward indicator (orange) may blink when the radar sensor
detects objects on the side of the vehicle or on the side of the road.
This may cause the DCA system to decelerate or accelerate the
vehicle. The radar sensor may detect these objects when the vehi-
cle is driven on winding roads, narrow roads, hilly roads or when
entering or exiting a curve. In these cases driver will have to manu-
ally control the proper distance ahead of own vehicle. Also, the
sensor sensitivity can be affected by vehicle operation (steering
maneuver or driving position in the lane) or traffic or vehicle condi-
tion (for example, if a vehicle is being driven with some damage).
• The DCA system automatically decelerates own vehicle to help
assist the driver to maintain a following distance from the vehicle
JPOIA0220ZZ
ahead. Manually brake when deceleration is required to maintain a
safe distance upon sudden braking by the vehicle ahead or when a vehicle suddenly appears in front of own
vehicle. Always stay alert when using the DCA system.
• When the vehicle ahead detection indicator lamp is not illuminated, system will not control or warn the driver.
• Never place a foot under the brake pedal. A foot may be caught when the system controls the brake.
• If the vehicle ahead comes to a standstill, the vehicle decelerates to a standstill within the limitations of the
system. The system will release brake control with a warning chime once it judges the vehicle is at a stand-
still. To prevent the vehicle from moving, the driver must depress the brake pedal. [The system will resume
control automatically once the system reaches 5 km/h (3 MPH)].
• When the brake operates, a noise may be heard. This is not a malfunction.

HANDLING PRECAUTION
Precautions for Predictive Forward Collision Warning INFOID:0000000012796264
A
• The predictive forward collision warning system is designed to warn driver before a collision but will not
avoid a collision. It is the driver's responsibility to stay alert, drive safely and be in control of the vehicle at all
times. B
• The radar sensor does not detect the following objects.
- Pedestrians, animals, or obstacles in the roadway.
- Oncoming vehicles
- Crossing vehicles C
• The predictive forward collision warning system does not function when a vehicle ahead is a narrow vehicle,
such as a motorcycle.
• The radar sensor may not detect a second vehicle ahead in the following conditions: D
- Snow or heavy rain
- Dirt, ice, snow or other material covering the radar sensor
- Interference by other radar sources
- Snow or road spray from traveling vehicles is splashed E
- Driving in a tunnel
• The radar sensor may not detect a second vehicle when the vehicle ahead is being towed.
• When the distance to the vehicle ahead is too close, the beam of the radar sensor is obstructed. F
• The radar sensor may not detect a second vehicle when driving on a steep downhill slope or on roads with
sharp curves.
• Excessive noise will interfere with the warning tone sound, and it may not be heard.
G
Precautions for Lane Departure Warning/Lane Departure Prevention INFOID:0000000012796265
LANE CAMERA UNIT HANDLING H

To keep the proper operation of the LDW/LDP systems and prevent a system malfunction, be sure to observe
the following:
I
• Do not attach a sticker (including transparent material) or install an accessory near the lane camera unit.
sunlight may adversely affect the lane camera unit capability of detecting the lane markers.
• Do not strike or damage the areas around the camera unit. Do not touch the camera lens or remove the J
screw located on the camera unit. If the camera unit is damaged due to an accident.
LANE DEPARTURE WARNING (LDW)
• If the LDW system malfunctions, it will cancel automatically, and the LDW malfunction message will appear K
in the vehicle information display.
• LDW system is only a warning device to inform the driver of a potential unintended lane departure. It will not
steer the vehicle or prevent loss of control. It is the driver’s responsibility to stay alert, drive safely, keep the L
vehicle in the traveling lane, and be in control of the vehicle at all times.
• LDW system will not operate at speeds below approximately 70 km/h (45 MPH) or if it cannot detect lane
markers.
• Excessive noise will interfere with the warning chime sound, and the chime may not be heard. M
• LDW system may not function properly under the following conditions:
- On roads where there are multiple parallel lane markers; lane markers that are faded or not painted clearly;
yellow painted lane markers; non-standard lane markers; or lane markers covered with water, dirt or snow, N
etc.
- On roads where the discontinued lane markers are still detectable.
- On roads where there are sharp curves.
DAS
- On roads where there are sharply contrasting objects, such as shadows, snow, water, wheel ruts, seams or
lines remaining after road repairs. (The LDW system could detect these items as lane markers.)
- On roads where the traveling lane merges or separates.
- When the vehicle's traveling direction does not align with the lane marker. P
- When traveling close to the vehicle in front of driver, which obstructs the lane camera unit detection range.
- When rain, snow or dirt adheres to the windshield in front of the lane camera unit.
- When the headlights are not bright due to dirt on the lens or if the aiming is not adjusted properly.
- When strong light enters the lane camera unit. (For example, the light directly shines on the front of the vehi-
cle at sunrise or sunset.)
- When a sudden change in brightness occurs. (For example, when the vehicle enters or exits a tunnel or
under a bridge.)

HANDLING PRECAUTION
LANE DEPARTURE PREVENTION (LDP)
• If the LDP system malfunctions, it will cancel automatically, and the LDP malfunction message will appear in
the vehicle information display.
• The LDP system will not always steer the vehicle to keep it in the lane. It is not designed to prevent loss of
control. It is the driver’s responsibility to stay alert, drive safely, keep the vehicle in the traveling lane, and be
in control of vehicle at all times.
• LDP system is primarily intended for use on well-developed freeways or highways. It may not detect the lane
markers in certain roads, weather or driving conditions.
• Using the LDP system under some conditions of road, lane marker or weather, or when driver change lanes
without using the turn signal could lead to an unexpected system operation. In such conditions, driver needs
to correct the vehicle's direction with driver's steering operation to avoid accidents.
• The LDP system will not operate at speeds below approximately 70 km/h (45 MPH) or if it cannot detect lane
markers.
• Do not use the LDP system under the following conditions as it may not function properly:
- During bad weather (rain, fog, snow, etc.).
- When driving on slippery roads, such as on ice or snow, etc.
- When driving on winding or uneven roads.
- When there is a lane closure due to road repairs.
- When driving in a makeshift or temporary lane.
- When driving on roads where the lane width is too narrow.
- When driving with a tire that is not within normal tire conditions (for example, tire wear, low tire pressure,
installation of spare tire, tire chains, non-standard wheels).
- When the vehicle is equipped with non-original brake or steering parts or suspension parts.
• Excessive noise will interfere with the warning chime sound, and the chime may not be heard.
• The functions of the LDP system (warning and, system application of the steering or brakes) may or may not
operate properly under the following conditions:
yellow painted lane markers; non-standard lane markers or lane markers covered with water, dirt or snow,
etc.
- On roads where discontinued lane markers are still detectable.
lines remaining after road repairs (The LDP system could detect these items as lane markers.).
- When the vehicle's traveling direction does not align with the lane marker.
- When strong light enters the lane camera unit (For example, the light directly shines on the front of the vehi-
- When a sudden change in brightness occurs (For example, when the vehicle enters or exits a tunnel or
under a bridge.)
Precautions for Blind Spot Warning/Blind Spot Intervention INFOID:0000000012796266
LANE CAMERA UNIT HANDLING

Refer to DAS-283, "Precautions for Lane Departure Warning/Lane Departure Prevention".
SIDE RADAR HANDLING
• Side radar for Blind Spot Warning/Blind Spot Intervention system is located inside the rear bumper.
• Always keep the rear bumper near the side radar clean.
• Do not attach a sticker (including transparent material), install an accessory or paint work near the side
radar.
• Do not strike or damage the areas around the side radar.
• Do not strike, damage, and scratch the side radar, especially the vent seal (gray circular) area, under repair.
BLIND SPOT WARNING & BLIND SPOT INTERVENTION
• The Blind Spot Warning and Blind Spot Intervention systems are not a replacement for proper driving proce-
dure and are not designed to prevent contact with vehicles or objects. When changing lanes, always use the
side and rear mirrors and turn and look in the direction driver will move to ensure it is safe to change lanes.
Never rely solely on the Blind Spot Warning or Blind Spot Intervention system.

HANDLING PRECAUTION
• Using the Blind Spot Intervention system under some road, lane marker or weather conditions could lead to
improper system operation. Always rely on driver's own steering and braking operation to avoid accidents. A
• The Blind Spot Warning and Blind Spot Intervention systems may not provide the warning or the control for
vehicles that pass through the detection zone quickly.
• Excessive noise (for example, audio system volume, open vehicle window) will interfere with the chime
B
sound, and it may not be heard.
• The side radar may not be able to detect and activate Blind Spot Warning/Blind Spot Intervention when cer-
tain objects are present such as:
- Pedestrians, bicycles, animals. C
- Several types of vehicles such as motorcycles.
- Oncoming vehicles.
- Vehicles remaining in the detection zone when driver accelerate from a stop. D
- A vehicle merging into an adjacent lane at a speed approximately the same as vehicle.
- A vehicle approaching rapidly from behind.
- A vehicle which vehicle overtakes rapidly.
• Severe weather or road spray conditions may reduce the ability of the radar to detect other vehicles. E
• The side radar detection zone is designed based on a standard lane width. When driving in a wider lane, the
side radar may not detect vehicles in an adjacent lane. When driving in a narrow lane, the side radar may
detect vehicles driving two lanes away. F
• The side radar are designed to ignore most stationary objects, however objects such as guardrails, walls,
foliage and parked vehicles may occasionally be detected. This is a normal operating condition.
BLIND SPOT INTERVENTION G
• Do not use the Blind Spot Intervention system under the following conditions because the system may not
function properly.
- During bad weather (for example. rain, fog, snow, etc.)
H
- When driving in a makeshift or temporary lane. I
installation of spare tire, tire chains, non-standard wheels). J
- When the vehicle is equipped with non-original steering parts, brake parts or suspension parts.
• The camera may not detect lane markers in the following situations and the Blind Spot Intervention system
may not operate properly.
- On roads where there are multiple parallel lane markers; lane markers that are faded or not painted clearly; K
yellow painted lane markers; nonstandard lane markers; lane markers covered with water, dirt, snow, etc.
- On roads where there are sharp curves. L
lines remaining after road repairs.
- When the vehicle is traveling direction does not align with the lane markers. M
- When rain, snow or dirt adheres to the windshield in front of a lane camera unit.
- When the headlights are not bright due to dirt on the lens or if aiming is not adjusted properly. N
- When strong light enters a lane camera unit. (for example, light directly shines on the front of the vehicle at
sunrise or sunset.)
- When a sudden change in brightness occurs. (for example, when the vehicle enters or exits a tunnel or
under a bridge.) DAS
• The Blind Spot Intervention system will not operate if own vehicle is on a lane marker when another vehicle
enters the detection zone. In this case only the BSW system operates.
• Blind Spot Intervention assist will not operate or will stop operating and only a warning chime will sound P
- When the accelerator pedal is depressed while the assist is provided.
- When steering quickly.
- When the ICC, DCA, predictive forward collision warning or forward emergency braking warnings sound.
- When driving on a curve at a high speed.

HANDLING PRECAUTION
Precautions for Back-up Collision Intervention INFOID:0000000012796267
SONAR HANDLING
• Always keep the sonar sensors clean.
• Do not attach a sticker (including transparent material), install an accessory or paint work over any of the
sonar sensors.
• Do not strike or scratch any of the sonar sensors causing physical damage. to a sensor or the surrounding
area
SIDE RADAR HANDLING
• Always keep the rear bumper near the side radar clean.
• Do not attach a sticker (including transparent material), install an accessory or paint work near the side
radar.
• Do not strike or damage the areas around the side radar.
BACK-UP COLLISION INTERVENTION
• The Back-up Collision Intervention system is not a replacement for proper driving procedure and is not
designed to prevent contact with vehicles or objects. When backing out of parking space, always use the
inside and outside rear view mirrors and turn and look in the direction own vehicle will move. Never rely
solely on the Back-up Collision Intervention system.
• There is a limitation to the detection capability of the radar and the sonar. Using the BCI system under some
road, ground, lane marker, traffic or weather conditions could lead to improper system operation. Always rely
on driver operation to avoid accidents.
• In the case of several vehicles approaching in a row or in the opposite direction, a chime may not be issued
to the BCI system after the first vehicle passes the sensors.
• When the sonar sounds a tone, the BCI system does not chime a sound (single beep).
• The BCI system does not operate if the object is very close to the bumper.
• The radar sensor may not be able to detect certain objects are present such as:
- Pedestrians, bicycles or animals.
- A vehicle that is passing at a speed greater than approximately 24 km/h (15 MPH).
• The radar sensor may not detect approaching vehicles in certain situations:
- When the vehicle parked next to own vehicle obstructs the beam of the radar sensor.
- When the vehicle is parked in an angled parking space.
- When the vehicle is parked on inclined ground.
- When the vehicle turns around into own vehicle’s aisle.
- When the angle formed by own vehicle and approaching vehicle is small.
• Severe weather or road spray conditions may reduce the ability of the radar to detect other vehicles.
• The sonar sensor system may not detect:
- Small or moving object.
- Wedge-shaped objects.
- Object closer to the bumper [less than approximately 30 cm (10 in)].
- Thin objects such as rope, wire, chain, etc...
• The brakes engaged by the BCI system is not as effective on a slope as it is on flat ground. When on a steep
slope, the system may not function properly.
• Do not use the BCI system under the following conditions because the system may not function properly:
- When driving with a tire that is not the within normal tire condition (example: tire wear, low tire pressure,
- When the vehicle is equipped with non-original brake parts or suspension parts.

A
On Board Diagnosis Function (With ICC) INFOID:0000000013405018
DESCRIPTION B
The DTC is displayed on the information display by operating the ICC steering switch.
On Board Self-diagnosis System Diagram (VR30DDTT)
C
JSOIA0271GB
F
On Board Self-diagnosis System Diagram (2.0 TURBO GASOLINE ENGINE)
I
JSOIA0879GB
METHOD OF STARTING
CAUTION: J
Start condition of on board self-diagnosis
• ICC system OFF
• DCA system OFF
• Vehicle speed 0 km/h (0 MPH) K
L
3. Wait for 5 seconds after starting the engine. Push up the
RESUME/ACCELERATE switch 5 times and push down the
SET/COAST switch 5 times within 10 seconds.
NOTE: M
If the above operation cannot be performed within 10 seconds
after waiting for 5 seconds after starting the engine, repeat the
procedure from step 1. N
DAS
PKIB8371E

4. The DTC is displayed on the set vehicle speed indicator (1) on the ICC system display on the information
display when the on board self-diagnosis starts. Refer to DAS-53, "DTC Index".
JSOIA0880GB
NOTE:
• It displays for up to 5 minutes and then stops.
• If multiple malfunctions exist, up to 6 DTCs can be stored in memory at the most, and the most recent
one is displayed first.
WHEN THE ON BOARD SELF-DIAGNOSIS DOES NOT START
If the on board self-diagnosis does not start, check the following items.
Assumed abnormal part Inspection item

Check that the self-diagnosis function of the combina-
Information display Combination meter malfunction tion meter operates. Refer to MWI-68, "On Board Diag-
nosis Function".
ICC/ASCD steering switch malfunction
Harness malfunction between ICC steering switch and ECM
Perform the inspection for DTC “C1A06”. Refer to DAS-
Harness malfunction between ASCD steering switch and ADAS control 117, "DTC Logic".
unit
ECM malfunction
• Check power supply and ground circuit of ADAS con-
trol unit. Refer to DAS-213, "Diagnosis Procedure".
ADAS control unit malfunction • Perform SELF-DIAGNOSIS for “ICC/ADAS”with
CONSULT, and then check the malfunctioning parts.
HOW TO ERASE ON BOARD SELF-DIAGNOSIS

2. Start the engine, and then start the on board self-diagnosis.
3. Press the CANCEL switch 5 times, and then press the DIS-
TANCE switch 5 times under the condition that the on board
self-diagnosis starts.
NOTE:
• Complete the operation within 10 seconds after pressing the
CANCEL switch first.
• If the operation is not completed within 10 seconds, repeat the
4. DTC 55 is displayed after erasing.
NOTE:
DTCs for existing malfunction can not be erased. PKIB8373E
5. Turn ignition switch OFF, and finish the diagnosis.

CONSULT Function (ICC/ADAS) INFOID:0000000013405019
A
APPLICATION ITEMS
CONSULT performs the following functions via CAN communication using ADAS control unit.
B
• The vehicle specification that is written in ADAS control unit can be displayed or stored
Configuration* • The vehicle specification can be written when ADAS control unit is replaced C
Work Support Displays causes of automatic system cancellation occurred during system control
Self Diagnostic Result Displays the name of a malfunctioning system stored in the ADAS control unit
D
Data Monitor Displays ADAS control unit input/output data in real time
Enables an operational check of a load by transmitting a driving signal from the ADAS control unit to
Active Test
the load
E
ECU Identification Displays ADAS control unit part number
CAN Diag Support Monitor Displays a reception/transmission state of CAN communication and ITS communication
*: Models with FEB system only. F
CONFIGURATION
Configuration includes functions as follows.
NOTE: G
Function Description H
Allows the reading of vehicle specification written in ADAS control
Before Replace ECU
Allows the writing of the vehicle information stored in CONSULT I
After Replace ECU
unit by hand. J
WORK SUPPORT

K
tems
• Vehicle-to-vehicle control mode L
• Conventional (fixed speed) control mode
M
tems
• Lane Departure Prevention (LDP) (Without DAST)
• Blind Spot Intervention (Without DAST) N
Displays causes of automatic system cancellation occurred during control of the Back-up Col-
lision Intervention (BCI)
NOTE: DAS
254 if it is over 254. It returns to 0 when the same cancellation cause is detected again. P

•Conventional (fixed speed) cruise control mode

•Automatic Speed Control Device (ASCD)

Distance Control Assist
OPERATING ABS × × × ABS function was operated

OPERATING TCS × × × TCS function was operated
OPERATING VDC × × × × VDC function was operated
ECM CIRCUIT × × ECM did not permit ICC operation
OPE SW VOLT CIRC × × × The ICC steering switch input voltage is not within standard range
SNOW MODE SW × × Shifting of the drive mode selector to SNOW position
OP SW DOUBLE
× × ICC steering switches were pressed at the same time
TOUCH
Vehicle speed lower than the speed as follows
• Vehicle-to-vehicle distance control mode is 24 km/h (15 MPH)
VHCL SPD DOWN × × ×
• Conventional (fixed speed) cruise control mode is 32 km/h (20
MPH)
WHL SPD ELEC NOISE × × × Wheel speed sensor signal caught electromagnetic noise
VDC/TCS OFF SW × × × VDC OFF switch was pressed
VHCL SPD UNMATCH × × × Wheel speed became different from A/T vehicle speed
TIRE SLIP × × Wheel slipped
IGN LOW VOLT × × × × Decrease in ADAS control unit ignition voltage
PARKING BRAKE ON × × The parking brake is operating
WHEEL SPD UNMATCH × × × The wheel speeds of 4 wheels are out of the specified values
A vehicle ahead is not detected during the following driving when
INCHING LOST ×
the vehicle speed is approximately 24 km/h (15 MPH) or less
ADAS control unit received an abnormal signal with CAN commu-
CAN COMM ERROR × × × ×
nication
ABS/TCS/VDC CIRC × × × × An abnormal condition occurs in VDC/TCS/ABS system
ECD CIRCUIT × × × × An abnormal condition occurs in ECD system
ENG SPEED DOWN × × Engine speed became extremely low while controlling ICC system
ASCD VHCL SPD DTAC × Vehicle speed is detached from set vehicle speed
ASCD DOUBLE COMD × Cancel switch and operation switch are detected simultaneously
The accelerator pedal actuator integrated motor temperature is
APA HI TEMP ×
high
ICC SENSOR CAN Communication error between ADAS control unit and the ICC sen-
× × ×
COMM ERR sor
ABS WARNING LAMP × × ABS warning lamp ON
Inclusion of dirt or stains on the ICC sensor area of the front
FR RADAR BLOCKED × × ×
bumper

FEB) CURVATURE × Road curve was more than the specified value
A
FEB) YAW RATE × Detected yawing speed was more than the specified value
FEB) LTRL ACCELERA-
× Detected lateral speed is the specified value or more
TION
B
RADAR INTERFER-
× × × ICC sensor receives electromagnetic interference
ENCE
NO RECORD × × × —
C

E
Vehicle dynamics × Vehicle behavior exceeds specified value G
Steering speed × Steering speed was more than the specified value in evasive direction
H
Target approach warning of ICC system, FEB system, or PFCW system was activat-
ICC WARNING ×
ed
I
Steering angle large × Steering angle was more than the specified value
Brake is operated × Brake pedal was operated J
Lateral offset × K
value
L
Accel is operated × Accelerator pedal was depressed M
N
Not operating condition × Did not meet the operating condition (vehicle speed, turn signal operation, etc.) DAS
P
OPE VDC/ABS 2 × The activation of VDC or ABS during a standby time of LDP system control
BSI WARNING × Blind Spot Intervention system was activated
BSI) OPE VDC/TCS/
× The activation of VDC, TCS, or ABS during Blind Spot Intervention system control
ABS 1


BSI) End by yaw angle × Yaw angle was the end of Blind Spot Intervention control
BSI) Departure yaw
× Detected more than the specified value of yaw angle in departure direction
large
BSI) ICC WARNING × Target approach warning of ICC system, FEB system or PFCW system was activated
BSI) CURVATURE × Road curve was more than the specified value
BSI) Steering angle
large
BSI) Brake is operated × Brake pedal was operated
BSI) IGN LOW VOLT × Decrease in ADAS control unit IGN voltage
clear
BSI) Accel is operated × Accelerator pedal was depressed
The activation of VDC or ABS during a standby time of Blind Spot Intervention sys-
tem control
dition
Side Radar Lost × Unrecognized side radar LH or RH by the ADAS control unit
NO RECORD × × —

CAN COMM ERROR (CAN) × ADAS control unit received an abnormal signal with CAN communication
CAN COMM ERROR (ECD) × ADAS control unit received an abnormal signal with CAN communication


A

B
IGN LOW VOLT × Decrease in ADAS control unit ignition voltage

D
VEHICLE SPEED UP × Vehicle speed higher than 8 km/h (5 MPH)
ACCEL IS OPERATED × Accelerator pedal was depressed
BRAKE IS OPERATED × Brake pedal was operated E
APA HI TEMP × The accelerator pedal actuator integrated motor temperature is high
APA POWER × Decrease in accelerator pedal actuator ignition or battery voltage
F
NO RECORD × —

Refer to DAS-53, "DTC Index". G
NOTE:
- CRNT: A malfunction is detected now H
• IGN counter is displayed on FFD (Freeze Frame Data).
CAN communication system (U1000, U1010) I
- If it is over 39, it is fixed to 39 until the self-diagnosis results are erased. J
- If it is over 49, it is fixed to 49 until the self-diagnosis results are erased. K
DATA MONITOR
NOTE:
L
M
(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
N
MAIN SW
× × × × Indicates [On/Off] status as judged from ICC steering switch
[On/Off]
SET/COAST SW DAS
[On/Off]
CANCEL SW
[On/Off] P
RESUME/ACC SW
[On/Off]
DISTANCE SW
× Indicates [On/Off] status as judged from ICC steering switch
[On/Off]
CRUISE OPE
× × Indicates whether controlling or not (ON means “controlling”)
[On/Off]

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
BRAKE SW Indicates [On/Off] status as judged from ICC brake switch signal (ECM
× × × × ×
[On/Off] transmits ICC brake switch signal through CAN communication)
STOP LAMP SW Indicates [On/Off] status as judged from stop lamp switch signal (ECM
× × × × ×
[On/Off] transmits stop lamp switch signal through CAN communication)
Indicates [On/Off] status of idle switch read from ADAS control unit
IDLE SW
× × through CAN communication (ECM transmits On/Off status through CAN
[On/Off]
communication)
SET DISTANCE
× × Indicates set distance memorized in ADAS control unit
[Short/Mid/Long]
CRUISE LAMP
× × Indicates [On/Off] status of MAIN switch indicator output
[On/Off]
OWN VHCL NOTE:
×
VHCL AHEAD
× Indicates [On/Off] status of vehicle ahead detection indicator output
[On/Off]
ICC WARNING
× Indicates [On/Off] status of ICC system warning lamp output
[On/Off]
Indicates vehicle speed calculated from ADAS control unit through CAN
VHCL SPEED SE
× × × × × communication [ABS actuator and electric unit (control unit) transmits ve-
[km/h] or [mph]
hicle speed signal (wheel speed) through CAN communication]
SET VHCL SPD
× × Indicates set vehicle speed memorized in ADAS control unit
[km/h] or [mph]
BUZZER O/P
× × Indicates [On/Off] status of ICC warning chime output
[On/Off]
THRTL SENSOR NOTE:
× ×
[deg] The item is displayed, but it is not monitored
Indicates engine speed read from ADAS control unit through CAN com-
ENGINE RPM
× munication (ECM transmits engine speed signal through CAN communi-
[rpm]
cation)
WIPER SW Indicates wiper [OFF/LOW/HIGH] status (BCM transmits front wiper re-
×
[OFF/LOW/HIGH] quest signal through CAN communication)
YAW RATE NOTE:
×
[deg/s] The item is displayed, but it is not monitored
BA WARNING
× Indicates [On/Off] status of FEB indicator lamp output
[On/Off]
STP LMP DRIVE
× × × Indicates [On/Off] status of ICC brake hold relay drive output
[On/Off]
Indicates [On/Off] status of “D” or “M” positions read from ADAS control
D RANGE SW
× unit through CAN communication; ON when position “D” or “M” (TCM
[On/Off]
transmits shift position signal through CAN communication).
Indicates shift position signal read from ADAS control unit through CAN
NP RANGE SW
× communication (TCM transmits shift position signal through CAN commu-
[On/Off]
nication)
Parking brake switch status [On/Off] judged from the parking brake switch
PKB SW signal that ADAS control unit readout via CAN communication is displayed
×
[On/Off] (combination meter transmits the parking brake switch signal via CAN
communication)
PWR SUP MONI
× × Indicates IGN voltage input by ADAS control unit
[V]
Indicates vehicle speed calculated from A/T vehicle speed sensor read
VHCL SPD AT
× from ADAS control unit through CAN communication (TCM transmits A/T
[km/h] or [mph]
vehicle speed sensor signal through CAN communication)

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
A
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
Indicates throttle position read from ADAS control unit through CAN com- B
THRTL OPENING
× × × munication (ECM transmits accelerator pedal position signal through CAN
[%]
communication).
GEAR
Indicates A/T gear position read from ADAS control unit through CAN C
× communication (TCM transmits current gear position signal through CAN
[1, 2, 3, 4, 5, 6, 7]
communication)
CLUTCH SW SIG NOTE: D
× × × ×
Indicates [On/Off] status as judged from park/neutral position switch sig-
NP SW SIG
× nal (ECM transmits park/neutral position switch signal through CAN com-
[On/Off] E
munication).
MODE SIG Indicates the active mode from ICC or ASCD [conventional (fixed speed)
×
[OFF, ICC, ASCD] cruise control mode]
SET DISP IND
F
× Indicates [On/Off] status of SET switch indicator output
[On/Off]
DISTANCE
× Indicates the distance from the vehicle ahead G
[m]
RELATIVE SPD
× Indicates the relative speed of the vehicle ahead
[m/s]
ON ROOT GUID- H
NOTE:
ANCE ×
[On/Off]
DYNA ASIST SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM I
× × ×
[On/Off] transmits ICC steering switch signal through CAN communication)
DCA ON IND
× The status [ON/OFF] of DCA system switch indicator output is displayed
[On/Off] J
DCA VHL AHED The status [ON/OFF] of vehicle ahead detection indicator output in DCA
×
[On/Off] system is displayed
IBA SW NOTE: K
× ×
FCW SYSTEM ON
[On/Off] L
Accelerator pedal actuator integrated motor temperature that the ADAS
APA TEMP control unit readout via ITS communication is displayed (Accelerator ped-
× ×
[°C] al actuator transmits the integrated motor temperature via ITS communi-
cation) M
Accelerator pedal actuator power supply voltage that the ADAS control
APA PWR
× × unit readout via ITS communication is displayed (Accelerator pedal actu-
[V]
ator transmits the power supply voltage via ITS communication) N
NAVI ICC DISP NOTE:
LDW SYSTEM ON DAS
× Indicates [On/Off] status of LDW system
[On/Off]
LDW ON LAMP
× Indicates [On/Off] status of LDW system display output
[On/Off] P
LDP ON IND
× Indicates [On/Off] status of LDP system display output
[On/Off]
LANE DPRT W/L
× Indicates [On/Off] status of LDW/LDP warning display (Yellow) output
[On/Off]
LDW BUZER OUT-
PUT × Indicates [On/Off] status of warning buzzer output
[On/Off]

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
LDP SYSTEM ON
× Indicates [On/Off] status of LDP system
[On/Off]
WARN REQ Indicates an ADAS control unit judged warning state (ON/OFF) of LDP
×
[On/Off] system
READY signal
× Indicates LDP system settings
[On/Off]
Indicates a lane marker detection state judged from a lane marker detec-
Camera lost
× × tion signal read by the ADAS control unit via ITS communication
[Detect/Deviate/Both]
(Lane camera unit transmits a lane marker signal via ITS communication)
Lane unclear
[On/Off]
communication)
STATUS signal
Off]
Shift position
Indicates shift position read from ADAS control unit through CAN commu-
[Off, P, R, N, D, M/T1 - × × ×
nication (TCM transmits shift position signal through CAN communication)
7]
Indicates turn signal operation status read from ADAS control unit through
Turn signal
× × CAN communication (BCM transmits turn indicator signal through CAN
[OFF/LH/RH/LH&RH]
communication)
Indicates lateral G acting on the vehicle. This lateral G is judged from a
SIDE G side G sensor signal read by ADAS control unit via CAN communication
× ×
[G] (The ABS actuator and electric unit (control unit) transmits a side G sensor
signal via CAN communication)
STATUS signal
Off]
Lane unclear
[On/Off]
communication)
FUNC ITEM (FCW)
× × × × ⇒ “Emergency Assist” of the integral switch
[On/Off]
FUNC ITEM (LDW)
× × × × ⇒ “Lane” of the integral switch
[On/Off]
Lane Departure Warning
FUNC ITEM (BSW)
× × × × ⇒ “Blind spot” of the integral switch
[On/Off]
Blind Spot Warning
FUNC ITEM (NV-ICC) NOTE:
× × × ×
FUNC ITEM (NV-
NOTE:
DCA) × × × ×
[Off]
Indicates an ON/OFF state of the DCA system. The DCA system can be
DCA SELECT
× × × × set to ON/OFF by selecting “Driving Aids” ⇒ “Front assist” of the integral
[On/Off]
switch
LDP SELECT Indicates an ON/OFF state of LDP system. LDP system can be set to ON/
× × × ×
[On/Off] OFF by selecting “Driving Aids” ⇒ “Lane”of the integral switch

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
A
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
Indicates an ON/OFF state of Blind Spot Intervention system. Blind Spot B

BSI SELECT
× × × × Intervention system can be set to ON/OFF by selecting “Driving Aids” ⇒
[On/Off]
“Blind Spot”of the integral switch
FCW SELECT
Indicates an ON/OFF state of the PFCW system. The PFCW system can C
× × × × be set to ON/OFF by selecting “Driving Aids” ⇒ “Emergency Assist” of the
[On/Off]
integral switch
LDW SELECT Indicates an ON/OFF state of the LDW system. The LDW system can be D
× × × ×
[On/Off] set to ON/OFF by selecting “Driving Aids” ⇒ “Lane” of the integral switch
Indicates an ON/OFF state of the BSW system. The BSW system can be
BSW SELECT
× × × × set to ON/OFF by selecting “Driving Aids” ⇒ “Blind spot” of the integral
[On/Off] E
switch
NAVI ICC SELECT NOTE:
× × × ×
NAVI DCA SELECT NOTE:
F
× × × ×
SYS SELECTABILITY Indicates the availability of ON/OFF switching for “Driving Aids” items re-
× × × × G
[On/Off] ceived from the integral switch via CAN communication
Indicates a drive mode selector select position judged from a drive mode
DRIVE MODE STATS select switch position signal read by the ADAS control unit via CAN com-
[STD/SPORT/ECO/ × × × × munication H
SNOW/MID/ERROR] (The chassis control module transmits a switch position signal of the drive
mode select switch signal via CAN communication)
WARN SYS SW NOTE:
× × × × I
BSW/BSI WARN LMP
× Indicates [On/Off] status of Blind Spot warning malfunction
[On/Off]
J
BSI ON IND
× Indicates [On/Off] status of Blind Spot Intervention system display
[On/Off]
BSW SYSTEM ON
× Indicates [On/Off] status of BSW system K
[On/Off]
BSI SYSTEM ON
× Indicates [On/Off] status of Blind Spot Intervention system
[On/Off]
L
FCW SYSTEM ON
[On/Off]
BCI SYSTEM ON
× Indicates [On/Off] status of BCI system M
[On/Off]
BCI SWITCH NOTE:
×
BATTERY CIRCUIT
N
NOTE:
OFF ×
The item is displayed, but it is not used
[On/Off]
LDP WARNING INDI- DAS
CATOR × Indicates [On/Off] status of LDP warning display (Yellow) output
[On/Off]
LDW ON INDICATOR P
× Indicates [On/Off] status of LDW system ON display output
[On/Off]
LDW WARNING INDI-
CATOR × Indicates [On/Off] status of LDW system warning display output
[On/Off]

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
SYSTEM CANCEL
MESSAGE
× × × × Indicates status of system cancel display output
[NOREQ/SLIP/
SNOW/VDC OFF]
CAMERA HI TEMP
Indicates [On/Off] status of lane camera unit high temperature warning
MSG × ×
display output
[On/Off]
ITS SETTING
ITEM(DCA) × × × × Indicates the presence or absence of DCA system.
[On/Off]
ITS SETTING
ITEM(LDP) × × × × Indicates the presence or absence of LDP system.
[On/Off]
ITS SETTING
ITEM(BSI) × × × × Indicates the presence or absence of Blind Spot Intervention system.
[On/Off]
BSI WARNING INDI-
CATOR × Indicates [On/Off] status of Blind Spot Intervention warning display output
[On/Off]
BSW ON INDICATOR
× Indicates [On/Off] status of BSW system ON display output
[On/Off]
SIDE RADAR BLOCK
COND × Indicates [On/Off] status of side radar with dirt or foreign materials
[On/Off]
LDW WARNING
NOTE:
ALERT TIMING ×
[Nothing/Early/Late]
BSW IND BRIGHT-
NESS Indicates status of brightness of Blind Spot Warning/Blind Spot Interven-
×
[Nothing/Bright/Nor- tion indicator
mal/Dark]
SL MAIN SW
× Indicates [On/Off] status as judged from steering switch
[On/Off]
FUNC ITEM(FEB)
× ⇒ “Emergency Assist” of the integral switch
[On/Off]
Indicates an ON/OFF state of the FEB system. The FEB system can be
FEB SELECT
× set to ON/OFF by selecting “Driving Aids” ⇒ “Emergency Assist” of the in-
[On/Off]
tegral switch
FEB SW
× Indicates [On/Off] status of FEB system
[On/Off]
SL TARGET VEHI-
CLE SPEED × Indicates set vehicle speed memorized in ADAS control unit
[km/h]
SL SET LAMP
× Indicates [On/Off] status of speed limiter SET display output
[On/Off]
SL LIMIT LAMP
× Indicates [On/Off] status of speed limiter MAIN switch display output
[On/Off]
ASCD CANCEL
(LOW SPEED) ×
• CUT: Vehicle speed decreased to excessively low, and ASCD operation
[NON/CUT]
is cut off.

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
A
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
Indicates the vehicle cruise condition. B

ASCD CANCEL
(SPEED DIFF) ×
• CUT: Vehicle speed decreased to excessively low compared with the
[NON/CUT]
ASCD set speed, and ASCD operation is cut off.
C
Display Kick Down decision state.
KICK DOWN
× • On: Accelerator pedal is depressed
[On/Off]
• Off: Accelerator pedal is fully released
D
ACTIVE TEST
CAUTION:
• Never perform “Active Test” while driving the vehicle. E
• The “Active Test” cannot be performed when the following systems malfunction is displayed.
- ICC system
- DCA
- LDW F
- LDP
- Blind Spot Warning
- Blind Spot Intervention G
- BCI
• The “Active Test” cannot be performed when the FEB warning lamp is illuminated.
H
The MAIN switch indicator and FEB warning lamp can be illuminated by ON/OFF operations as nec-
METER LAMP I
essary
The ICC brake hold relay can be operated by ON/OFF operations as necessary, and the stop lamp
STOP LAMP
can be illuminated
Sounds a buzzer used for following systems by arbitrarily operating ON/OFF J
ICC BUZZER • Distance Control Assist (DCA)
K
• Forward Emergency Brake (FEB)
BRAKE ACTUATOR Activates the brake by an arbitrary operation
ACTIVE PEDAL The accelerator pedal actuator can be operated as necessary L
DCA INDICATOR The DCA system display can be illuminated by ON/OFF operations as necessary
• Lane Departure Warning (LDW) M
LDP BUZZER • Lane Departure Prevention (LDP)
N
LDP ON IND The LDP system display can be illuminated by ON/OFF operations as necessary
LANE DEPARTURE W/L The LDW/LDP warning can be illuminated by ON/OFF operations as necessary
BSW ON INDICATOR The Blind Spot Warning system display can be illuminated by ON/OFF operations as necessary DAS
BSI ON INDICATOR The Blind Spot Intervention system display can be illuminated by ON/OFF operations as necessary
LDW ON INDICATOR The LDW system display can be illuminated by ON/OFF operations as necessary
LDP WARNING INDICATOR The LDP malfunction can be illuminated by ON/OFF operations as necessary P
LDW WARNING INDICATOR The LDW malfunction can be illuminated by ON/OFF operations as necessary
BSW WARNING INDICATOR The BSW malfunction can be illuminated by ON/OFF operations as necessary
BSI WARNING INDICATOR The Blind Spot Intervention malfunction can be illuminated by ON/OFF operations as necessary
METER LAMP
NOTE:

• MAIN switch indicator

Oper-
Test item Description • ICC system warning
ation
• FEB warning lamp
Stops sending the following signals to exit from the test
Off • Meter display signal OFF
METER LAMP Transmits the following signals to the combination meter via
CAN communication
On ON
• Meter display signal
STOP LAMP
Oper-
Test item Description Stop lamp
ation
Stops transmitting the ICC brake hold relay drive signal be-
Off OFF
STOP LAMP low to end the test
On Transmits the ICC brake hold relay drive signal ON
ICC BUZZER
Test item Operation Description Operation sound

Transmits the buzzer output signals to the driver assis-
MODE1 Intermittent beep sound
tance buzzer control module via ITS communication
Test start Starts the tests of “MODE1” —
ICC BUZZER
Stops transmitting the buzzer output signal below to end
Reset —
the test
BRAKE ACTUATOR
NOTE:
Test item Operation Description “PRESS SENS” value

MODE1 10 bar
Transmits the brake fluid pressure control signal to the
MODE2 ABS actuator and electric unit (control unit) via chassis 20 bar
control module
MODE3 30 bar
BRAKE ACTUATOR Test start Starts the tests of “MODE1”, “MODE2” and “MODE3” —
Stops transmitting the brake fluid pressure control signal
Reset —
below to end the test
NOTE:
PKIB1767J
Active Pedal

CAUTION:
• Shift the selector lever to “P” position, and then perform the test. A
• Never depress the accelerator pedal excessively. (The engine speed may rise unexpectedly when
finishing the test.)
NOTE:
B
• Depress the accelerator pedal to check when performing the test.
• The test can be performed only when the engine is running.
Test item Operation Description Accelerator pedal operation C

MODE1
for 8 seconds
Constant with a force of 15 N D
MODE2
Transmit the accelerator pedal feedback force control signal for 8 seconds
to the accelerator pedal actuator via ITS communication. Change up to a force of 25 N for
MODE3
8 seconds E
ACTIVE PEDAL Change up to a force of 15 N for
MODE4
8 seconds
Starts the tests of “MODE1”, “MODE2”, “MODE3” and F
Test start —
“MODE4”
Stops transmitting the accelerator pedal feedback force
Reset —
control signal below to end the test. G
NOTE:
The test is finished in 10 seconds after starting H
JPOIA0061GB K
DCA INDICATOR
NOTE:
The test can be performed only when the engine is running. L
Opera-
Test item Description DCA system display
tion M
Stops transmitting the meter display signal below to end the
Off —
test
DCA INDICATOR
On
Transmits the meter display signal to the combination meter via
ON
N
CAN communication
LDP BUZZER
DAS
Opera-
Test item Description Warning buzzer
tion
Stops transmitting the warning buzzer signal below to end the P
Off —
LDP BUZZER test
On Transmits the warning buzzer signal to the warning buzzer ON
LDP ON IND

Oper-
Test item Description LDP system display (Green)
ation
Off —
the test
LDP ON IND
On ON
LANE DEPARTURE W/L
Oper-
Test item Description Lane departure system display (Yellow)
ation
Off —
LANE DEPARTURE the test
W/L Transmits the meter display signal to the combination
On ON
BSW ON INDICATOR
Oper- Blind Spot Warning system display

ation (Yellow)
Off —
the test
BSW ON INDICATOR
On ON
BSI ON INDICATOR
Oper- Blind Spot Intervention system display

ation (Green)
Off —
the test
BSI ON INDICATOR
On ON
LDW ON INDICATOR
Oper-
Test item Description LDW system display (White)
ation
Off —
the test
LDW ON INDICATOR
On ON
LDP WARNING INDICATOR
Oper-
Test item Description LDP malfunction (Yellow)
ation
Off —
LDP WARNING INDI- the test
On ON
LDW WARNING INDICATOR

Oper- A
Test item Description LDW malfunction (Yellow)
ation
Off —
LDW WARNING IN- the test
B
On ON
BSW WARNING INDICATOR C
Oper-
Test item Description BSW malfunction (Yellow)
ation D
Off —
BSW WARNING IN- the test
DICATOR Transmits the meter display signal to the combination E
On ON
BSI WARNING INDICATOR

F
Oper- Blind Spot Intervention malfunction
ation (Yellow)
Stops transmitting the meter display signal below to end G
Off —
BSI WARNING INDI- the test
On ON
meter via CAN communication H
ECU IDENTIFICATION
Displays ADAS control unit parts number.
I
DAS

DIAGNOSIS SYSTEM (ICC SENSOR)
CONSULT Function (LASER/RADAR) INFOID:0000000013405020
APPLICATION ITEMS
CONSULT performs the following functions via CAN communication with ADAS control unit and the communi-
cation with ICC sensor.

It can monitor the adjustment direction indication in order to perform the radar alignment operation
Work Support
smoothly
Self Diagnostic Result Displays malfunctioning system memorized in ICC sensor
Data Monitor Displays real-time input/output data of ICC sensor
ECU Identification Displays ICC sensor part number
CAN Diag Support Monitor The results of transmit/receive diagnosis of ITS communication can be read
WORK SUPPORT

Outputs millimeter waves, calculates dislocation of the millimeter waves, and indicates adjust-
MILLIWAVE RADAR ADJUST
ment direction
Radar Alignment
Refer to CCS-114, "Application Notice".
Refer to CCS-71, "DTC Index".
NOTE:
CAN communication system (U1000, U1010)
DATA MONITOR
NOTE:
Monitored item
Description
[Unit]
Vehicle speed judged from a vehicle speed signal read by the ICC sensor via ITS communica-
VHCL SPEED SE tion is displayed [ADAS control unit receives a vehicle speed signal from ABS actuator and
[km/h] or [mph] electric unit (control unit) via CAN communication and transmits the calculated vehicle speed
to ICC sensor via ITS communication]
Indicates yaw rate read from ADAS control unit through ITS communication (ADAS control unit
receives yaw rate signal from ABS actuator and electric unit (control unit) via CAN communi-
cation and transmits yaw rate calculated by the ADAS control unit)
YAW RATE
Yaw rate judged from a yaw rate signal read by ICC sensor via ITS communication is displayed
[deg/s]
[ADAS control unit receives a yaw rate signal from ABS actuator and electric unit (control unit)
via CAN communication and transmits the calculated yaw rate to ICC sensor via ITS commu-
nication]
PWR SUP MONI
Indicates IGN voltage input by ICC sensor
[V]

Monitored item
Description
[Unit] A
DISTANCE
Indicates the distance from the vehicle ahead
[m]
RELATIVE SPD B
Indicates the relative speed of the vehicle ahead
[m/s]
RADAR OFFSET NOTE:
[m] The item is indicated, but not used C
RADAR HEIGHT NOTE:
[m] The item is indicated, but not used
STEERING ANGLE D
The steering angle is displayed
[deg]
STRG ANGLE SPEED
The steering angle speed is displayed
[deg/s] E
L/R ADJUST The horizontal correction value of the radar is displayed
U/D ADJUST The vertical correction value of the radar is displayed
F
DAS

DIAGNOSIS SYSTEM (ACCELERATOR PEDAL ACTUATOR)
CONSULT Function (ACCELERATOR PEDAL ACT) INFOID:0000000012796271
DESCRIPTION
cation with accelerator pedal actuator.
Test mode Function

• Displays malfunctioning system memorized in accelerator pedal actuator
Self Diagnostic Result
• Displays the Freeze Frame Data when the malfunction is detected
DATA MONITOR Displays real-time input/output data of accelerator pedal actuator
ACTIVE TEST Enables operation check of electrical loads by sending driving signal to them
ECU Identification Displays accelerator pedal actuator parts number
CAN Diag Support Monitor The results of transmit/receive diagnosis of ITS communication can be read

FFD (Freeze Frame Data)
The accelerator pedal actuator records the following data when the malfunction is detected.
Freeze Frame Data item

Description
[Unit]
It displays the target accelerator pedal actuation force that the accelerator pedal actuator read out
TGT FBK FRC
from the accelerator pedal feedback force control signal received via ITS communication at the time
[N]
when the malfunction is detected
It displays the target motor position that the accelerator pedal actuator read out from the accelerator
TGT MOT POSI
pedal feedback force control signal received via ITS communication at the time when the malfunction
[%]
is detected
ACT MOT POSI It displays the integrated motor position that the accelerator pedal actuator read out at the time when
[%] the malfunction is detected
AP OPEN It displays the accelerator pedal position signal that the accelerator pedal actuator read out via ITS
[%] communication at the time when the malfunction is detected
APA TEMP It displays the integrated motor temperature that the accelerator pedal actuator read out at the time
[°C] when the malfunction is detected
APA CURRENT It displays the integrated motor consumption current that the accelerator pedal actuator read out at
[A] the time when the malfunction is detected
APA PWR It displays the power supply voltage that the accelerator pedal actuator read out at the time when the
[V] malfunction is detected
APA OPE STATS It displays the activation permission status of accelerator pedal actuator at the time when the mal-
[On/Off] function is detected
APA STATS
It displays the condition of accelerator pedal actuator at the time when the malfunction is detected
[READY/NG/TP NG/INIT]
ODO/TRIP METER Total mileage (Odometer value) of the moment a particular.
DATA MONITOR
NOTE:

Monitor item [Unit] FUNCTION DESCRIPTION A

It displays the target accelerator pedal actuation force that the accelerator pedal actuator read out
TGT FBK FRC from the accelerator pedal feedback force control signal received via ITS communication
[N] (The ADAS control unit transmits the accelerator pedal feedback force control signal via ITS commu-
B
nication)
It displays the target motor position that the accelerator pedal actuator read out from the accelerator
TGT MOT POSI pedal feedback force control signal received via ITS communication
[%] (The ADAS control unit transmits the accelerator pedal feedback force control signal via ITS commu- C
nication)
ACT MOT POSI
It displays the integrated motor position that the accelerator pedal actuator read out
[%] D
It displays the accelerator pedal position signal that the accelerator pedal actuator read out via ITS
AP OPEN communication
[%] (The ADAS control unit transmits with ITS communication the accelerator pedal position signal that E
is received from ECM via CAN communication)
APA TEMP
It displays the accelerator pedal actuator integrated motor temperature
[°C]
F
APA CURRENT
It displays the accelerator pedal actuator integrated motor consumption current
[A]
APA PWR
It displays the power supply voltage that the accelerator pedal actuator read out G
[V]
APA OPE STATS
It displays the activation permission status of accelerator pedal actuator
[On/Off]
H
APA STATS
It displays the condition of accelerator pedal actuator
[READY/NG/TP NG/INIT]
ACTIVE TEST I
CAUTION:
Never perform ACTIVE TEST while driving the vehicle.
NOTE: J
The active test cannot be performed when the ICC system warning lamp is illuminated.
Item list
K
Active test item Description
Drive the accelerator pedal actuator and generate the constant accelerator pedal
ACCELERATOR PEDAL ACTUATOR TEST1
actuation force
L
ACCELERATOR PEDAL ACTUATOR TEST2 Drive the accelerator pedal actuator and generate the vibration
ACCELERATOR PEDAL ACTUATOR TEST 1

NOTE: M
Check the accelerator pedal by depressing when performing the test.
Active test item Operation Description N

ACCELERATOR PEDAL AC- STOP Finish the test
TUATOR TEST1 START Generate the constant accelerator pedal actuation force for accelerator pedal
DAS
ACCELERATOR PEDAL ACTUATOR TEST 2
NOTE:
Check the accelerator pedal by depressing when performing the test. P
Active test item Operation Description
ACCELERATOR PEDAL AC- STOP Finish the test

TUATOR TEST 2 START Generate the vibration for accelerator pedal
ECU IDENTIFICATION
Displays accelerator pedal assembly parts number.

DIAGNOSIS SYSTEM (SIDE RADAR LH)
DIAGNOSIS SYSTEM (SIDE RADAR LH)
CONSULT Function (SIDE RADAR LEFT) INFOID:0000000012796272
DESCRIPTION
CONSULT performs the following functions by communicating with the side radar LH.
Select diag mode Function

Self Diagnostic Result Displays memorized DTC in the side radar.
Data Monitor Displays real-time data of side radar.
Active Test Enables operation check of electrical loads by sending driving signal to them.
ECU Identification Displays part number of side radar.

Displays memorized DTC in side radar LH. Refer to DAS-347, "DTC Index".
The side radar records the following data when the malfunction is detected.
Freeze Frame Data item Description

VHCL SP from ADAS The vehicle speed (from ADAS control unit) at the moment a malfunction is detected is displayed
TURN SIG STATUS Turn signal status at the moment a malfunction is detected is displayed
DATA MONITOR
NOTE:
Monitored Item [unit] Description

BEAM DISTANCE — The item is displayed, but it is not used.
BEAM POSITION — The item is displayed, but it is not used.
Off Side radar is normal.
SIDE RADAR MALF
On Side radar is malfunctioning.
Off Side radar is not blocked.
BLOCKAGE COND
On Side radar is blocked.
ACTIVATE OPE — The item is displayed, but it is not used.
Off Does not detect a vehicle within detection area.
VEHICLE DETECT
On Detects a vehicle within detection area.
ACTIVE TEST
CAUTION:
• Active test cannot be started while the Blind Spot Warning/Blind Spot Intervention indicator is illumi-
nated.

Outputs the voltage to illuminate the Blind Spot Warning/Blind Spot Intervention indi-
On
BSW/BSI INDICATOR cator.
DRIVE Stops the voltage to illuminate the Blind Spot Warning/Blind Spot Intervention indica-
Off
tor.

DIAGNOSIS SYSTEM (SIDE RADAR RH)
DIAGNOSIS SYSTEM (SIDE RADAR RH)
A
CONSULT Function (SIDE RADAR RIGHT) INFOID:0000000012796273
DESCRIPTION B
CONSULT performs the following functions by communicating with the side radar RH.
Select diag mode Function C

Self Diagnostic Result Displays memorized DTC in the side radar.
Data Monitor Displays real-time data of side radar.
D
Active Test Enables operation check of electrical loads by sending driving signal to them.
ECU Identification Displays part number of side radar.
SELF DIAGNOSTIC RESULT E

Displays memorized DTC in side radar RH. Refer to DAS-349, "DTC Index".
F
The side radar records the following data when the malfunction is detected.
G
Freeze Frame Data item Description
VHCL SP from ADAS The vehicle speed (from ADAS control unit) at the moment a malfunction is detected is displayed
TURN SIG STATUS Turn signal status at the moment a malfunction is detected is displayed H
DATA MONITOR
NOTE:
I
J
Monitored Item [unit] Description
BEAM DISTANCE — The item is displayed, but it is not used.
BEAM POSITION — The item is displayed, but it is not used. K
Off Side radar is normal.
SIDE RADAR MALF
On Side radar is malfunctioning.
Off Side radar is not blocked.
L
BLOCKAGE COND
On Side radar is blocked.
ACTIVATE OPE — The item is displayed, but it is not used.
M
Off Does not detect a vehicle within detection area.
VEHICLE DETECT
On Detects a vehicle within detection area.
N
ACTIVE TEST
CAUTION:
• Active test cannot be started while the Blind Spot Warning/Blind Spot Intervention indicator is illumi- DAS
nated.
Active test item Operation Description P

Outputs the voltage to illuminate the Blind Spot Warning/Blind Spot Intervention indi-
On
BSW/BSI INDICATOR cator.
DRIVE Stops the voltage to illuminate the Blind Spot Warning/Blind Spot Intervention indica-
Off
tor.

DIAGNOSIS SYSTEM (DRIVER ASSISTANCE BUZZER CONTROL MODULE)
DIAGNOSIS SYSTEM (DRIVER ASSISTANCE BUZZER CONTROL MOD-
ULE)
CONSULT Function (BSW/BUZZER) INFOID:0000000012796274
DESCRIPTION
cation with driver assistance buzzer control module.
Test mode Function

• Displays malfunctioning system memorized in driver assistance buzzer control module
• Displays the Freeze Frame Data when the malfunction is detected
DATA MONITOR Displays real-time input/output data of driver assistance buzzer control module
ACTIVE TEST Enables operation check of electrical loads by sending driving signal to them
ECU Identification Displays driver assistance buzzer control module parts number

The drive assistance buzzer control module records the following data when the malfunction is detected.
Freeze Frame Data item

Description
[Unit]
IGN CounterNote It displays number of ignition switch OFF → ON after the malfunction is detected
NOTE:
• The number is 0 when is detected now.
• The number increases like 1→ 2 ··· 38 → 39 after returning to the normal condition whenever IGN OFF →
ON.
• The number is fixed to 39 until the self-diagnosis results are erased if it is over 39.
DATA MONITOR
NOTE:
Monitor item [Unit] FUNCTION DESCRIPTION

Buzzer 1 request (ADAS) Indicates buzzer request type status as judged from ADAS control unit through ITS communication
[Off/TYPE 1 - 3/Cancel] (The ADAS control unit transmits the driver assistance buzzer signal via ITS communication)
Buzzer 1 volume (ADAS) Indicates buzzer volume status as judged from ADAS control unit through ITS communication
[Vol. 1- 16] (The ADAS control unit transmits the driver assistance buzzer signal via ITS communication)
Buzzer 1 stop (ADAS) Indicates buzzer stop status as judged from ADAS control unit through ITS communication
[CYCLE/IMEDIAT] (The ADAS control unit transmits the driver assistance buzzer signal via ITS communication)
[Off/TYPE 1 - 3/Cancel] (The ADAS control unit transmits the driver assistance buzzer signal via ITS communication)
[Off/TYPE 1/Cancel] (The ADAS control unit transmits the driver assistance buzzer signal via ITS communication)

Monitor item [Unit] FUNCTION DESCRIPTION
A
[Off/TYPE 1 - 7/Cancel] (The ADAS control unit transmits the driver assistance buzzer signal via ITS communication) B
Buzzer 4 stop (ADAS) Indicates buzzer stop status as judged from ADAS control unit through ITS communication C
Indicates buzzer request type status as judged from chassis control module through chassis commu-
Buzzer 1 request (CCM)
nication D
[Off/TYPE 1 - 3/Cancel]
(The ADAS control unit transmits the driver assistance buzzer signal via chassis communication)
Indicates buzzer volume status as judged from chassis control module through chassis communica-
Buzzer 1 volume (CCM)
tion E
[Vol. 1- 16]
Buzzer 1 stop (CCM) Indicates buzzer stop status as judged from chassis control module through chassis communication
[CYCLE/IMEDIAT] (The ADAS control unit transmits the driver assistance buzzer signal via chassis communication)
F
nication
G
tion
[Vol. 1- 16]
Buzzer 2 stop (CCM) Indicates buzzer stop status as judged from chassis control module through chassis communication H
nication I
[Off/TYPE 1/Cancel]
tion J
[Vol. 1- 16]
Buzzer 3 stop (CCM) Indicates buzzer stop status as judged from chassis control module through chassis communication
K
nication
L
tion
[Vol. 1- 16]
Buzzer 4 stop (CCM) Indicates buzzer stop status as judged from chassis control module through chassis communication M
ADAS MALFUNCTION
Indicates ADAS control unit status
[Off/On] N
CCM MALFUNCTION
Indicates chassis control module status
[Off/On]
DR ASSIST BUZZ MALF DAS
Indicates driver assistance control buzzer module status
[Off/On]
DR ASSIST BUZZ STATUS
Indicates driver assistance control buzzer sound status
[1/2/3/1, 2/2, 4/1, 4/4] P
ACTIVE TEST
CAUTION:
Never perform ACTIVE TEST while driving the vehicle.
Item list

Active test item Description

BUZZER 1 (ADAS)
BUZZER 2 (ADAS)
BUZZER 3 (ADAS)
BUZZER 4 (ADAS)
BUZZER 1 (CCM)
BUZZER 2 (CCM)
BUZZER 3 (CCM)
BUZZER 4 (CCM)
BUZZER 1 (ADAS)

Off Stops transmitting the warning buzzer signal below to end of the test
BUZZER 1 (ADAS)
On Transmits the warning buzzer signal to the warning buzzer
BUZZER 2 (ADAS)

BUZZER 2 (ADAS)
BUZZER 3 (ADAS)

BUZZER 3 (ADAS)
BUZZER 4 (ADAS)

BUZZER 4 (ADAS)
BUZZER 1 (CCM)

BUZZER 1 (CCM)

BUZZER 2 (CCM)
A
BUZZER 2 (CCM)
On Transmits the warning buzzer signal to the warning buzzer B
BUZZER 3 (CCM)
C
BUZZER 3 (CCM)
On Transmits the warning buzzer signal to the warning buzzer D
BUZZER 4 (CCM)
E
BUZZER 4 (CCM)
On Transmits the warning buzzer signal to the warning buzzer F
ECU IDENTIFICATION
Displays driver assistance buzzer control module parts number.
G
DAS

DIAGNOSIS SYSTEM (LANE CAMERA UNIT)
WITH DIRECT ADAPTIVE STEERING SYSTEM : CONSULT Function (LANE CAM-
ERA) INFOID:0000000013404560
APPLICATION ITEMS
CONSULT performs the following functions by communicating with the lane camera unit.

Work Support Performs the camera aiming.
Self Diagnostic Result Displays the name of a malfunctioning system stored in the lane camera unit
Data Monitor Displays lane camera unit input/output data in real time
Ecu Identification Displays lane camera unit part number
CAN Diag Support Monitor Displays a reception/transmission state of chassis communication
WORK SUPPORT

AUTO AIM Outputs camera unit, calculates dislocation of the camera, and displays adjustment direction.

FREEZE FRAME DATA (FFD)
Lane camera unit records the following vehicle condition at the time a particular DTC is detected, and displays
on CONSULT.
CONSULT screen item Indication/Unit Description

NOTE:
Detailed Code —
The item is indicated, but not used.
Vehicle Speed km/h Vehicle speed of the moment a particular DTC is detected.
Steering Pinion Angle deg Steering pinion angle of the moment a particular DTC is detected.
Market Information & Camera NOTE:
—
Height The item is indicated, but not used.
Ambient Temperature & Snow NOTE:
—
Mode The item is indicated, but not used.
Image Processing Time m/s Image processing time of the moment a particular DTC is detected
Shutter Speed — Camera shutter speed of the moment a particular DTC is detected
DATA MONITOR
NOTE:
Monitored item
Description
[Unit]
NOTE:
LDW SW PORT [On/Off]
NOTE:
LDP ON IND [On/Off]
NOTE:
LANE DPRT W/L [On/Off]
CAM HIGH TEMP [NORMAL/HIGH] Displays status of lane camera unit high temperature judgment

Monitored item
Description
[Unit] A
Displays vehicle speed received from chassis control module via chas-
VHCL SPD SE [km/h] or [mph]
sis communication
Displays status of “Turn signal” determined from chassis control module B
TURN SIGNAL [Off, LH, RH, LH/RH]
via chassis communication
LANE DETCT LH [On/Off] Displays left side lane marker detection
LANE DETCT RH [On/Off] Displays right side lane marker detection C
CROSS LANE LH [On/Off] Displays condition that the vehicle is crossing left lane marker
CROSS LANE RH [On/Off] Displays condition that the vehicle is crossing right lane marker
D
WARN LANE LH [On/Off] Displays warning for left lane marker
WARN LANE RH [On/Off] Displays warning for right lane marker
VALID POS LH [VLD/INVLD] Displays lateral position for left lane marker is valid E
VALID POS RH [VLD/INVLD] Displays lateral position for right lane marker is valid
LATERL POS LH [m] Displays the distance from a lane camera to the left lane marker.
F
LATERL POS RH [m] Displays the distance from a lane camera to the right lane marker.
CURVATURE [1/m] Displays the road curvature that a lane camera detected.
LATERAL SPEED [m/s] Displays lateral speed for the lane of the vehicle. G
YAW ANGLE [deg] Displays yaw angle for the lane of the vehicle.
NOTE:
CAM DTC CODE [—] H
AIMING DONE [OK/NG] Displays status that camera aiming is done
AIMING RESULT [OK/NOK] Displays result of camera aiming
I
[TARGET / YAW / ROLL /
AIM NG REASON PITCH / IMAGE / LIGHT / Displays the reason that can not complete the camera aiming.
1-SIDE / OTHERS]
J
NOTE:
RUNTIME AIM [On/Off]
INITIALIZE [On/Off] Displays an initialization state of lane camera.
K
NOTE:
RUNTIME AIM OFFSET (YAW) [deg]
NOTE:
RUNTIME AIM WORK COND [NO-WRK/ GOOD]
L
NOTE:
RUNTIME AIM MEMORIZING [NO-WRIT/ WRITING]
M
NOTE:
XOFFSET [mm]
RUNTIME AIM OFF- NOTE:
[deg] N
SET(PITCH) The item is indicated, but not used.
NOTE:
AIM CHECK YAW [deg]
NOTE:
DAS
AIM CHECK ROLL [deg]
NOTE:
AIM CHECK PITCH [deg]
The item is indicated, but not used. P
NOTE:
FOE X [deg]
NOTE:
FOE Y [deg]
NOTE:
RUNTIME FOE X [deg]

Monitored item
Description
[Unit]
NOTE:
RUNTIME FOE Y [deg]
FCTRY AIM YAW [deg] Displays check result of camera aiming
FCTRY AIM ROL [deg] Displays check result of camera aiming
FCTRY AIM PIT [deg] Displays check result of camera aiming
NOTE:
RUNTIME AIM COUNT [—]
NOTE:
ROM WRITING COUNT [—]
CAMERA START [START/COMP] Displays a start state of the lane camera.
GIVE UP [OK/NG] Displays a detection state of the lane marker.
READY [NOT/ COMP] Displays a controllable state.
[NONE / SOLID /
DASHED /
MARK TYPE LH Displays the type of left side lane marker.
BOTT′s / FORK / SLOW/
TAR / IRGLTY]
[NONE / SOLID /
DASHED /
MARK TYPE RH Displays the type of right side lane marker.
TAR / IRGLTY]
CAMERA OFFSET HEIGHT
[mm] Displays camera height correction value (Dh).
(Dh)
TARGET HEIGHT (Ht) [mm] Displays height (Ht) of the aiming target.
TARGET DISTANCE (Dt) [mm] Displays the distance (Dt) from front axle to a target.

WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : CONSULT Function (LANE
CAMERA) INFOID:0000000013404557
APPLICATION ITEMS

Data Monitor Displays lane camera unit input/output data in real time
CAN Diag Support Monitor Displays a reception/transmission state of ITS communication
WORK SUPPORT

NOTE:
AIM CHECK
The item is indicated, but not used

Refer to DAS-362, "WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : DTC Index".
DATA MONITOR
NOTE:

to this vehicle, refer to CONSULT display items. A
Monitored item
Description
[Unit] B
LC INACCURAT [On/Off] Lane camera unit status
AIMING DONE [OK/NG] Status that camera aiming is done
AIMING RESULT [OK/NOK] Result of camera aiming
C
[NORMAL/
CAM HIGH TEMP Status of lane camera unit high temperature judgment
High]
D
[km/h] or
VHCL SPD SE Vehicle speed received from ADAS control unit via ITS communication
[mph]
[Off, LH, RH,
TURN SIGNAL Status of “Turn signal” determined from ADAS control unit via ITS communication E
LH/RH]
LANE DETCT LH [On/Off] Left side lane marker detection
LANE DETCT RH [On/Off] Right side lane marker detection
F
CROSS LANE LH [On/Off] Condition that the vehicle is crossing left lane marker
CROSS LANE RH [On/Off] Condition that the vehicle is crossing right lane marker
WARN LANE LH [On/Off] Warning for left lane marker G
WARN LANE RH [On/Off] Warning for right lane marker
VALID POS LH [VLD/INVLD] Lateral position for left lane marker is valid
H
VALID POS RH [VLD/INVLD] Lateral position for right lane marker is valid
XOFFSET [pixel] Lane camera unit installation condition
AIM CHECK YAW [deg] Check result of camera aiming I
AIM CHECK ROLL [deg] Check result of camera aiming
AIM CHECK PITCH [deg] Check result of camera aiming
J
FCTRY AIM YAW [deg] Lane camera unit installation condition
FCTRY AIM ROL [deg] Lane camera unit installation condition
FCTRY AIM PIT [deg] Lane camera unit installation condition K
ADAS MALF [On/Off] ADAS control unit status
DAS

DIAGNOSIS SYSTEM (CHASSIS CONTROL MODULE)
CONSULT Function INFOID:0000000013508418
APPLICATION ITEM
CONSULT can display each diagnostic item using the diagnostic test modes as follows.
Mode Function description

ECU identification Parts number of chassis control module can be read.
Self Diagnostic Results Self-diagnostic results and freeze frame data can be read and erased quickly.*1
DATA MONITOR Input/Output data in chassis control module can be read.
ACTIVE TEST Send the drive signal from CONSULT to the actuator. The operation check can be performed.
Work Support Components can be quickly and accurately adjusted.
Re/programming, Configura- • Read and save the vehicle specification (TYPE ID).
tion • Write the vehicle specification (TYPE ID) when replacing chassis control module.
*
1: The following diagnosis information is erased by erasing.
• DTC
• Freeze frame data (FFD)
ECU IDENTIFICATION
Chassis control module part number can be read.
When “CRNT” is displayed on self-diagnosis result
• The system is presently malfunctioning.
When “PAST” is displayed on self-diagnosis result
• System malfunction in the past is detected, but the system is presently normal.
Freeze frame data (FFD)
When DTC is detected, a vehicle state shown below is recorded and displayed on CONSULT.
Item name Indication/Unit Display item

Odometer/Trip meter km Total mileage (Odometer value) of the moment a particular.
DTC LOCAL CODE — DTC code is displayed but not used.
CAN DIAG PERMIS CONDITION Off / On Displays CAN network diagnosis status.
BRAKE SWITCH 1 Off / On Displays brake pedal operating status.
ABS NORMAL / ABNOR Displays ABS function status.
TCS NORMAL / ABNOR Displays TCS function status.
VDC NORMAL / ABNOR Displays VDC function status.
VEHICLE SPEED km Displays the vehicle speed.
FR WHEEL SPEED rpm Displays the rotational speed of front RH tire.
FL WHEEL SPEED rpm Displays the rotational speed of front LH tire.
RR WHEEL SPEED rpm Displays the rotational speed of rear RH tire.
RL WHEEL SPEED rpm Displays the rotational speed of rear LH tire.
STEERING ANG SENSOR deg Displays the steering angle from the steering angle sensor.
SIDE G SENSOR G Displays the side G.
DECEL G SENSOR G Displays the decel G.
YAW RATE SENSOR deg/s Displays the yaw rate.
THRTL OPENING % Displays the electric throttle position.

A
Off / P / R / N / D (A)
SHIFT POSITION / S / L / B / 1– 6 / M Displays the shift position.
1 –M 8 / A 1 – A 6
PRESS SENSOR bar Displays the brake fluid pressure. B
STD / SPORT /
DRIVE MODE SELECTOR ECO / SNOW / Displays the drive mode select switch selection status.
PERSO C
LANE MARKER (LH)*1 NOT / DETECT Displays the lane marker (LH) detection status.
LANE MARKER (RH)*1 NOT / DETECT Displays the lane marker (RH) detection status.
D
TURN SIGNAL (LH)*1 Off / On Displays the turn signal switch (LH) operating status.
TURN SIGNAL (RH)*1 Off / On Displays the turn signal switch (RH) operating status.
E
Off / LEFT / RIGHT
TURN SIGNAL SWITCH*1 / MALF
Displays the turn signal switch operating status.
DAST*1 Off / On Displays the operation request status to Direct Adaptive Steering.
F
ROAD DISTORTION*1 1/m Displays the road distortion rate radius.
ALC COMMAND ST ANG*1 rad Displays the steering command value to Direct Adaptive Steering.
G
ST WHL FORCE TORQUE*1 Nm Displays the estimated value for the steering wheel force torque.
ALC COMMAND ST WHL Displays the steering reaction force command value to Direct Adaptive
N
FORCE*1 Steering. H
*1 NORMAL / ABNOR Displays the ADAS control unit function status.
ADAS COND
Off / LOW / HIGH /
WIPER STATUS*1 MALF
Displays the wiper operating status.
I
DDS operating condition*2 Off / On Displays the dynamic digital suspension condition.
Engine rpm*2 rpm Displays the engine speed.

J
Non detection / De-
DMC) CAN signal not receive*2 tection
Displays the CAN signal not receive of digital motion control.
Non detection / De- Displays the CAN signal irregularity (message counter) of digital motion con- K
DMC) CAN signal irregularity 1*2 tection trol.
Non detection / De-
DMC) CAN signal irregularity 2*2 tection
Displays the CAN signal irregularity (checksum) of digital motion control.
L
*2 Non detection / De-
DMC) CAN signal invalid Displays the CAN signal invalid of digital motion control.
tection
Stop/Start*2 A Displays the Stop/Start status. M

*2 A Displays the dynamic digital suspension (FR) command current.
FR shock ab command current
*2 A Displays the dynamic digital suspension (FL) command current.
FL shock ab command current
N
RR shock ab command current*2 A Displays the dynamic digital suspension (RR) command current.
RL shock ab command current*2 A Displays the dynamic digital suspension (RL) command current.
DAS
Inactive / Active 1 /
Active 2 / Active 3 /
Active 4 /Not con-
nect current line / P
DMC status*2 Active test 1 /Active Displays the digital motion control status.
test 2 / Other con-
trol unit / CAN com-
munication /
Control unit
*1: Models with Active Lane Control
*2: Models with Digital motion control

DATA MONITOR
NOTE:
Item
Description
[Unit]
IGN VOLT [V] Displays the ignition power supply voltage.
CONTROL MODULE MALF [Off / On] Displays chassis control module malfunction.
CAN DIAG STATUS [Off / On] Displays CAN network diagnosis status.
STP LAMP OFF RELAY 1 [Off / On] Displayed but not used.
ESS RELAY [Off / On] Displayed but not used.
VEHICLE SPEED [km/m] Displays the vehicle speed.
FR WHEEL SPEED [rpm] Displays the rotational speed of front RH tire.
FL WHEEL SPEED [rpm] Displays the rotational speed of front LH tire.
RR WHEEL SPEED [rpm] Displays the rotational speed of rear RH tire.
RL WHEEL SPEED [rpm] Displays the rotational speed of rear LH tire.
STEERING ANG SENSOR [deg] Displays the steering angle from the steering angle sensor.
DECEL G SENSOR [G] Displays the decel G.
SIDE G SENSOR [G] Displays the side G.
YAW RATE SENSOR [deg/s] Displays the yaw rate.
ACCELE PEDAL POSITION [%] Displays the accelerator pedal position.
[NORMAL / INCORR / PREV /
THROTTLE CONTROL Displays the electric throttle status.
INPOSSI]
[Off / P / R / N / D (A) / S / L / B
SHIFT POSITION Displays the shift position.
/ 1– 6 / M 1 –M 8 / A 1 – A 6]
BRAKE SWITCH 2 [Off / On] Displays brake pedal operating status.
PRESS SENSOR [bar] Displays the brake fluid pressure.
ABS [NORMAL / ABNOR] Displays ABS function status.
ABS MALF [NORMAL / ABNOR] Displays ABS function status.
EBD [NORMAL / ABNOR] Displays EBD function status.
TCS [NORMAL / ABNOR] Displays TCS function status.
TCS MALF [NORMAL / ABNOR] Displays TCS function status.
VDC [NORMAL / ABNOR] Displays VDC function status.
VDC MALF [NORMAL / ABNOR] Displays VDC function status.
VDC OFF SWITCH [Off / On] Displays VDC OFF switch status.
PARKING BRAKE [Off / On] Displays the parking brake operating status.
ACCELE PEDAL MALF [NORMAL / ABNOR] Displays the accelerator pedal status.
[INITIAL / NORMAL / STOP 1 / Displays the status of correction to slightly increase/decrease the
DRV TRQ CTRL MODE
STOP 2 / LIMIT 1 / PROHIBI] drive torque.
Displays the permission status (basic requirement) of correction to
DRV TRQ CTRL PERMIS 1 [NO PER / PERMIS]
slightly increase/decrease drive torque.
Displays the permission status (system requirement) of correction to
Displays the stop request status of correction to slightly increase/de-
DRV TRQ CTRL STOP [REQ / NO REQ]
crease drive torque.

Item
Description
[Unit] A
Displays the prohibition request status of correction to slightly in-
DRV TRQ CTRL PROHIBIT [REQ / NO REQ]
crease/decrease drive torque.
[STD / SPORT / SNOW / ECO B
DRIVE MODE SELECTOR / SPORT+ / PERSO / NOT / Displays the drive mode select switch selection status.
NOT SET]
LOG-IN PERMIS [NO PER / PERMIS] Displays the login authority status of Infiniti InTuition function. C
I-KEY LINK [Off / On] Displays the Intelligent Key linking status of Infiniti InTuition function.
[USER A / USER B / USER C /
USER Displays the current user status of Infiniti InTuition function.
GUEST] D
Displays the engine/transmission setting status with Infiniti drive
ENGINE/TM SETTING [SPORT / STD / ECO / SNOW]
mode selector function.
Displays Active Lane Control setting status with Infiniti drive mode E
ALC SETTING [Off / LOW / HIGH]
selector function.
Displays active trace control function setting status with Infiniti drive
ATC SETTING [Off / On]
mode selector function. F
[STD / SPORT / SNOW / ECO Displays the combination meter function setting status with Infiniti
COMBI METER
/ PERSO] drive mode selector function.
ATC 1 [Off / On] Displays active trace control function operating status. G
ATC 2 [Off / On] Displays active trace control function operating status.
H
Displays the status of front LH tire displayed on the information dis-
FL TIRE DISP [DEF / 1]
play in the combination meter.
Displays the status of front RH tire displayed on the information dis-
FR TIRE DISP [DEF / 1]
I
Displays the status of rear LH tire displayed on the information dis-
RL TIRE DISP [DEF / 1]
J
Displays the status of rear RH tire displayed on the information dis-
RR TIRE DISP [DEF / 1]
Displays the turning direction of active trace control function on the
TURN DISP [N STEER / LEFT / RIGHT] K
information display in the combination meter.
ALC LEVEL [0 – 4] Displays active/inactive status of Active Lane Control.
ALC STATUS [INACT / ACT] Display Active Lane Control operating status.
L
Displays the operating status of active trace control function on the
ATC DISP [Off / On]
Displays the operating status of Active Lane Control on the informa- M
ALC DISP [Off / On]
tion display in the combination meter.
ALC SYSTEM [Off / On] Display Active Lane Control activation status.
LANE MARKER (LH) [NOT / DETECT] Displays the lane marker (LH) detection status. N
LANE MARKER (RH) [NOT / DETECT] Displays the lane marker (RH) detection status.
TURN SIGNAL (LH) [Off / On] Displays the turn signal switch (LH) operating status.
TURN SIGNAL (RH) [Off / On] Displays the turn signal switch (RH) operating status.
DAS
TURN SIGNAL SWITCH [Off / LEFT / RIGHT / MALF] Displays the turn signal switch operating status.
DAST [Off / On] Displays Direct Adaptive Steering operating status.
P
ROAD DISTORTION [1/m] Displays the road curvature.
COMMAND ST ANG [rad] Displays the steering command value to Direct Adaptive Steering.
ST PINION ANG [rad] Displays the steering pinion angle.
ST WHL FORCE TORQUE [Nm] Displays the steering wheel force torque.
Displays the reaction force command value to Direct Adaptive Steer-
COMMAND ST WHL FORCE [N]
ing.

Item
Description
[Unit]
LDW DISP [On / MALF] Displays LDW status received from ADAS control unit.
LDP DISP [On / MALF] Displays LDP status received from ADAS control unit.
Displays Blind spot intervention function status received from ADAS
BSI DISP [On / MALF]
control unit.
ST SWITCH COND [OK / NG 1 / NG 2] Displays the steering switch status received from ADAS control unit.
BSW COND [NORMAL / ABNOR] Displays BSW status received from ADAS control unit.
ADAS COND [NORMAL / ABNOR] Displays ADAS status received from ADAS control unit.
COLLISION WARN [Off / On] Displays collision warning status received from ADAS control unit.
ICC ACTIVE [Off / On] Displays ICC operating status received from ADAS control unit.
Displays intelligent brake assist operating status received from
IBA ACTIVE [Off / On]
ADAS control unit.
[NO / 1 / 2 / 3 / 1, 2 / 2, 3 / 1, 3
DR BUZZER STATUS Displayed but not used.
/ 4]
LDW COND [On / MALF] Displays LDW status transmitted to ADAS control unit.
LDP COND [On / MALF] Displays LDP status transmitted to ADAS control unit.
Displays blind spot intervention function status transmitted to ADAS
BSI COND [On / MALF]
control unit.
[NONE / SLIP / SNOW / VDC
LDP BRAKE CANCEL Displays LDP cancel cause transmitted to ADAS control unit.
OF]
[NONE / SLIP / SNOW / VDC Displays blind spot intervention function cancel cause transmitted to
BSI BRAKE CANCEL
OF] ADAS control unit.
CAMERA COND [NORMAL / ABNOR] Displays the lane camera unit status.
CAMERA TEMP COND [NORMAL / ABNOR] Displays the lane camera unit status by temperature.
CAMERA COMM COND [NORMAL / ABNOR] Displays the communication status with the lane camera unit status.
CAMERA AIMING [INCOMP / COMP] Displays the lane camera unit aiming status.
Displays the lane camera unit system cancel request due to high
CAMERA HIGH TEMP (LDW) [NORMAL / ABNOR]
temperature (LDW).
CAMERA HIGH TEMP (LDP) [NORMAL / ABNOR]
temperature (LDP)
CAMERA HIGH TEMP (BSI) [NORMAL / ABNOR]
temperature (Blind spot intervention)
SIDE RADAR BLOCK CAN-
[NORMAL / BLOCK] Displays the side radar status.
CEL
Displays blind spot intervention indicator blink request at blind spot
BSI LAMP REQ (LH) [Off / On]
intervention operation (LH).
BSI LAMP REQ (RH) [Off / On]
intervention operation (RH).
LANE DEPARTURE DISP (LH) [NO DISP / DEVIAT] Displays the deviating status on the LH side lane.
LANE DEPARTURE DISP
[NO DISP / DEVIAT] Displays the deviating status on the RH side lane.
(RH)
LDP/BSI ACTIVE [Off / On] Displays LDP/blind spot intervention function operation status.
ADAS COND [NORMAL / ABNOR] Displayed, but not used
DR BUZZER COND [NORMAL / ABNOR] Displayed, but not used
OUTSIDE TEMP [°C] Displays the ambient temperature.
WIPER STATUS [Off / LOW / HIGH / MALF] Displays the front wiper operating status.
Engine rpm [rpm] Displays the engine speed.
FR shock ab drive current [A] Displays the dynamic digital suspension (FR) drive current.
FL shock ab drive current [A] Displays the dynamic digital suspension (FL) drive current.

Item
Description
[Unit] A
RR shock ab drive current [A] Displays the dynamic digital suspension (RR) drive current.
RL shock ab drive current [A] Displays the dynamic digital suspension (RL) drive current.
B
Shock absorber control 1 [Off / On] Displays the dynamic digital suspension control condition.
Shock absorber control 3 [Off / On] Displays the dynamic digital suspension control condition. C
FR shock ab command current [A] Displays the dynamic digital suspension (FR) command current.
FL shock ab command current [A] Displays the dynamic digital suspension (FL) command current.
D
RR shock ab command current [A] Displays the dynamic digital suspension (RR) command current.
RL shock ab command current [A] Displays the dynamic digital suspension (RL) command current.
ACTIVE TEST E
The active test is used to determine and identify details of a malfunction, based on self-diagnosis test results
and data obtained in the DATA MONITOR. In response to instructions from CONSULT, instead of those from
chassis control module on the vehicle, a drive signal is sent to the actuator to check its operation. F
CAUTION:
• Never perform ACTIVE TEST while driving the vehicle.
• Always bleed air from brake system before active test.
• Never perform active test when system is malfunctioning. G
NOTE:
• When active test is performed while depressing the brake pedal, the brake pedal depressing stroke may
change. This is not a malfunction. H
• During an active test, sometimes a chassis control warning is displayed and the master warning lamp illumi-
nates on the information display in the combination meter; however, this is not a malfunction.
I
Test item Operation Description
BRAKE ACTUATOR 1 MODE 1 Start Controls brake fluid pressure.
BRAKE ACTUATOR 1 MODE 2 Start Controls brake fluid pressure. J
BRAKE ACTUATOR 2 MODE 2 Start Controls brake fluid pressure. K
L
Transmits the steering command value 0 deg → 0.00349 deg (hold it for ap- M
proximately 2 seconds) → 0 deg (hold it for approximately 2 seconds) →
COMMAND STEERING ANGLE Start
0.00349 deg (hold it for approximately 2 seconds) → 0 deg to the steering
force control module.
N
Transmits the steering reaction force command value 0 N → 0.6 N (hold it
for approximately 2 seconds) → 0 N (hold it for approximately 2 seconds)→
COMMAND ST WHL FORCE Start
0.6 N (hold it for approximately 2 seconds) → 0 N to the steering force con-
trol module. DAS
If touching “On” with the master warning lamp not illuminated, the master
On
MASTER WARNING ACTIVE warning lamp illuminates. Stops in approximately 1 minute.
Off The master warning lamp turns OFF. (vehicle in normal state) P
Displays Active Lane Control active status on the information display in the
On
combination meter.
ALC DISP
Displays Active Lane Control inactive status on the information display in
Off
the combination meter.

Displays the front LH tire on the information display in the combination
On
meter.
FL TIRE DISP
Does not display the front LH tire on the information display in the combina-
Off
tion meter.
Displays the front RH tire on the information display in the combination
On
meter.
FR TIRE DISP
Does not display the front RH tire on the information display in the combi-
Off
nation meter.
Displays the rear LH tire on the information display in the combination
On
meter.
RL TIRE DISP
Does not display the rear LH tire on the information display in the combina-
Off
tion meter.
Displays the rear RH tire on the information display in the combination
On
meter.
RR TIRE DISP
Does not display the rear RH tire on the information display in the combina-
Off
tion meter.
Does not display the turning status on the information display in the combi-
NO DISP
nation meter.
Displays the LH turning status on the information display in the combination
TURN DISP LH
meter.
Displays the RH turning status on the information display in the combination
RH
meter.
LEVEL 1
LEVEL 2 Displays Active Lane Control corresponding to the selected level on the in-
ALC LEVEL
LEVEL 3 formation display in the combination meter.
LEVEL 4
On
combination meter.
ALC SETTING
Off
Displays active trace control function active status on the information dis-
On
ATC 1 DISP
Displays active trace control function inactive status on the information dis-
Off
On
ATC 2 DISP
Off
On
ATC 4 DISP
Off
Soft
FR shock absorber* Medium Controls dynamic digital suspension (FR).
Hard
Soft
FL shock absorber* Medium Controls dynamic digital suspension (FL).
Hard

A
Soft
RR shock absorber* Medium Controls dynamic digital suspension (RR).
Hard B
Soft
RL shock absorber* Medium Controls dynamic digital suspension (RL).
Hard C
Soft
All shock absorber* Medium Controls all dynamic digital suspension.
D
Hard
*: Models with digital motion control
E
WORK SUPPORT

F
ERASE LAST DRIVER INFORMATION Erases the information for the previous driver.
ERASE KEY ALLOTEMENT USER Erases all user information.
ERASE PERSONAL SETTINGS Erases all user information (personal settings only). G
Displays causes of automatic system cancellation occurred during control of the
following systems
H
NOTE:
I
J

L
M
Steering speed × Steering speed was more than the specified value in evasive direction N
DAS
ICC WARNING × Target approach warning of ICC system, IBA system, or FCW system was activated
Steering angle large × Steering angle was more than the specified value P
Lateral offset ×
value


The activation of VDC or ABS during a standby time of LDP or blind spot intervention
OPE VDC/ABS 2 ×
system control
BSI) OPE VDC/TCS/
× The activation of VDC, TCS, or ABS during blind spot intervention system control
ABS 1
BSI) End by yaw angle × Yaw angle was the end of blind spot intervention control
BSI) Departure yaw
large
BSI) ICC WARNING × Target approach warning of ICC system, FEB system or FCW system was activated
BSI) Steering angle
large
BSI) IGN LOW VOLT × Decrease in chassis control module IGN voltage
clear
The activation of VDC or ABS during a standby time of blind spot intervention system
control


A
C
dition
D
NO RECORD × × —
RE/PROGRAMMING, CONFIGURATION E
Configuration includes the following functions.
Function Description F
Allows the reading of vehicle specification (Type ID) written in chassis control
Before replacing ECU
module to store the specification in CONSULT.
Allows the writing of vehicle information (Type ID) stored in CONSULT into the G
After replacing ECU
chassis control module.
Allows the writing of vehicle specification (Type ID) into the chassis control
module by hand. H
CAUTION:
Use “Manual Configuration” only when “TYPE ID” of chassis control module cannot be read.
I
DAS

ADAS CONTROL UNIT
< ECU DIAGNOSIS INFORMATION > [DRIVER ASSISTANCE SYSTEM]
ECU DIAGNOSIS INFORMATION

ADAS CONTROL UNIT

NOTE:

When MAIN switch is pressed On
MAIN SW Ignition switch ON
When MAIN switch is not pressed Off
When SET/COAST switch is pressed On
SET/COAST SW Ignition switch ON
When SET/COAST switch is not pressed Off
When CANCEL switch is pressed On
CANCEL SW Ignition switch ON
When CANCEL switch is not pressed Off
When RESUME/ACCELERATE switch is pressed On
RESUME/ACC SW Ignition switch ON
When RESUME/ACCELERATE switch is not pressed Off
When DISTANCE switch is pressed On
DISTANCE SW Ignition switch ON
When DISTANCE switch is not pressed Off
Drive the vehicle and activate When ICC system is controlling On
CRUISE OPE the vehicle-to-vehicle distance
control mode When ICC system is not controlling Off
When brake or clutch pedal is depressed Off

BRAKE SW Ignition switch ON
When brake or clutch pedal is not depressed On
When brake pedal is depressed On
STOP LAMP SW Ignition switch ON
Idling On
IDLE SW Engine running
Except idling (depress accelerator pedal) Off
• Start the engine and turn the When set to “long” Long
ICC system ON
When set to “middle” Mid
• Press the DISTANCE
SET DISTANCE
switch to change the vehi-
cle-to-vehicle distance set- When set to “short” Short
ting
ICC system ON
On
Start the engine and press (MAIN switch indicator ON)
CRUISE LAMP
MAIN switch ICC system OFF
Off
(MAIN switch indicator OFF)
NOTE:
OWN VHCL Off
When a vehicle ahead is detected (vehicle ahead de-
Drive the vehicle and activate On
VHCL AHEAD the vehicle-to-vehicle distance
control mode When a vehicle ahead is not detected (vehicle ahead
Off
detection indicator OFF)
When ICC system is malfunctioning
On
Start the engine and press (ICC system malfunction ON)
ICC WARNING
MAIN switch When ICC system is normal
Off
(ICC system malfunction OFF)

ADAS CONTROL UNIT
A
Displays the ve-
hicle speed cal-
VHCL SPEED SE While driving culated by
ADAS control B
unit
Displays the set
SET VHCL SPD While driving When vehicle speed is set
vehicle speed
C
• DCA system On
• PFCW system D
• FEB system
BUZZER O/P Engine running
When the buzzer of the following system not operates
• Vehicle-to-vehicle distance control mode E
• DCA system Off
• PFCW system
• FEB system
NOTE:
F
THRTL SENSOR 0.0
Equivalent to ta-
ENGINE RPM Engine running chometer read- G
ing
Wiper not operating Off
WIPER SW Ignition switch ON Wiper LO operation Low H
Wiper HI operation High
NOTE:
YAW RATE 0.0 I
FEB OFF indicator lamp ON
• When FEB system is malfunctioning On
• When FEB system is turned to OFF J
BA WARNING Engine running
FEB OFF indicator lamp OFF
• When FEB system is normal Off
• When FEB system is turned to ON K
Drive the vehicle and activate When ICC brake hold relay is activated On
STP LMP DRIVE the vehicle-to-vehicle distance
control mode When ICC brake hold relay is not activated Off
L
When the selector lever is in “D” position or manual
On
mode
D RANGE SW Engine running
When the selector lever is in any position other than “D” M
Off
or manual mode
When the selector lever is in “N”, “P” position On
NP RANGE SW Engine running When the selector lever is in any position other than “N”, N
Off
“P”
When the parking brake is applied On
PKB SW Ignition switch ON
When the parking brake is released Off DAS
Power supply
voltage value of
PWR SUP MONI Engine running
ADAS control P
unit
Value of A/T ve-
VHCL SPD AT While driving hicle speed sen-
sor signal
Displays the
THRTL OPENING Engine running Depress accelerator pedal
throttle position

ADAS CONTROL UNIT
Displays the
GEAR While driving
gear position
NOTE:
CLUTCH SW SIG Ignition switch ON Off
The item is indicated, but not monitored.
When the shift lever is in neutral position On
NP SW SIG Ignition switch ON
When the shift lever is in any position other than neutral Off
When ICC system is deactivated Off
When vehicle-to-vehicle distance control mode is acti-
Start the engine and press ICC
MODE SIG vated
MAIN switch
When conventional (fixed speed) cruise control mode is
ASCD
activated
• Drive the vehicle and acti- SET switch indicator ON On
vate the conventional (fixed
SET DISP IND
speed) cruise control mode SET switch indicator OFF Off
• Press SET/COAST switch
Displays the dis-
control mode cle

RELATIVE SPD the vehicle-to-vehicle distance ative speed.
control mode When a vehicle ahead is not detected 0.0
ON ROOT GUID- NOTE:
Off
ANCE The item is indicated, but not monitored
When dynamic driver assistance switch is pressed On
DYNA ASIST SW Ignition switch ON
When dynamic driver assistance switch is not pressed Off
Start the engine and press dy- DCA system OFF Off
DCA ON IND namic driver assistance switch
(When DCA setting is ON) DCA system ON On
When a vehicle ahead is not detected (vehicle ahead

Off
Drive the vehicle and activate detection indicator OFF)
DCA VHL AHED
the DCA system When a vehicle ahead is detected (vehicle ahead de-
On
NOTE:
IBA SW Off
When the PFCW system is ON On
FCW SYSTEM ON Ignition switch ON
When the PFCW system is OFF Off
Display the ac-
celerator pedal
APA TEMP Engine running actuator inte-
grated motor
temperature
Power supply
voltage value of
APA PWR Ignition switch ON
accelerator ped-
al actuator
NOTE:
NAVI-ICC DISP Off
LDW SYSTEM ON Ignition switch ON

ADAS CONTROL UNIT
A
LDW ON LAMP Ignition switch ON
Start the engine and press dy- When the LDW system is ON On B
LDP ON IND
(When LDP system setting is When the LDW system is OFF Off
ON)
Drive the vehicle and activate Lane departure warning lamp ON On C
LANE DPRT W/L the LDW system or LDP sys-
tem Lane departure warning lamp OFF Off
When the buzzer of the following system operates D

• LDW/LDP system On
Drive the vehicle and activate • Blind Spot Warning/Blind Spot Intervention system
LDW BUZER OUT- the LDW/LDP system or Blind
PUT Spot Warning/Blind Spot Inter- When the buzzer of the following system does not oper- E
vention system ate
Off
• LDW/LDP system
• Blind Spot Warning/Blind Spot Intervention system
F
LDP SYSTEM ON
ON) G
Drive the vehicle and activate Lane departure warning is operating On
WARN REQ
the LDP system Lane departure warning is not operating Off
Start the engine and press dy- When the LDP system is ON On H
READY signal
ON)
I
Drive the vehicle and activate Both side lane markers are detected Detect
the LDW system, LDP system
Camera lost Deviate side lane marker is lost Deviate
or Blind Spot Intervention sys-
tem Both side lane markers are lost Both J
K
STATUS signal
the LDP system When the LDP system is canceled Cancl L
• Engine running Displays the
Shift position M
• While driving shift position
Turn signal N
Turn signal lamp LH and RH blinking LH&RH
Vehicle turning right Negative value DAS
SIDE G While driving
Vehicle turning left Positive value
P
STATUS signal
FUNC ITEM Ignition switch ON FUNC3

ADAS CONTROL UNIT
On
switch is ON
FUNC ITEM (FCW) Engine running
Off
switch is OFF
On
ON
FUNC ITEM (LDW) Engine running
Off
OFF
FUNC ITEM (BSW) Engine running
NOTE:
FUNC ITEM (NV-ICC) Off
FUNC ITEM (NV- NOTE:
Off
DCA) The item is indicated, but not monitored
On
ON
DCA SELECT Ignition switch ON
Off
OFF
On
switch is ON
LDP SELECT Ignition switch ON
Off
switch is OFF
On
ON
BSI SELECT Ignition switch ON
Off
OFF
On
switch is ON
FCW SELECT Ignition switch ON
Off
switch is OFF
On
ON
LDW SELECT Ignition switch ON
Off
OFF
BSW SELECT Ignition switch ON
NOTE:
NAVI ICC SELECT Off
NOTE:
NAVI DCA SELECT Off
Items set with the integral switch can be switched nor-
On
mally
SYS SELECTABILITY Ignition switch ON
Items set with the integral switch cannot be switched
Off
normally
When drive mode select switch position is STANDARD STD
When drive mode select switch position is in SPORT SPORT
When drive mode select switch position is in ECO ECO
DRIVE MODE STATS Ignition switch ON When drive mode select switch position is in SNOW SNOW
When drive mode select switch position is in PERSON-
STD
AL
A signal other than those above is input ERROR

ADAS CONTROL UNIT
A
NOTE:
WARN SYS SW Off
When the BSW system is malfunctioning On
BSW/BSI WARN LMP Ignition switch ON B
When the BSW system is normal Off
Blind Spot Intervention warning ON On
BSI ON IND Ignition switch ON
Blind Spot Intervention warning OFF Off C
When the BSW system is ON On
BSW SYSTEM ON Ignition switch ON
When the BSW system is OFF Off
D
Start the engine and press dy- When the Blind Spot Intervention system is ON On
BSI SYSTEM ON
(When Blind Spot Intervention When the Blind Spot Intervention system is OFF Off
system setting is ON) E
When the FEB/PFCW system is ON On
FCW SYSTEM ON Engine running
When the FEB/PFCW system is OFF Off
When the BCI system is ON On F
BCI SYSTEM ON Engine running
When the BCI system is OFF Off
NOTE:
BCI SWITCH Off G
BATTERY CIRCUIT NOTE:
Off
OFF The item is indicated, but not used
H
LDP WARNING INDI- When the LDP system is malfunctioning On
Engine running
CATOR When the LDP system is normal Off
LDW system display ON On I
LDW ON INDICATOR Ignition switch ON
LDW system display OFF Off
LDW WARNING INDI- When the LDW system is malfunctioning On

Ignition switch ON J
CATOR When the LDW system is normal Off
When the vehicle is normal NOREQ
SYSTEM CANCEL When the wheel is slipping SLIP K

Ignition switch ON
MESSAGE When the drive mode selector is SNOW mode SNOW
When the VDC is OFF VDC OFF
Lane camera unit high temperature warning display ON On L
CAMERA HI TEMP
Ignition switch ON Lane camera unit high temperature warning display
MSG Off
OFF
M
ITS SETTING
ITEM(DCA)
ITS SETTING
Ignition switch ON On N
ITEM(LDP)
ITS SETTING
ITEM(BSI)
When the Blind Spot Intervention is malfunctioning On DAS
BSI WARNING INDI-
Engine running
CATOR When the Blind Spot Intervention is normal Off
BSW system display ON On
BSW ON INDICATOR Ignition switch ON P
BSW system display OFF Off
SIDE RADAR BLOCK Front bumper or side radar is dirty On

Ignition switch ON
COND Front bumper and side radar is clean Off
LDW system OFF Nothing
LDW WARNING
Ignition switch ON Lane departure warning timing is early setting Early
ALERT TIMING
Lane departure warning timing is late setting Late

ADAS CONTROL UNIT
BSW system OFF Nothing
Bright
brightness bright
BSW IND BRIGHT-
Ignition switch ON Blind Spot Warning/Blind Spot Intervention indicator
NESS Normal
brightness normal
Dark
brightness dark
When speed limiter MAIN switch is pressed On
SL MAIN SW Engine running
When speed limiter MAIN switch is not pressed Off
On
switch is ON
FUNC ITEM (FEB) Engine running
Off
switch is OFF
On
switch is ON
FEB SELECT Ignition switch ON
Off
switch is OFF
FEB system ON On
FEB SW Engine running
FEB system OFF Off
SL TARGET VEHI- Displays the set
While driving When vehicle speed is set
CLE SPEED vehicle speed
• Drive the vehicle and acti- Speed limiter SET indicator ON On
SL SET LAMP
• Press speed limiter MAIN Speed limiter SET indicator OFF Off
switch
• Drive the vehicle and acti- Speed limiter system ON On
SL LIMIT LAMP
• Press speed limiter MAIN Speed limiter system OFF Off
switch
ASCD CANCEL Drive the vehicle and activate ASCD cancelled by low vehicle speed On
(LOW SPEED) the ASCD Other than above Off
ASCD cancelled by difference between set speed and
ASCD CANCEL Drive the vehicle and activate On
vehicle speed
(SPEED DIFF) the ASCD
Other than above Off
Drive the vehicle and activate When accelerator pedal is full depressed On
KICK DOWN
the speed limiter Other than above Off
TERMINAL LAYOUT
PHYSICAL VALUES
JSOIA0705ZZ

ADAS CONTROL UNIT
Terminal No. A
Description
(Wire color)
Input/
+ − Signal name
Output
B
1
CAN -H — — — —
(L)
—
2 C
CAN -L — — — —
(R)
5
(B)
D
6
(L)
7
ITS communication-L — — — — E
(Y)
—
— — — —
(L) tion-H
F
— — — —
(R) tion-L
12 Ignition
G
(GR)*1 Ignition power supply Input switch — 10 - 16 V Battery voltage
(G)*2 ON
5
(B) — 10 - 16 V Approx. 12 V
Ignition H
17 ICC brake hold relay
Output switch At “STOP LAMP” test of
(V) drive signal 0 - 0.1 V Approx. 0 V
ON “Active test”
23 ICC/ASCD steering I
— Ignition switch ON 0 - 0.1 V Approx. 0 V
(Y) switch signal ground
ICC steering switch:
4.1 - 4.3 V Approx. 4.3 V
OFF
J
CANCEL switch:
1.1 - 1.6 Approx. 1.3 V
Pressed
Ignition
24*3 23*3 ICC steering switch sig-
Input switch
RESUME/ACCELER-
3.5 - 3.7 V Approx. 3.7 V K
(SB) (Y) nal ATE switch: Pressed
ON
SET/COAST switch:
2.8 - 3.1 V Approx. 3.0 V
Pressed
L
DISTANCE switch:
2.0 - 2.4 V Approx. 2.2 V
Pressed
ASCD steering switch:
3.8 - 4.3 V Approx. 4.0 V M
OFF
CANCEL switch:
Ignition 0.8 - 1.3 V Approx. 1.0 V
24*4 23*4 ASCD steering switch Pressed
Input switch N
(SB) (Y) signal SET/COAST switch:
ON 1.8 - 2.2 V Approx. 2.0 V
Pressed
RESUME/ACCELER-
2.8 - 3.1 V Approx. 3.0 V DAS
ATE switch: Pressed
NOTE:
*1: VR30DDTT
*2: 2.0 TURBO GASOLINE ENGINE P
*3: Used only in with ICC.
*4: Used only in without ICC.

ADAS CONTROL UNIT
Warning lamp/Warning dis-

play
High-
tone
High-
tone
tone (Forward position: Yellow)
High-
tone
High-
tone
Low-
tone
Blind Spot Warning (BSW) — Cancel
Low-
tone
High-
tone
If multiple DTCs are detected simultaneously, check them one by one depending on the following DTC inspec-

• U1507: LOST COMM (SIDE RDR R)
1
• U1508: LOST COMM (SIDE RDR L)
• 1CA0A: CONFIG UNFINISHED
2 • U1000: CAN COMM CIRCUIT
• C1B00: CAMERA UNIT MALF
• C1F02: APA C/U MALF
3 • C1B53: SIDE RDR R MALF
• C1B54: SIDE RDR L MALF
• C1B84: DIST SEN MALFUNCTION

ADAS CONTROL UNIT
A
• C1A01: POWER SUPPLY CIR • U0121: VDC CAN CIR 2
• C1A02: POWER SUPPLY CIR 2 • U0126: STRG SEN CAN CIR 1
• C1A04: ABS/TCS/VDC CIRC • U0235: ICC SENSOR CAN CIRC 1
• C1A05: BRAKE SW/STOP L SW • U0401: ECM CAN CIR 1 B
• C1A06: OPERATION SW CIRC • U0402: TCM CAN CIR 1
• C1A13: STOP LAMP RLY FIX • U0415: VDC CAN CIR 1
• C1A14: ECM CIRCUIT • U0424: HVAC CAN CIR 1
• C1A24: NP RANGE • U0428: STRG SEN CAN CIR 2 C
• C1A26: ECD MODE MALF • U1500: CAM CAN CIR 2
• C1A27: ECD PWR SUPLY CIR • U1501: CAM CAN CIR 1
• C1A33: CAN TRANSMISSION ERR • U1502: ICC SEN CAN COMM CIR
• C1A34: COMMAND ERROR • U1503: SIDE RDR L CAN CIR 2 D
• C1A35: APA CIR • U1504: SIDE RDR L CAN CIR 1
• C1A36: APA CAN COMM CIR • U1505: SIDE RDR R CAN CIR 2
• C1A37: APA CAN CIR 2 • U1506: SIDE RDR R CAN CIR 1
• C1A38: APA CAN CIR 1 • U150B: ECM CAN CIRC 3
E
• C1A39: STRG SEN CIR • U150C: VDC CAN CIRC 3
• C1B01: CAM AIMING INCMP • U150D: TCM CAN CIRC 3
• C1B03: CAM ABNRML TMP DETCT • U150E: BCM CAN CIRC 3
F
4 • C1B5D: FEB OPE COUNT LIMIT • U150F: AV CAN CIRC 3
• C1B56: SONAR CIRCUIT • U1512: HVAC CAN CIRC3
• C1B57: AVM CIRCUIT • U1513: METER CAN CIRC 3
• C1B59: CCM CIRCUIT • U1514: STRG SEN CAN CIRC 3 G
• C1B82: DIST SEN OFF-CENTER • U1515: ICC SENSOR CAN CIRC 3
• C1B85: DIST SEN ABNORMAL TEMP • U1516: CAM CAN CIRC 3
• C1B86: DIST SEN PWR SUP CIR • U1517: APA CAN CIRC 3
• C1F01: APA MOTOR MALF • U1518: SIDE RDR L CAN CIRC 3 H
• C1F05: APA PWR SUPLY CIR • U1519: SIDE RDR R CAN CIRC 3
• U1523: SONAR CAN COMMUNICATION 3 I
• U1527: CCM CAN CIR 1
• U153F: CCM CAN CIR 2
J
• U1530: DR ASSIST BUZZER CAN CIR 1
• U1538: EMCM CAN CIRCUIT 3
• U1540: DAST 3 CAN CIR 1 K
5 • C1A03: VHCL SPEED SE CIRC
6 • C1A15: GEAR POSITION L
DAS

ADAS CONTROL UNIT

DTC Fail-safe
CONSULT System
display
NO DTC IS DE-
TECTED. FUR-
NO DTC IS DETECTED. FURTHER TESTING
THER TESTING 55 — —
MAY BE REQUIRED
MAY BE RE-
QUIRED
C1A0A 41 CONFIG UNFINISHED A, B, C, D, E, F, G, H, I DAS-103
C1A00 0 CONTROL UNIT A, B, C, D, E, F, G, H, I DAS-104
C1A01 1 POWER SUPPLY CIR A, B, C, D, E, F, G, H, I DAS-105
C1A02 2 POWER SUPPLY CIR 2 A, B, C, D, E, F, G, H, I DAS-105
C1A03 3 VHCL SPEED SE CIRC A, B, C, D, E, F, G, H, I DAS-106
C1A04 4 ABS/TCS/VDC CIRC A, B, C, D, E, F, G, H, I DAS-108
C1A05 5 BRAKE SW/STOP L SW A, B, C, D, G, H DAS-109
C1A06 6 OPERATION SW CIRC A, B, C, D, E, H, I DAS-117
C1A13 13 STOP LAMP RLY FIX A, B, C, D, E, G DAS-121
C1A14 14 ECM CIRCUIT A, B, C, D, E, I DAS-132
C1A15 15 GEAR POSITION A, B, C, D, E, I DAS-134
C1A24 24 NP RANGE A, B, C, D, E, F, G DAS-136
C1A26 26 ECD MODE MALF A, B, C, D, G DAS-138
C1A27 27 ECD PWR SUPLY CIR A, B, C, D, G DAS-140
C1A33 33 CAN TRANSMISSION ERR A, B, C, D, E, I DAS-142
C1A34 34 COMMAND ERROR A, B, C, D, E, I DAS-143
C1A35 35 APA CIR A, C, D, E DAS-144
C1A36 36 APA CAN COMM CIR A, C, D, E DAS-145
C1A39 39 STRG SEN CIR A, B, C, D, E, F, G DAS-148
C1B00 81 CAMERA UNIT MALF F, H DAS-149
C1B01 82 CAM AIMING INCMP F, H DAS-150
C1B03 83 CAN ABNRML TMP DETCT F, H DAS-151
C1B5D 198 FEB OPE COUNT LIMIT C, D, E DAS-152
C1B53 84 SIDE RDR R MALF F, G DAS-153
C1B54 85 SIDE RDR L MALF F, G DAS-154
C1B56 86 SONAR CIRCUIT G DAS-155
C1B57 87 AVM CIRCUIT G DAS-156
C1B59 184 CCM CIRCUIT A, B, C, F, G DAS-157

ADAS CONTROL UNIT
• A: Vehicle-to-vehicle distance control mode A
• E: Predictive Forward Collision Warning (PFCW) B
C
DTC Fail-safe
CONSULT System D
display
C1B82 12 DIST SEN OFF-CENTER A, C, D, E DAS-158
C1B84 17 DIST SEN MALFUNCTION A, C, D, E DAS-159 E
C1B85 21 DIST SEN ABNORMAL TEMP A, C, D, E DAS-160
C1B86 80 DIST SEN PWR SUP CIR A, C, D, E DAS-161
C1F01 91 APA MOTOR MALF A, C, D, E DAS-163
F
C1F02 92 APA C/U MALF A, C, D, E DAS-164
C1F05 95 APA PWR SUPLY CIR A, C, D, E DAS-165
G
U0235 144 ICC SENSOR CAN CIRC 1 A, C, D, E DAS-168 H
U0401 120 ECM CAN CIR 1 A, B, C, D, E, F, G, I DAS-169
U0402 122 TCM CAN CIR 1 A, B, C, D, E, F, G, H DAS-171
I
U0424 156 HVAC CAN CIR 1 DAS-173
U0428 131 STRG SEN CAN CIR 2 A, B, C, D, E, F, G DAS-174 J
U1000NOTE 100 CAN COMM CIRCUIT A, B, C, D, E, F, G, H, I DAS-175
U1010 110 CONTROL UNIT (CAN) A, B, C, D, E, F, G, H, I DAS-177
K
U150B 157 ECM CAN CIRC 3 A, B, C, D, E, F, G, H, I DAS-178
U150C 158 VDC CAN CIRC 3 A, B, C, D, E, F, G, H, I DAS-180
U150D 159 TCM CAN CIRC 3 A, B, C, D, E, F, G, H DAS-181 L
U150E 160 BCM CAN CIRC 3 A, B, C, D, F, G, H DAS-182
U150F 161 AV CAN CIRC 3 DAS-183
M
U1500 145 CAM CAN CIR2 F, H DAS-184
U1501 146 CAM CAN CIR 1 F, H DAS-185
U1502 147 ICC SEN CAN COMM CIR A, C, D, E DAS-186 N
DAS
U1507 154 LOST COMM (SIDE RDR R) F, G DAS-191 P
U1508 155 LOST COMM (SIDE RDR L) F, G DAS-192
U1512 162 HVAC CAN CIRC3 DAS-193
U1513 163 METER CAN CIRC 3 A, B, C, D, E, F, G, H, I DAS-194
U1514 164 STRG SEN CAN CIRC 3 A, B, C, D, E, F, G DAS-195

ADAS CONTROL UNIT
DTC Fail-safe
CONSULT System
display
U1516 166 CAM CAN CIRC 3 F, G, H DAS-197
U1517 167 APA CAN CIRC 3 A, C, D, E DAS-198
U1518 168 SIDE RDR L CAN CIRC 3 F, G DAS-199
U1519 169 SIDE RDR R CAN CIRC 3 F, G DAS-200
U1527 185 CCM CAN CIR1 A, B, C, F, G DAS-206
U153F 186 CCM CAN CIR2 A, B, C, F, G DAS-207
U1530 183 DR ASSIST BUZZER CAN CIR1 DAS-208
U1538 197 EMCM CAN CIRCUIT 3 A, B, C, D, E, F, G, H, I DAS-209
NOTE:
With the detection of “U1000” some systems do not perform the fail-safe operation.
A system controlling based on a signal received from the control unit performs fail-safe operation when the
communication with the ADAS control unit becomes inoperable.

ICC SENSOR
ICC SENSOR
A
VALUES ON THE DIAGNOSIS TOOL B

NOTE:
to this vehicle, refer to CONSULT display items. C

Value of vehicle D
VHCL SPEED SE While driving speed signal
(wheel speed)
Vehicle stopped 0.0
E
YAW RATE While driving Vehicle turning right Positive value
Vehicle turning left Negative value
Power supply F
PWR SUP MONI Ignition switch ON voltage value of
ICC sensor
Displays the dis- G
control mode cle
When a vehicle ahead is not detected 0.0 H

RELATIVE SPD the vehicle-to-vehicle distance ative speed
control mode I
NOTE:
RADAR OFFSET —
J
NOTE:
RADAR HEIGHT —
When setting the steering wheel in straight-ahead posi-
0.0 K
tion
STEERING ANGLE Ignition switch ON
When turning the steering wheel 90° rightward +90
When turning the steering wheel 90° leftward -90
L
Steering wheel
STRG ANGLE
Ignition switch ON At the time of turning the steering wheel turning speed is
SPEED
displayed
M
Horizontal cor-
L/R ADJUST Ignition switch ON At the completion of radar alignment adjustment rection value is
displayed
Vertical correc- N
U/D ADJUST Ignition switch ON At the completion of radar alignment adjustment tion value is dis-
played
DAS
TERMINAL LAYOUT
JSOIA0985ZZ

ICC SENSOR
PHYSICAL VALUES
Terminal No.
Description
(Wire color)
Input/
+ – Signal name
Output
1
Ignition power supply Input Ignition switch ON 10 - 16 V Battery voltage
(R)
3 8
(L) (B)
6
ITS communication-L — — — —
(Y)
8
(B)
Fail-safe (ICC Sensor) INFOID:0000000013405036
If a malfunction occurs in the ICC sensor, ADAS control unit cancels control, sounds a beep, and turns ON the
ICC system warning in the information display.

• U1000: CAN COMM CIRCUIT
1
2 • C1A50: ADAS MALFUNCTION
• C1A01: POWER SUPPLY CIR
• C1A02: POWER SUPPLY CIR 2
• C1A12: RADAR OFF-CENTER
• C1A16: RADAR BLOCKED
• C1A21: UNIT HIGH TEMP
• C1A23: UNIT LOW TEMP
3 • C1A39: STRG SEN CIR
• U0104: ADAS CAN CIR1
• U0121: VDC CAN CIR2
• U0126: STRG SEN CAN CIR1
• U0415: VDC CAN CIR1
×: Applicable

ICC SENSOR
DTC Fail-safe
A
Forward Emergency Braking (FEB) /Predictive Forward Collision Warning (PFCW)

B
Conventional (fixed speed) cruise control mode

C
Distance Control Assist (DCA)

D
CONSULT display Reference

CONSULT E
C1A00 CONTROL UNIT × × × × CCS-132

I
C1A01 POWER SUPPLY CIR × × × × CCS-133

C1A02 POWER SUPPLY CIR2 × × × × CCS-133 J
C1A12 RADAR OFF-CENTER × × × CCS-134
C1A16 RADAR BLOCKED × × × CCS-135
C1A21 UNIT HIGH TEMP × × × × CCS-137 K
C1A23 UNIT LOW TEMP × × × × CCS-138
C1A39 STRG SEN CIR × × × × CCS-139
L
C1A50 ADAS MALFUNCTION × × × × CCS-140
U0104 ADAS CAN CIR1 × × × × CCS-141
U0121 VDC CAN CIR2 × × × × CCS-142 M
U0126 STRG SEN CAN CIR1 × × × × CCS-143
U0405 ADAS CAN CIR2 × × × × CCS-144
N
U0415 VDC CAN CIR1 × × × × CCS-145
U0428 STRG SEN CAN CIR2 × × × × CCS-146
U1000 CAN COMM CIRCUIT × × × × CCS-147 DAS
U1010 CONTROL UNIT (CAN) × × × × CCS-148

ACCELERATOR PEDAL ACTUATOR

NOTE:

Drive the vehicle and
When the ADAS control unit is control- It changes with the demand from
TGT FBK FRC operate the DCA sys-
ling the accelerator pedal actuator the ADAS control unit
tem
NOTE:
TGT MOT POSI —
It changes according to the de-
ACT MOT POSI Engine running Depress accelerator pedal pressed amount of accelerator
pedal
It changes according to the de-
AP OPEN Engine running Depress accelerator pedal pressed amount of accelerator
pedal
Display the accelerator pedal ac-
APA TEMP Engine running tuator integrated motor tempera-
ture
Drive the vehicle and Display the accelerator pedal ac-
When the ADAS control unit is control-
APA CURRENT operate the DCA sys- tuator motor operation consump-
ling the accelerator pedal actuator
tem tion current
APA PWR Ignition switch ON Battery voltage
When the accelerator pedal actuator
On
control is permitted
APA OPE STATS Engine running
When the accelerator pedal actuator
Off
control is invalid
When the accelerator pedal actuator is
Ready
normal
TP NG
temporarily malfunctioning
APA STATS Engine running
NG
malfunctioning
During the accelerator pedal actuator
Init
operation preparations
TERMINAL LAYOUT
JSOIA1013ZZ
PHYSICAL VALUES

Terminal No. A
Description
(Wire color)
Input/
+ – Signal name
Output
B
1
Battery power supply Input Ignition switch OFF 8 - 16 V Battery voltage
(BR)
2 7 C
Ignition power supply Input Ignition switch ON 8 - 16 V Battery voltage
(G) (B)
3
(L)
D
7
(B)
9 7
(Y) (B)
F
G
1
H
2 • C1F02: APA C/U MALF
• C1F01: APA MOTOR MALF
• C1F03: APA HI TEMP
I
3 • C1F05: APA PWR SUPLY CIR
• C1F06: CAN CIR2
• C1F07: CAN CIR1
J
NOTE:
• The details of time display are as per the following. K
• IGN counter is displayed in FFD (Freeze Frame Data). L
M
×: Applicable
CONSULT display Fail-safe function Reference

N
C1F01: APA MOTOR MALF × DAS-456
C1F02: APA C/U MALF × DAS-457
C1F03: APA HI TEMP — DAS-458 DAS
C1F05: APA PWR SUPLY CIR × DAS-459
C1F06: CAN CIR2 × DAS-460
P
C1F07: CAN CIR1 × DAS-461
U1000: CAN COMM CIRCUIT × DAS-469
U1010: CONTROL UNIT (CAN) × DAS-474

SIDE RADAR LH
SIDE RADAR LH

NOTE:
CONSULT MONITOR ITEM
Monitor Item Condition Value/Status
NOTE:
BEAM DISTANCE —
The item is displayed, but it is not used.
NOTE:
BEAM POSITION —
Side radar is normal. Off
SIDE RADAR MALF
Side radar is malfunctioning. On
Side radar is not blocked. Off
BLOCKAGE COND
Side radar is blocked. On
NOTE:
ACTIVATE OPE —
Radar does not detect a vehicle. Off
VEHICLE DETECT
Radar detects a vehicle. On
TERMINAL LAYOUT
JSOIA0244ZZ
PHYSICAL VALUES
Terminal No.
Description
(Wire color) Standard val- Reference val-
Condition
Input/ ue ue
+ – Signal name
Output
2
Ground Ground — — 0 - 0.1 V 0V
(B)
3
— ITS communication-L — — — —
(R)
4
— ITS communication-H — — — —
(L)
5 2
Ignition power supply Input Ignition switch ON 10 - 16 V Approx. 12 V
(GR) (B)
Approx. 2 sec. after ignition switch
6 2 Blind Spot Warning/Blind Spot
Output OFF ⇒ ON 5.5 - 16 V Approx. 6 V
(BR) (B) Intervention indicator
(bulb check)

SIDE RADAR LH
A
B
TEMPORARY DISABLED STATUS AT BLOCKAGE C
tion in information display. Also, under the following conditions, the operation may be temporarily cancelled. D
Blind Spot Intervention E
may be temporarily cancelled. F
Back-up Collision Intervention (BCI) G
the following conditions, the operation may be temporarily cancelled.
• The blocked condition may also be caused by objects such as ice, frost or dirt obstructing the side radar. H
I
If some DTCs are displayed at the same time, perform inspections one by one based on the following priority
chart.
Priority Detected items (DTC) J

1
• U0104: ADAS CAN CIR 1 K
2
• U0405: ADAS CAN CIR 2
3 C1B50: SIDE RDR MALFUNCTION
L
• C1B51: BSW/BSI IND SHORT CIR
4 • C1B52: BSW/BSI IND OPEN CIR
• C1B55: RADAR BLOCKAGE
M
×: Applicable
N
Fail-safe
DTC Blind Spot Warning/ Reference page
BCI
DAS
C1B50 SIDE RDR MALFUNCTION × × DAS-449
C1B51 BSW/BSI IND SHORT CIR × × DAS-450
C1B52 BSW/BSI IND OPEN CIR × × DAS-452 P
C1B55 RADAR BLOCKAGE × × DAS-454
U1000 CAN COMM CIRCUIT × × DAS-471
U1010 CONTROL UNIT (CAN) × × DAS-475
U0104 ADAS CAN CIR1 × × DAS-462

SIDE RADAR RH
SIDE RADAR RH

NOTE:
CONSULT MONITOR ITEM
NOTE:
BEAM DISTANCE —
NOTE:
BEAM POSITION —
Side radar is normal. Off
SIDE RADAR MALF
Side radar is malfunctioning. On
Side radar is not blocked. Off
BLOCKAGE COND
Side radar is blocked. On
NOTE:
ACTIVATE OPE —
Radar does not detect a vehicle. Off
VEHICLE DETECT
Radar detects a vehicle. On
TERMINAL LAYOUT
JSOIA0244ZZ
PHYSICAL VALUES
Terminal No.
Description
(Wire color) Reference
Condition Standard value
Input/ value
+ – Signal name
Output
1 2
Right/Left switching signal Input — 0 - 0.1 V 0V
(B) (B)
2
Ground Ground — — 0 - 0.1 V 0V
(B)
3
— ITS communication-L — — — —
(P)
4
(L)
5 2
Ignition power supply Input Ignition switch ON 10 - 16 V —
(GR) (B)
Approx. 2 sec. after ignition
6 2 Blind Spot Warning/Blind Spot
Output switch OFF ⇒ ON 5.5 - 16 V 6V
(SB) (B) Intervention indicator
(bulb check)

SIDE RADAR RH
A
B
TEMPORARY DISABLED STATUS AT BLOCKAGE C
tion in information display. Also, under the following conditions, the operation may be temporarily cancelled. D
Blind Spot Intervention E
may be temporarily cancelled. F
Back-up Collision Intervention (BCI) G
the following conditions, the operation may be temporarily cancelled.
• The blocked condition may also be caused by objects such as ice, frost or dirt obstructing the side radar. H
I
If some DTCs are displayed at the same time, perform inspections one by one based on the following priority
chart.
Priority Detected items (DTC) J

1
• U0104: ADAS CAN CIR 1 K
2
• U0405: ADAS CAN CIR 2
3 C1B50: SIDE RDR MALFUNCTION
L
• C1B51: BSW/BSI IND SHORT CIR
4 • C1B52: BSW/BSI IND OPEN CIR
• C1B55: RADAR BLOCKAGE
M
×: Applicable
Fail-safe N
DTC Blind Spot Warning/Blind Reference page
BCI
Spot Intervention warning
DAS
C1B50 SIDE RDR MALFUNCTION × × DAS-449
C1B51 BSW/BSI IND SHORT CIR × × DAS-450
C1B52 BSW/BSI IND OPEN CIR × × DAS-452 P
C1B55 RADAR BLOCKAGE × × DAS-454

DRIVER ASSISTANCE BUZZER CONTROL MODULE

NOTE:

Except for the LDW/LDP/Blind Spot
Warning/Blind Spot Intervention warning Off
condition
When the LDW warning condition TYPE 1
Buzzer 1 request (ADAS)
operate each system When the BSW warning condition TYPE 2
When the Blind Spot Intervention warn-
TYPE 3
ing condition
When the warning condition cancel Cancel
It changes according to the
Buzzer 1 volume (ADAS) Ignition switch ON When the buzzer sound
sound volume of buzzer
When the buzzer cancel immediate IMEDIAT
Buzzer 1 stop (ADAS) Ignition switch ON When the buzzer cancel other than
CYCLE
above
Except for the ICC/PFCW/DCA warning
Off
condition
When the approach warning condition TYPE 1
Buzzer 2 request (ADAS)
operate each system When the PFCW warning condition TYPE 2
When the DCA condition TYPE 3
CYCLE
above
Except for the FEB warning condition Off
Buzzer 3 request (ADAS) When the FEB warning condition TYPE 1
operate each system
CYCLE
above
Except for the PFCW warning condition Off
Buzzer 4 request (ADAS) When the PFCW warning condition TYPE 1
operate each system
CYCLE
above

A
Except for the LDW/LDP/Blind Spot
Warning/Blind Spot Intervention warning Off
condition
When the LDW warning condition TYPE 1 B
operate each system When the BSW warning condition TYPE 2
When the Blind Spot Intervention warn-
TYPE 3 C
ing condition
Buzzer 1 volume (CCM) Ignition switch ON When the buzzer sound D
Buzzer 1 stop (CCM) Ignition switch ON When the buzzer cancel other than
CYCLE E
above
Except for the ICC/PFCW/DCA warning
Off
condition
F
When the approach warning condition TYPE 1
operate each system When the PFCW warning condition TYPE 2
When the DCA condition TYPE 3 G
Buzzer 2 volume (CCM) Ignition switch ON When the buzzer sound H
CYCLE I
above
Except for the FEB warning condition Off
Buzzer 3 request (CCM) When the FEB warning condition TYPE 1
operate each system J
Buzzer 3 volume (CCM) Ignition switch ON When the buzzer sound
sound volume of buzzer K
CYCLE
above L
Except for the PFCW warning condition Off
Buzzer 4 request (CCM) When the PFCW warning condition TYPE 1
operate each system
M
Buzzer 4 volume (CCM) Ignition switch ON When the buzzer sound
N
CYCLE
above
DAS
When the ADAS control unit malfunction On
ADAS MALFUNCTION Ignition switch ON
When the ADAS control unit normal Off
When the chassis control module mal- P
On
CCM MALFUNCTION Ignition switch ON function
When the chassis control module normal Off
When the driver assistance control mod-
On
ule malfunction
DR ASSIST BUZZ MALF Ignition switch ON
When the driver assistance control mod-
Off
ule normal

Except for the warning condition Off
LDW/LDP//Blind Spot Warning/Blind
Spot Intervention system warning in 1
progress
ICC/PFCW/DCA system warning in
2
progress
FEB system warning in progress 3
Drive the vehicle and LDW/LDP//Blind Spot Warning/Blind
DR ASSIST BUZZ STATUS
operate each system Spot Intervention/ICC/PFCW/DCA sys- 1, 2
tem warning in progress
ICC/PFCW/DCA system warning in
2, 4
progress.
LDW/LDP//Blind Spot Warning/Blind
Spot Intervention/PFCW system warning 1, 4
in progress
PFCW system 4
TERMINAL LAYOUT
JSOIA0213ZZ
PHYSICAL VALUES
Terminal No.
Description
(Wire color)
Input/Out-
+ – Signal name
put
1 5 Ignition
Ignition power supply Input — 10 - 16 V Battery voltage
(G) (B) switch ON
3
(L)
5 Groun Ignition
Ground — — 0 - 0.1 V Approx. 0 V
(B) d switch ON

Terminal No.
Description
(Wire color) A
Input/Out-
+ – Signal name
put
Driver assistance B
0 - 0.1 V Approx. 0 V
buzzer OFF
At “BUZZER 1” test of
“Active test”
D
JSOIA0949ZZ
8 16 Ignition
Warning buzzer signal Output
(R) (G) switch ON At “BUZZER 2” test of F
“Active test”
JSOIA0950ZZ
G
H
At “BUZZER 3” test of
“Active test”
I
JSOIA0951ZZ
11
— ITS communication-L — — — — — J
(Y)
13 Groun Ignition
(B) d switch ON
K
16 5 Warning buzzer signal Ignition
Output — 0 - 0.1 V Approx. 0 V
(G) (B) ground switch ON
DTC Inspection Priority Chart INFOID:0000000012796297 L
tion priority chart. M

• U1000: CAN COMM CIRCUIT N
1
2
• U1527: CCM CAN CIRCUIT 1
DAS
3 • C1B20: CONTROL MODULE

P
NOTE:
• IGN counter is displayed in FFD (Freeze Frame Data).

×: Applicable
DTC Reference
C1B20 CONTROL MODULE DAS-447
U0104 ADAS CAN CIR2 DAS-463
U1527 CCM CAN CIRCUIT 1 DAS-478
U1000 CAN COMM CIRCUIT DAS-472
U1010 CONTROL UNIT (CAN) DAS-477

LANE CAMERA UNIT
LANE CAMERA UNIT
A
WITH DIRECT ADAPTIVE STEERING SYSTEM : Reference Value INFOID:0000000013530348
B
NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable C
Monitor Item Condition Value/Status D

NOTE:
LDW SW PORT —
LDP ON IND
NOTE:
—
E
NOTE:
LANE DPRT W/L —
F
When the temperature around lane camera unit is adequate. NORMAL
CAM HIGH TEMP
When the temperature around the lane camera unit is high. High
Approximately equivalent to G
VHCL SPD SE While driving
speedometer reading
Turn signal lamp LH and RH blinking LH/RH
H
TURN SIGNAL
I
Left side lane marker is detected. On
LANE DETCT LH
Left side lane marker is not detected. Off
Right side lane marker is detected. On J
LANE DETCT RH
Right side lane marker is not detected. Off
The vehicle is crossing left side lane marker. On
CROSS LANE LH K
The vehicle is not crossing left side lane marker. Off
The vehicle is crossing right side lane marker. On
CROSS LANE RH
The vehicle is not crossing right side lane marker. Off L
The vehicle is traveling on the left side lane marker. On
WARN LANE LH
The vehicle is traveling the center of traffic lane. Off
M
The vehicle is traveling on the right side lane marker. On
WARN LANE RH
Lateral position for left side lane marker is valid VLD N
VALID POS LH
Lateral position for left side lane marker is invalid. INVLD
Lateral position for right side lane marker is valid. VLD
VALID POS RH DAS
Lateral position for right side lane marker is invalid. INVLD
Displays the distance from a
LATERL POS LH Left side lane marker is detecting. lane camera to the left lane
marker. P
LATERL POS RH Right side lane marker is detecting. lane camera to the right lane
marker.
Displays the road curvature
CURVATURE Lane marker is detecting.
that a lane camera detected.

LANE CAMERA UNIT
Displays lateral speed for the
LATERAL SPEED Lane marker is detecting.
lane of the vehicle.
Displays yaw angle for the
YAW ANGLE Lane marker is detecting.
NOTE:
CAM DTC CODE
Camera aiming is completed. OK
AIMING DONE
Camera aiming is not adjusted. NG
AIMING RESULT
Camera aiming is not completed. NOK
No target is detected. TARGET
Yaw angle beyond the allowable range is detected. YAW
Roll angle beyond the allowable range is detected. ROLL
Pitch angle beyond the allowable range is detected. PITCH
AIM NG REASON
The target is unclear. IMAGE
Lighting is insufficient. LIGHT
One side target is not detected. 1-SIDE
Other NG is detected. OTHERS
NOTE:
RUNTIME AIM —
NOTE:
INITIALIZE —
NOTE:
RUNTIME AIM OFFSET (YAW) —
NOTE:
RUNTIME AIM WORK COND —
NOTE:
RUNTIME AIM MEMORIZING —
NOTE:
XOFFSET —
NOTE:
RUNTIME AIM OFFSET(PITCH) —
NOTE:
AIM CHECK YAW —
NOTE:
AIM CHECK ROLL —
NOTE:
AIM CHECK PITCH —
NOTE:
FOE X —
NOTE:
FOE Y —
NOTE:
RUNTIME FOE X —
NOTE:
RUNTIME FOE Y —
FCTRY AIM YAW Camera aiming is completed. 0 ± 2.0 deg
FCTRY AIM ROL Camera aiming is completed. 0 ± 2.0 deg
FCTRY AIM PIT Camera aiming is completed. 0 ± 2.0 deg

LANE CAMERA UNIT
A
NOTE:
RUNTIME AIM COUNT —
NOTE:
ROM WRITING COUNT — B
Lane camera unit is starting. START
CAMERA START
Lane camera unit starting is completed. COMP
C
Lane marker can be detected. OK
GIVE UP
Lane marker can not be detected. NG
Operating conditions are not satisfied. NOT D
READY
Operating conditions are satisfied. COMP
Lane marker is not detected. NONE
E
Solid line is detected. SOLID
Dashed line is detected. DASHED
Bott′s dots is detected. BOTT′s F
MARK TYPE LH
Fork road (bifurcation) is detected. FORK
Slow down area is detected. SLOW
Tar strips is detected. TAR
G
Irregularity road is detected. IRGLTY

Lane marker is not detected NONE H
Bott′s dots is detected. BOTT′s I
MARK TYPE RH
J
CAMERA OFFSET HEIGHT Displays camera height cor- K
Camera aiming is completed.
(Dh) rection value (Dh).
Displays height (Ht) of the aim-
TARGET HEIGHT (Ht) Camera aiming is completed.
ing target. L
Displays the distance (Dt) from
TARGET DISTANCE (Dt) Camera aiming is completed.
front axle to a target.
TERMINAL LAYOUT M
DAS
JSOIA0232ZZ
P
PHYSICAL VALUES

LANE CAMERA UNIT
Terminal No.
Description
(Wire color)
Input/
+ – Signal name
Output
1
(B)
4
CAN-H — — — —
(L)
5
Ground Ground — — 0 - 0.1 V Approx. 0 V
(B)
7
Ignition power supply Input Ignition switch 10 - 16 V Battery voltage
(V)
8
CAN-L — — — —
(W)
WITH DIRECT ADAPTIVE STEERING SYSTEM : Fail-safe (Lane Camera Unit with
DAST) INFOID:0000000013404266

Active Lane Control
turned ON.
turned ON.
WITH DIRECT ADAPTIVE STEERING SYSTEM : DTC Inspection Priority Chart
INFOID:0000000013404267

LANE CAMERA UNIT
Priority Detected items (DTC) A

1
• C1B01: CAM AIMING INCMP B
2
• C1B03: ABNRML TEMP DETECT
3 C1B00: CAMERA UNIT MALF
C
WITH DIRECT ADAPTIVE STEERING SYSTEM : DTC Index INFOID:0000000013404268
×: Applicable
D
Warning display Fail-safe

LDW system warning
LDP system warning
Active Lane Control

warning message
system warning
Chassis control
E
LDW/LDP
DTC
Reference
F
C1B00 CAMERA UNIT MALF ON ON ON ON × × × DAS-801 G

C1B01 CAM AIMING INCMP ON ON ON ON × × × DAS-802
Message Message Message
C1B03 ABNRML TEMP DETECT — ↓ ↓ ↓ × × × DAS-803 H
Blink OFF OFF
U1000 CAN COMM CIRCUIT ON ON ON ON × × × DAS-799
U1010 CONTROL UNIT (CAN) ON ON ON ON × × × DAS-800 I

J
WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : Reference Value INFOID:0000000013404269

NOTE: K
L
Lane camera unit malfunction On
LC INACCURAT M
Lane camera unit normal Off
Camera aiming is completed OK
AIMING DONE
Camera aiming is not adjusted NG N
Camera aiming is completed OK
AIMING RESULT
Camera aiming is not completed NOK
DAS
When the temperature around the lane camera unit is adequate NORMAL
CAM HIGH TEMP
When the temperature around the lane camera unit is high High
Approximately equivalent to speed- P
ometer reading
TURN SIGNAL

LANE CAMERA UNIT
Left side lane marker is detected On
LANE DETCT LH
Left side lane marker is not detected Off
Right side lane marker is detected On
LANE DETCT RH
Right side lane marker is not detected Off
The vehicle is crossing left side lane marker On
CROSS LANE LH
The vehicle is not crossing left side lane marker Off
The vehicle is crossing right side lane marker On
CROSS LANE RH
The vehicle is not crossing right side lane marker Off
Warning for left side lane On
WARN LANE LH
Not warning for left side lane Off
Warning for right side lane On
WARN LANE RH
Not warning for right side lane Off
Lateral position for left side lane marker is valid VLD
VALID POS LH
Lateral position for left side lane marker is invalid INVLD
Lateral position for right side lane marker is valid VLD
VALID POS RH
Lateral position for right side lane marker is invalid INVLD
XOFFSET Camera aiming is completed Approx. 180 pixel
NOTE:
AIM CHECK YAW —
NOTE:
AIM CHECK ROLL —
NOTE:
AIM CHECK PITCH —
Camera aiming is not completed 0.0 deg
FCTRY AIM YAW
Camera aiming is completed 0 ± 5.0 deg
FCTRY AIM ROL
FCTRY AIM PIT
ADAS control unit malfunction On
ADAS MALF
ADAS control unit normal Off
TERMINAL LAYOUT
JSOIA0232ZZ
PHYSICAL VALUES

LANE CAMERA UNIT
Terminal No. A
Description
(Wire color)
Input/
+ – Signal name
Output
B
1
(B)
4 C
(L)
5
(B)
D
7
(G)
8
(Y)
WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : Fail-safe (Lane Camera Unit

Without DAST) INFOID:0000000013404270 F

G
If a malfunction occurs in the lane camera unit, ADAS control unit cancels control, and turns ON the LDW mal-
function in information display.
H
ON the LDP malfunction in information display.
I
ON the Blind Spot Intervention malfunction in information display. J
• If the vehicle is parked in direct sunlight under high temperature conditions, the system may be deactivated K
function in the combination meter will stop blinking. L
automatically. And the buzzer sounds and LDP malfunction in information display. M
turned ON.
Blind Spot Intervention N
• When interior temperature is reduced, the system will resume when dynamic driver assistance switch is DAS
turned ON.
WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : DTC Inspection Priority Chart
INFOID:0000000013404271
P

LANE CAMERA UNIT

1
2 C1A50: ADAS MALFUNCTION
• C1B01: CAM AIMING INCMP
3
WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : DTC Index INFOID:0000000013404272
×: Applicable
Fail-safe
DTC Lane Departure Warn-

Blind Spot Warning/
ing/Lane Departure Pre- Reference
vention
C1A50 ADAS MALFUNCTION — — DAS-443
C1B00 CAMERA UNIT MALF × × DAS-444
C1B01 CAM AIMING INCMP × × DAS-445
C1B03 ABNRML TEMP DETECT × × DAS-446
U0126 STRG SEN CAN CIR1 × × DAS-465
U0428 STRG SEN CAN CIR2 × × DAS-468

CHASSIS CONTROL MODULE
A
CONSULT DATA MONITOR STANDARD VALUE B

NOTE:
Monitor item Condition Reference values in normal operation

IGN VOLT Ignition switch ON 10 − 16 V D
When chassis control module is normal Off
CONTROL MODULE MALF

When chassis control module malfunction is E
On
detected
When diagnosis of CAN communication mal-
Off
function is detected F
CAN DIAG STATUS
When diagnosis of CAN communication is nor-
On
mal
STP LAMP OFF RELAY 1 Displayed but not used. — G
STP LAMP OFF RELAY 2 Displayed but not used. —
ESS RELAY Displayed but not used. —
H
Vehicle Stopped 0 km/h (0 MPH)
VEHICLE SPEED Almost same reading as speedometer
Driving* (within ±10%)
I
Vehicle stopped 0 rpm
FR WHEEL SPEED
Driving* Increases according to vehicle speed
Vehicle stopped 0 rpm J
FL WHEEL SPEED
Vehicle stopped 0 rpm K
RR WHEEL SPEED
RL WHEEL SPEED L
When driving straight 0±3.5 deg
STEERING ANG SENSOR When steering wheel is steered to RH by 90° Approx. +90 deg M
When steering wheel is steered to LH by 90° Approx. −90 deg
Vehicle stopped Approx. 0 G
N
DECEL G SENSOR When during acceleration Positive value
When during deceleration Negative value
Vehicle stopped Approx. 0 G DAS
SIDE G SENSOR When right turn Negative value
When left turn Positive value
Vehicle stopped Approx. 0 deg/s P
YAW RATE SENSOR When right turn Negative value
When accelerator pedal is released 0%
ACCELE PEDAL POSITION
When accelerator pedal is depressed 0 − 100%

When electric throttle control actuator is nor-
NORMAL
mal
When the electric throttle control actuator does
not achieve the requirement (measured value INCORR
is inaccurate)
THROTTLE CONTROL
not achieve the requirement (temporary pre- PREV
vention)
INPOSSI
not achieve the requirement (impossible)
SHIFT POSITION Selector lever in any position Indicates selected selector lever position
BRAKE SWITCH 2
BRAKE SWITCH 1
When brake pedal is not depressed Approx. 0 bar
PRESS SENSOR
when brake pedal is depressed 0 − 255 bar
When ABS function is normal NORMAL
ABS
When ABS function malfunction is detected ABNOR
ABS MALF
When EBD function is normal NORMAL
EBD
When EBD function malfunction is detected ABNOR
When accelerator pedal is normal NORMAL
ACCELE PEDAL MALF When accelerator pedal malfunction is detect-
ABNOR
ed
When TCS function is normal NORMAL
TCS
When TCS function malfunction is detected ABNOR
TCS MALF
When VDC function is normal NORMAL
VDC
When VDC function malfunction is detected ABNOR
VDC MALF
When VDC OFF switch is OFF Off
VDC OFF SWITCH
When VDC OFF switch is ON On
When parking brake is inactive Off
PARKING BRAKE
When parking brake is active On
When correction coefficients are initialized INITIAL
When correction is executed NORMAL
When correction is stopped (computing is im-
STOP 1
possible)
DRV TRQ CTRL MODE
When correction is stopped (computing is pos-
STOP 2
sible)
When correction is limited LIMIT 1
When correction is prohibited PROHIBI

A
When correction is permitted (basic require-
PERMIS
ment)
DRV TRQ CTRL PERMIS 1
When correction is not permitted (basic re-
NO PER B
quirement)
When correction is permitted (system require-
PERMIS
ment)
DRV TRQ CTRL PERMIS 2 C
When correction is not permitted (system re-
NO PER
quirement)
When correction is requested to stop REQ
DRV TRQ CTRL STOP D
When correction is not requested to stop NO REQ
When prohibition of correction is requested REQ
DRV TRQ CTRL PROHIBIT
When prohibition of correction is not requested NO REQ E
When drive mode select switch is “STAN-
STD
DARD” mode
When drive mode select switch is “SPORT” F
SPORT
mode
When drive mode select switch is “SNOW”
SNOW
mode
G
DRIVE MODE SELECTOR When drive mode select switch is “ECO” mode ECO
When drive mode select switch is “SPORT+”
SPORT+
mode H
When drive mode select switch is “PERSON-
PERSO
AL” mode
When drive mode select switch is not use NOT I
When drive mode select switch is not select NOT SET
When log-in is possible NO PER
LOG-IN PERMIS J
When log-in is not possible PERMIS
When Intelligent Key is not linked Off
I-KEY LINK
When Intelligent Key is linked On K
When logged in with “USER A” Intelligent Key USER A
When logged in with “USER B” Intelligent Key USER B
USER When logged in with “USER C” Intelligent Key USER C
L
When logged in with an Intelligent Key without
GUEST
user registration
M
When the engine/transmission setting with
SPORT
drive mode select switch is in “SPORT” mode
drive mode select switch is in “STANDARD” STD N
ENGINE/TM SETTING mode
ECO
drive mode select switch is in “ECO” mode DAS
SNOW
drive mode select switch is in “SNOW” mode
When Active Lane Control setting with drive P
Off
mode select switch is “OFF”
When Active Lane Control setting with drive
ALC SETTING LOW
mode select switch is “LOW”
HIGH
mode select switch is “HIGH”

When active trace control function setting with
Off
drive mode select switch is “OFF”
ATC SETTING
On
drive mode select switch is “ON”
STD
DARD” mode
SNOW
mode
COMBI METER When drive mode select switch is “PERSON-
PERSO
AL” mode
When drive mode select switch is “SPORT”
SPORT
mode
When drive mode select switch is “ECO” mode ECO
When active trace control function is inactive Off
ATC 1
When active trace control function is active On
ATC 2
ATC 4
When the front LH tire is not displayed on the
DEF
information display in the combination meter
FL TIRE DISP
When the front LH tire is displayed on the infor-
1
mation display in the combination meter
When the front RH tire is not displayed on the
DEF
FR TIRE DISP
When the front RH tire is displayed on the in-
1
formation display in the combination meter
When the rear LH tire is not displayed on the
DEF
RL TIRE DISP
When the rear LH tire is displayed on the infor-
1
When the rear RH tire is not displayed on the
DEF
RR TIRE DISP
When the rear RH tire is displayed on the infor-
1
When the straight-ahead status is displayed on
the information display in the combination N STEER
meter
When the left turning status is displayed on the
TURN DISP LEFT
When the right turning status is displayed on
the information display in the combination RIGHT
meter
When Active Lane Control is turned ON. 0
ALC LEVEL When Active Lane Control is operational or is
1−4
operating.
When Active Lane Control is OFF INACT
ALC STATUS
When Active Lane Control is ON ACT

A
When the activation of active trace control
function is not displayed on the information dis- Off
play in the combination meter
ATC DISP
When the activation of active trace control B
function is displayed on the information display On
in the combination meter
When the activation of Active Lane Control is C
not displayed on the information display in the Off
combination meter
ALC DISP
When the activation of Active Lane Control is D
displayed on the information display in the On
combination meter
When Active Lane Control is OFF Off
ALC SYSTEM E
When Active Lane Control is ON On
When left side lane marker is not detected. NOT
LANE MARKER (LH)
when left side lane marker is detected. DETECT F
When right side lane marker is not detected. NOT
LANE MARKER (RH)
When right side lane marker is detected. DETECT
G
When turn signal lamps is OFF Off
TURN SIGNAL (LH)
When turn signal lamp LH is blinking On
When turn signal lamps is OFF Off H
TURN SIGNAL (RH)
When turn signal lamp RH is blinking On
When turn signal lamp LH is blinking LEFT I
TURN SIGNAL SWITCH When turn signal lamp RH is blinking RIGHT
When turn signal lamp system malfunction is
MALF J
detected.
When the Active Lane Control request to trans-
Off
mit to the steering force control module is OFF
DAST K
On
mit to the steering force control module is ON
ROAD DISTORTION Driving Depends on the radius of curve
L
When the Active Lane Control is inactive or
when the Active Lane Control is active and the
Approx. 0 rad
vehicle is driving straight around the center of
the lane M
COMMAND ST ANG
Active Lane Control is active with yaw angle
Max 0.05 rad
formed on the left of the lane.
Active Lane Control is active with yaw angle N
Max −0.05 rad
formed on the right of the lane.
When driving straight Approx. 0 rad
ST PINION ANG when steering wheel is steered to LH by 90° Approx. −1.6 rad
DAS
when steering wheel is steered to RH by 90° Approx. 1.6 rad

When driving straight 0 N·m
ST WHL FORCE TORQUE P
When steering wheel is steered MAX ± 32 N·m

0 N·m
the lane
COMMAND ST WHL FORCE
When the Active Lane Control is active and the
Approx. −6 N
vehicle is drifting to the left end of the lane
Approx. 6 N
vehicle is drifting to the right end of the lane
When LDW function is ON On
LDW DISP
When LDW function malfunction is detected MALF
When LDP function is ON On
LDP DISP
When LDP function malfunction is detected MALF
When blind spot intervention function is ON On
BSI DISP When blind spot intervention function malfunc-
MALF
tion is detected
When steering switch is normal OK
ADAS control unit sends malfunction informa-
tion of the steering switch to the chassis control NG 1
ST SWITCH COND module. (During the judgment of malfunction.)
module. (Malfunction confirmed)
When BSW function is normal NORMAL
BSW COND
When BSW function malfunction is detected ABNOR
When ADAS control unit is normal NORMAL
ADAS COND
When ADAS control malfunction is detected ABNOR
When the collision warning is OFF Off
COLLISION WARN
When the collision warning is ON On
When ICC function is inactive Off
ICC ACTTIVE
When ICC function is active On
When forward emergency brake function is in-
Off
active
IBA ACTIVE
When forward emergency brake function is ac-
On
tive
DR BUZZER STATUS Displayed but not used —
LDW COND
LDP COND
BSI COND When blind spot intervention function malfunc-
MALF
tion is detected
When not cancel NONE
When slippery road SLIP
LDP BRAKE CANCEL When drive mode select switch is “SNOW”
SNOW
mode
When VDC OFF switch is OFF VDC OF

A
BSI BRAKE CANCEL When drive mode select switch is “SNOW”
SNOW B
mode
When Lane camera unit is normal NORMAL C
CAMERA COND When Lane camera unit malfunction is detect-
ABNOR
ed.
When the temperature around lane camera D
NORMAL
unit is normal
CAMERA TEMP COND
When the temperature around the lane camera
ABNOR
unit is high E
When communication between chassis control
NORMAL
module and lane camera unit is normal
CAMERA COMM COND When communication between chassis control F
module and lane camera unit malfunction is ABNOR
detected
When lane camera aiming is completed COMP
CAMERA AIMING G
When lane camera aiming is not completed INCOMP
When the temperature around lane camera
NORMAL
unit is normal. (LDW ON) H
CAMERA HIGH TEMP (LDW)
ABNOR
unit is high. (LDW ON)
When the temperature around lane camera I
NORMAL
unit is normal. (LDP ON)
CAMERA HIGH TEMP (LDP)
ABNOR
unit is high. (LDP ON) J
NORMAL
unit is normal. (Blind spot intervention ON)
CAMERA HIGH TEMP (BSI)
When the temperature around the lane camera K
ABNOR
unit is high. (Blind spot intervention ON)
When the side radar is normal NORMAL
SIDE RADAR BLOCK CANCEL Side radar is blocked and temporarily deacti- L
BLOCK
vated.
When blind spot intervention function (LH) is
Off
inactive M
BSI LAMP REQ (LH)
On
active
When blind spot intervention function (RH) is N
Off
inactive
BSI LAMP REQ (RH)
When blind spot intervention function (RH) is
On
active
DAS
When not deviating the LH side lane NO DISP
LANE DEPARTURE DISP (LH)
When deviating the LH side lane DEVIAT
When not deviating the RH side lane NO DISP P
LANE DEPARTURE DISP (RH)
When deviating the RH side lane DEVIAT
When LDP function and blind spot intervention
Off
function are inactive
LDP/BSI ACTIVE
When LDP function or blind spot intervention
On
function are active

When diagnosis of ADAS control unit is normal NORMAL
ADAS COND When diagnosis of ADAS control unit malfunc-
ABNOR
tion is detected
When driver assistance buzzer is normal NORMAL
DR BUZZER COND When driver assistance buzzer malfunction is
ABNOR
detected
OUTSIDE TEMP Ignition switch ON (–40°C) − (+72°C)
When front wiper is inactive Off
When front wiper is active (low and intermit-
LOW
WIPER STATUS tent)
When front wiper is active (high) HIGH
When front wiper malfunction is detected MALF
Engine stopped 0 rpm
Engine rpm
Engine running Almost sase reading as tachometer
When select the “Soft” in “FR shock absober”
Approx. 0.38 A
of “ACTIVE TEST”
When select the “Medium” “FR shock absorb-
FR shock ab drive current Approx. 0.85 A
er” in of “ACTIVE TEST”
When select the “Hard” in “FR shock absorber”
Approx. 1.15 A
When select the “Soft” in “FL shock absorber”
Approx. 0.38 A
When select the “Medium” in “FL shock ab-
FL shock ab drive current Approx. 0.85 A
sorber” of “ACTIVE TEST”
When select the “Hard” in “FL shock absorber”
Approx. 1.15 A
When select the “Soft” in “RR shock absorber”
Approx. 0.38 A
When select the “Medium” in “RR shock ab-
RR shock ab drive current Approx. 0.85 A
When select the “Hard” in “RR shock absorber”
Approx. 1.15 A
When select the “Soft” in “RL shock absorber”
Approx. 0.38 A
When select the “Medium” in “RL shock ab-
RL shock ab drive current Approx. 0.85 A
When select the “Hard” in “RL shock absorber”
Approx. 1.15 A
When vehicle estimation (control 1) is normal Off
Shock absorber control 1 When vehicle estimation (control 1) is can-
On
celed
On
celed
On
celed

A
When select the “Soft” in “FR shock absorber”
Approx. 0.38 A
When select the “Medium” in “FR shock ab-
FR shock ab command current Approx. 0.85 A B
Approx. 1.15 A
When select the “Soft” in “FL shock absorber” C
Approx. 0.38 A
FL shock ab command current Approx. 0.85 A
sorber” of “ACTIVE TEST” D
Approx. 1.15 A
When select the “Soft” in “RR shock absorber” E
Approx. 0.38 A
RR shock ab command current Approx. 0.85 A
sorber” of “ACTIVE TEST” F
Approx. 1.15 A
When select the “Soft” in “RL shock absorber” G
Approx. 0.38 A
RL shock ab command current Approx. 0.85 A
sorber” of “ACTIVE TEST” H
Approx. 1.15 A
*: Check tire pressure under normal conditions. I
TERMINAL LAYOUT
Models with Digital Motion Control J
JSOIA2397ZZ M
Models without Digital Motion Control

N
DAS
JSOIA1076ZZ
PHYSICAL VALUES
Models with Digital Motion Control

Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ − Signal name
Output
1
— ACTUATOR (FL)-L — — — —
(LG)
3
— ACTUATOR (RR)-H — — — —
(BR)
4
Ground IGNITION POWER SUPPLY Input Ignition switch ON 6.4 − 16 V
(BG)
5
Ground CHASSIS COMM-L — — — —
(W)
Ignition
6
Ground GROUND — switch — 0V
(B)
ON
8
(BR)*1 Ground CHASSIS COMM-H — — — —
(L)*1
9 Ignition Down switch is not
6.4 − 16 V
(G)*1 Ground DRIVE MODE SELECT SWITCH (DOWN) Input switch pressed
(Y)*1 ON Down switch is pressed 0V
10
Ground CAN-H — — — —
(L)
12
— ACTUATOR (FR)-H — — — —
(G)
13*2 Ground ESS RELAY Output Ignition switch ON 6.4 − 16 V

(G)
14
— ACTUATOR (RL)-L — — — —
(L)
15
— ACTUATOR (RR)-L — — — —
(Y)
17
— ACTUATOR (FL)-H — — — —
(V)
19
Ground CHASSIS COMM-H — — — —
(L)
21
(W)
Ignition Up switch is not pressed 6.4 − 16 V
22
Ground DRIVE MODE SELECT SWITCH (UP) Input switch
(V) Up switch is pressed 0V
ON
Ignition
23
(B)
ON
24
(R)*3 Ground CAN-L — — — —
(P)*4
25
(G)
26
— ACTUATOR (RL)-H — — — —
(V)
28
— ACTUATOR (FR)-L — — — —
(R)
*1: Color of wire differs depending on production.

*2: Although the harness is connected, it is not functioning.
*3: With Gateway A
*4: Without Gateway
B
Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.) C
+ − Signal name
Output
3
(R)*1 Ground CAN-L — — — — D
(P)*2
4
(L) E
5 Ignition Up switch is not pressed 6.4 − 16 V
(V)*3 Ground DRIVE MODE SELECT SWITCH (UP) Input switch
ON Up switch is pressed 0V
(Y)*4 F
6.4 − 16 V
(Y)*3 Ground DRIVE MODE SELECT SWITCH (DOWN) Input switch pressed
(G)*4 ON Down switch is pressed 0V G
7
(W)
8 H
(W)
10
(G)*3 Ground IGNITION POWER SUPPLY Input Ignition switch ON 6.4 − 16 V I
(BG)*4
11
(L) J
12 Ignition
(B)*3 Ground GROUND — switch — 0V
(B/W)*4 ON K
19
(L)*4 L
23*5
(G)*3 Ground ESS RELAY Output Ignition switch ON 6.4 − 16 V
M
(R)*4
*1: With Gateway
*2: Without Gateway
N
*4: 2.0L turbo gasoline engine models
DAS
is displayed on the information display of the combination meter. P

• LDW function

C1B92-00
• LDW function
• LDP function
• LDW function
• LDW function
• LDW function
C1B99-00
• LDP function
C1BA6-00
C1BA7-00
• LDW function
C1BAB-00
C1BAC-00
C1BAE-00
C1BAF-00
C1BB0-06 Normal control
C1BB3-00
• LDP function
C1BB5-00 • Infiniti InTuition function
C1BB6-00
C1BB8-00
• LDP function
C1BBA-00
C1BBB-00

A
• Active lane control function B
• LDW function
C1BBD-00
• LDP function
C
C1BBE-11
D
C1BBE-12
C1BBE-19
C1BBE-1D E
C1BEE-39
C1BEE-64 The following functions are suspended.
C1BBF-11 • Digital motion control function F
C1BBF-12
C1BBF-19
G
C1BBF-1D
C1BBF-39
C1BBF-64 H
C1BC1-00 • Active lane control function I
C1BC7-11
C1BC7-12
J
C1BC7-19
C1BC7-1D
C1BC7-39 K
C1BC8-12
L
C1BC8-19
C1BC8-1D
M
C1BC8-39
C1BC8-64
The following functions are suspended. N
U1000-00
• LDW function
• LDP function
DAS
U1010-49 • Active trace control function P
• LDP function

U1A35-00
• LDW function
• LDP function
When multiple DTCs are displayed simultaneously, check them one by one according to the following priority
list.
Priority Detected item (DTC)

• U1000-00 CAN COMM CIRCUIT
1
• U1010-49 CONTROL UNIT (CAN)
• U1A31-00 DAST COMM
2 • U1A35-00 BRAKE CONTROL COMM
• U1A3E-00 ADAS COMM
3 • C1BBD-00 VARIANT CODING
• C1B90-00 DAST SYSTEM
• C1B91-00 CAMERA SYSTEM
• C1B92-00 BRAKE CONTROL SYSTEM
• C1B93-00 ENGINE/HEV SYSTEM
• C1B94-00 TM SYSTEM
• C1B96-00 ADAS SYSTEM
• C1BA6-00 AV SYSTEM
• C1BA7-00 ALC SYSTEM
• C1BA9-00 NP RANGE
• C1BAA-00 GEAR POSITION
• C1BAB-00 STOP LAMP SW
• C1BAC-00 OPERATION SW CIRC
• C1BAD-00 ACCELERATER PEDAL
• C1BAE-00 ACCELERATER PEDAL
• C1BAF-00 BSW SYSTEM
• C1BB0-06 DR BUZZER SYSTEM
• C1BBE-11 Front right shock absorber circuit
• C1BBE-1D Front right shock absorber circuit
4
• C1BBF-11 Front left shock absorber circuit
• C1BBF-1DFront left shock absorber circuit
• C1BC0-00 FR WHEEL SENSOR
• C1BC1-00 FL WHEEL SENSOR
• C1BC7-11 Rear right shock absorber circuit
• C1BC7-1D Rear right shock absorber circuit
• C1BC8-11 Rear left shock absorber circuit
• C1BC8-1D Rear left shock absorber circuit

A
• C1BB5-00 IGN POWER SUPPLY
5
• C1B99-00 CONTROL MODULE
• C1BB2-00 CONTROL MODULE B
• C1BB3-00 CONTROL MODULE
6
C
• C1BBA-00 CONTROL MODULE
• C1BBB-00 CONTROL MODULE D
• C1BBC-00 CONTROL MODULE

E
DTC Display item Refer to

C1B90-00 DAST SYSTEM DAS-580, "DTC Description" F
C1B91-00 CAMERA SYSTEM DAS-582, "DTC Description"
C1B92-00 BRAKE CONTROL SYSTEM DAS-584, "DTC Description"
G
C1B93-00 ENGINE/HEV SYSTEM DAS-586, "DTC Description"
C1B94-00 TM SYSTEM DAS-588, "DTC Description"
C1B96-00 ADAS SYSTEM DAS-590, "DTC Description" H
C1B99-00 CONTROL NODULE DAS-592, "DTC Description"
C1BA6-00 AV SYSTEM DAS-593, "DTC Description"
I
C1BA7-00 ALC SYSTEM DAS-595, "DTC Description"
C1BA9-00 NP RANGE DAS-597, "DTC Description"
C1BAA-00 GEAR POSITION DAS-599, "DTC Description" J
C1BAB-00 STOP LAMP SW DAS-601, "DTC Description"
C1BAC-00 OPERATION SW CIRC DAS-603, "DTC Description"
C1BAD-00 ACCELERATER PEDAL DAS-605, "DTC Description" K
C1BAE-00 ACCELERATER PEDAL DAS-607, "DTC Description"
C1BAF-00 BSW SYSTEM DAS-609, "DTC Description" L
C1BB0-06 DR BUZZER SYSTEM DAS-611, "DTC Description"
C1BB2-00 CONTROL MODULE DAS-612, "DTC Description"
C1BB3-00 CONTROL MODULE DAS-613, "DTC Description" M
C1BB5-00 IGN POWER SUPPLY DAS-615, "DTC Description"
N
C1BB8-00 CONTROL MODULE DAS-624, "DTC Description" DAS
C1BBA-00 CONTROL MODULE DAS-626, "DTC Description"
P
C1BBB-00 CONTROL MODULE DAS-627, "DTC Description"
C1BBC-00 CONTROL MODULE DAS-628, "DTC Description"
C1BBD-00 VARIANT CODING DAS-629, "DTC Description"
C1BBE-11 Front right shock absorber circuit DAS-630, "DTC Description"

C1BBE-1D Front right shock absorber circuit DAS-639, "DTC Description"
C1BBF-11 Front left shock absorber circuit DAS-647, "DTC Description"
C1BBF-1D Front left shock absorber circuit DAS-656, "DTC Description"
C1BC0-00 FR WHEEL SENSOR DAS-664, "DTC Description"
C1BC1-00 FL WHEEL SENSOR DAS-666, "DTC Description"
C1BC7-11 Rear right shock absorber circuit DAS-668, "DTC Description"
C1BC7-1D Rear right shock absorber circuit DAS-677, "DTC Description"
C1BC8-11 Rear left shock absorber circuit DAS-685, "DTC Description"
C1BC8-1D Rear left shock absorber circuit DAS-694, "DTC Description"
U1000-00 CAN COMM CIRCUIT DAS-702, "DTC Description"
U1010-49 CONTROL UNIT (CAN) DAS-703, "DTC Description"
U1A31-00 DAST COMM DAS-704, "DTC Description"
U1A35-00 BRAKE CONTROL COMM DAS-706, "DTC Description"
U1A3E-00 ADAS COMM DAS-708, "DTC Description"

< WIRING DIAGRAM > [DRIVER ASSISTANCE SYSTEM]
WIRING DIAGRAM A
B
VR ENGINE
C
DAS
JROWC8840GB

JROWC8841GB

DAS
JROWC8842GB

JROWC8843GB

DAS
JROWC8844GB

JROWC8845GB

DAS
JROWC8846GB

JROWC8847GB

DAS
JROWC8848GB

JROWC8849GB

DAS
JROWC8850GB

JROWC8851GB

DAS
JROWC8852GB

JROWC8853GB

DAS
JROWC8854GB

JROWC8855GB

DAS
JROWC8856GB

JROWC8857GB

DAS
JROWC8858GB

JROWC8859GB

DAS
JROWC8860GB

JROWC8861GB

A
DAS
JROWC8862GB
P

JROWC8863GB

DAS
JROWC8864GB

JROWC8865GB

DAS
JROWC8866GB

JROWC8867GB

DAS
JROWC8868GB

JROWC8869GB

DAS
JROWC8870GB

JROWC8871GB

DAS
JROWC8872GB

JROWC8873GB

DAS
JROWC8874GB

JROWC8875GB

DAS
JROWC8876GB

JROWC8877GB

DAS
JROWC8878GB

JROWC8879GB

DAS
JROWC8880GB

JROWC8881GB

DAS
JROWC8882GB

JROWC8883GB

DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [DRIVER ASSISTANCE SYSTEM]
BASIC INSPECTION A
Work Flow INFOID:0000000012796308
B
OVERALL SEQUENCE
C
DAS
P
JSOIA0485GB
DETAILED FLOW
1.INTERVIEW FOR MALFUNCTION

It is also important to clarify the customer concerns before starting the inspection. Interview the customer
about the concerns carefully and understand the symptoms fully.

NOTE:
The customers are not professionals. Never assume that “maybe the customer means···” or “maybe the cus-
tomer mentioned this symptom”.
>> GO TO 2.
2.SELF-DIAGNOSIS WITH CONSULT
2. Check if the DTC is detected on the self-diagnosis results of following.
- “ICC/ADAS”
- “CHASSIS CONTROL”
- “LASER/RADAR”
- “ACCELE PEDAL ACT”
- “LANE CAMERA”
- “SIDE RADAR LEFT”
- “SIDE RADAR RIGHT”
- “BSW/BUZZER”
YES >> GO TO 5.
NO >> GO TO 3.
3.ACTION TEST
Perform Following system action test to check the operation status. Refer to DAS-436, "DCA : Description".
Check if any other malfunctions occur.
>> GO TO 4.
4.SYMPTOM DIAGNOSIS
Perform the applicable diagnosis according to the diagnosis chart by symptom. Refer to DAS-486, "Symptom
Table".
>> GO TO 6.
5.TROUBLE DIAGNOSIS BY DTC
1. Check the DTC in the self-diagnosis results.
2. Perform trouble diagnosis for the detected DTC following.
- “ICC/ADAS”: Refer to DAS-338
- “CHASSIS CONTROL” Refer to DAS-550
- “LASER/RADAR” Refer to DAS-342
- “ACCELE PEDAL ACT”: Refer to DAS-345, "DTC Index"
- “LANE CAMERA”: Refer to DAS-362
- “SIDE RADAR LEFT”: Refer to DAS-347, "DTC Index"
- “SIDE RADAR RIGHT”: Refer to DAS-349, "DTC Index"
- “BSW/BUZZER”: Refer to DAS-353, "DTC Index"
NOTE:
If “DTC: U1000” is detected, first diagnose the CAN communication system or ITS communication system.
>> GO TO 6.
6.MALFUNCTIONING PART REPAIR
Repair or replace the identified malfunctioning parts.
>> GO TO 7.
7.REPAIR CHECK (SELF-DIAGNOSIS WITH CONSULT)
1. Erases self-diagnosis results.
2. Perform “All DTC Reading” again after repairing or replacing the specific items.
3. Check if any DTC is detected in self-diagnosis results of following.

- “ICC/ADAS”
- “CHASSIS CONTROL” A
- “LASER/RADAR”
- “ACCELE PEDAL ACT”
- “LANE CAMERA”
B
- “SIDE RADAR LEFT”
- “SIDE RADAR RIGHT”
- “BSW/BUZZER”
Is any DTC detected? C
YES >> GO TO 5.
NO >> GO TO 8.
D
8.REPAIR CHECK (ACTION TEST)
Perform the Following system action test. Check that the malfunction symptom is solved or no other symp-
toms occur. E
• DCA
• LDW/LDP
• Blind Spot Warning/Blind Spot Intervention
• BCI F
Is there a malfunction symptom?
YES >> GO TO 4.
NO >> INSPECTION END G
DAS

ADDITIONAL SERVICE WHEN REPLACING ICC SENSOR
ADDITIONAL SERVICE WHEN REPLACING ICC SENSOR
• Always perform the radar alignment after removing and installing or replacing the ICC sensor.
CAUTION:
The system does not operate normally unless the laser beam aiming adjustment is performed.
Always perform it.
• Perform the DCA system action test check that the DCA system operates normally.
1.RADAR ALIGNMENT
Perform the radar alignment. Refer to CCS-114, "Application Notice".
>> GO TO 2.
2.DCA SYSTEM ACTION TEST
1. Perform the DCA system action test. Refer to DAS-436, "DCA : Description".
2. Check that the DCA system operates normally.
>> INSPECTION END

ADDITIONAL SERVICE WHEN REPLACING ACCELERATOR PEDAL ASSEM-
BLY
ADDITIONAL SERVICE WHEN REPLACING ACCELERATOR PEDAL AS-
A
SEMBLY
B
• Always perform accelerator pedal released position learning when replacing the accelerator pedal assembly
or disconnecting the accelerator pedal position sensor connector.
• Perform the DCA system action test check that the DCA system operates normally. C
1.ACCELERATOR PEDAL RELEASED POSITION LEARNING D

Perform accelerator pedal released position learning. Refer to DAS-427, "Description".
E
>> GO TO 2.
2.DCA SYSTEM ACTION TEST
1. Perform the DCA system action test. Refer to DAS-436, "DCA : Description". F
2. Check that the DCA system operates normally.
>> INSPECTION END G
DAS

ADDITIONAL SERVICE WHEN REPLACING LANE CAMERA UNIT
Always adjust the camera aiming after removing and installing or replacing the lane camera unit. Refer to
DAS-428, "Work Procedure".
CAUTION:
The system does not operate normally unless the camera aiming adjustment is performed. Always
perform it.
1.CAMERA AIMING ADJUSTMENT

Perform the camera aiming adjustment. Refer to DAS-430, "WITHOUT DIRECT ADAPTIVE STEERING SYS-
TEM : Description".
>> GO TO 2.
Perform the self-diagnosis of lane camera unit with CONSULT. Check if any DTC is detected.
YES >> Perform the trouble diagnosis for the detected DTC. Refer to DAS-362, "WITHOUT DIRECT
ADAPTIVE STEERING SYSTEM : DTC Index"
NO >> GO TO 3.
3.LDW/LDP SYSTEM ACTION TEST
1. Perform the LDW/LDP system action test. Refer to DAS-437, "LDW/LDP : Description".
2. Check that the LDW/LDP system operates normally.
>> GO TO 4.
4.BLIND SPOT WARNING/BLIND SPOT INTERVENTION SYSTEM ACTION TEST
1. Perform the Blind Spot Warning/Blind Spot Intervention system action test. Refer to DAS-439, "BLIND
SPOT WARNING/BLIND SPOT INTERVENTION : Description".
2. Check that the Blind Spot Warning/Blind Spot Intervention system operates normally.
>> WORK END

PRE-INSPECTION FOR DIAGNOSIS
A
LANE CAMERA UNIT
LANE CAMERA UNIT : Inspection Procedure INFOID:0000000013405160
B
1.CHECK CAMERA LENS AND WINDSHIELD
C
Are camera lens and windshield contaminated with foreign materials?
YES >> Clean camera lens and windshield.
NO >> GO TO 2.
D
2.CHECK LANE CAMERA UNIT INSTALLATION CONDITION
Check lane camera unit installation condition (installation position, properly tightened, a bent bracket).
Is it properly installed? E
YES >> GO TO 3.
NO >> Install lane camera unit properly, and perform camera aiming. Refer to DAS-430, "WITHOUT
DIRECT ADAPTIVE STEERING SYSTEM : Description". F
3.CHECK VEHICLE HEIGHT
Check vehicle height. Refer to FSU-21, "Wheelarch Height". G
Is vehicle height appropriate?
NO >> Repair vehicle to appropriate height. H
DAS

CAMERA AIMING ADJUSTMENT
WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : Description INFOID:0000000013405161
Always adjust the camera aiming after removing and installing or replacing the lane camera unit. Refer to
DAS-430, "WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : Work Procedure (Preparation)".
CAUTION:
• Place the vehicle on level ground when the camera aiming adjustment is operated.
• Follow the CONSULT when performing the camera aiming. (Camera aiming adjustment cannot be
operated without CONSULT.)
WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : Work Procedure (Preparation)
INFOID:0000000013405162
Perform self-diagnosis of ADAS control unit and lane camera unit.
Except “C1B01”>>Perform diagnosis on the detected DTC and repair or replace the applicable item. Refer to
DAS-338, "DTC Index" (ICC/ADAS) or DAS-362, "WITHOUT DIRECT ADAPTIVE STEERING
SYSTEM : DTC Index" (LANE CAMERA).
“C1B01” or no DTC>>GO TO 2.
2.PREPARATION BEFORE CAMERA AIMING ADJUSTMENT
1. Perform pre-inspection for diagnosis. Refer to DAS-429, "LANE CAMERA UNIT : Inspection Procedure".
2. Adjust the tire pressure to the specified pressure value.
3. Maintain no-load in vehicle.
4. Check if coolant and engine oil are filled up to correct level and fuel tank is full.
5. Shift the selector lever to “P” position and release the parking brake.
6. Clean the windshield.
7. Completely clear off the instrument panel.
>> GO TO 3.
3. PREPARATION OF AIMING ADJUSTMENT JIG
Prepare the aiming adjustment jig according to the following procedure and the figure.
1. Print out the target mark attached in this service manual. Refer to DAS-434, "WITHOUT DIRECT ADAP-
TIVE STEERING SYSTEM : Work Procedure (Target Mark Sample)".
2. Stick a printed target mark on the board with a scotch tape or a piece of double-sided tape.
NOTE:
• Use the board that peripheral area of the target is monochrome such as a white-board.
• Notice that the cross of the target is horizontal and vertical.

JPOIA0011ZZ F
1. Board 2. String 3. Cone

: Target mark
G
Diameter of a target (D) : 200 mm (7.87 in)

Height of a target center (H) : 1450 mm (57.09 in) H
Width between a right target cen- : 600 mm (23.62 in)
ter from a left target center (W)
I
>> Go to DAS-431, "WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : Work Procedure (Target
Setting)". J
WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : Work Procedure (Target Set-
ting) INFOID:0000000013405163
K
CAUTION:
• Perform this operation in a horizontal position where there is a clear view for 5 m (16.4 ft) forward
and 3 m (9.84 ft) wide. L
• Place the target in a well-lighted location. (Poor lighting may make it hard to adjust.)
• The target may not be detected when there is a light source within 1.5 m (4.92 ft) from either side and
within 1 m (3.28 ft) upward/downward from the target.
• Check the location of the sun. (Sunlight should not shine directly on the front of the vehicle.) M
• The target may not be detected when there is the same pattern of black and white as the target when
the pattern is within 1 m (3.28 ft) from either side and upward/downward position from the target. (It
is desirable that the vehicle is positioned on the opposite side of a single-color wall.) N
1.TARGET SETTING
DAS

PKIB4694E
“A” – “E” (“C” – “F”) : 3850 mm (151.57 in)
1. Mark points “A”, “B”, “C” and “D”at the center of the lateral sur-
face of each wheels.
NOTE:
Hang a string with a cone from the fender so as to pass through
the center of wheel, and then mark a point at the center of the
lateral surface of the wheel.
2. Draw line “LH” passing through points “A” and “B” on the left side
of vehicle.
NOTE:
Approximately 4 m (13.12 ft) or more from the front end of vehi-
cle.
PKIB7667E
3. Mark point “E” on the line “LH” at the positions 3850 mm (151.57
in) from point “A”.
4. Draw line “RH” passing through points “C” and “D” on the right side of vehicle in the same way as step 2.
NOTE:
Approximately 4 m (13.12 ft) or more from the front end of vehicle.
5. Mark point “F” on the line “RH” at the positions 3850 mm (151.57 in) from point “C”.
6. Draw line “FW” passing through the points “E” and “F” on the front side of vehicle.
7. Mark point “X” at the center of point “E” and “F” on the line “FW”.
CAUTION:
Make sure that “E” to “X” is equal to “F” to “X”.
8. Position the center of the right target to point of “X”.
>> Go to DAS-432, "WITHOUT DIRECT ADAPTIVE

STEERING SYSTEM : Work Procedure (Camera Aim-
ing Adjustment)".
PKIB7668E
WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : Work Procedure (Camera Aim-

ing Adjustment) INFOID:0000000013405164
CAUTION:
Perform the adjustment under unloaded vehicle condition.

1.CHECK VEHICLE HEIGHT A

Measure the wheelarch height. Calculate “Dh”.
Dh [mm] = (Hfl + Hfr) ÷ 2 − 715 B

where,
Hfl: Front left wheelarch height [mm]
Hfr: Front right wheelarch height [mm] C
NOTE:
“Dh” may be calculated as a minus value.
D
PKIB7669E
>> GO TO 2.
2.CAMERA AIMING ADJUSTMENT E
CAUTION:
Operate CONSULT outside the vehicle, and close all the doors. (To retain vehicle attitude appropri-
ately) F
1. Select “Work Support” on “LANE CAMERA” with CONSULT.
2. Select “AUTO AIM”.
3. Confirm the following items;
- The target should be accurately placed. G
- The vehicle should be stopped.
4. Select “Start” to perform camera aiming.
CAUTION: H
• Never select “Start” when the target is not accurately placed.
• Wait 5 seconds or more after selecting “Start”.
5. Input “Dh”, and then select “Start”.
I
CAUTION:
Never change “Ht” and “Dt”.
6. Confirm the displayed item.
- “Normally Completed”: Select “Completion”. J
- “SUSPENSION”, “X AIMING NG Y”, “ABNORMALLY COMPLETED”: Perform the following services.
Displayed item Possible cause Service procedure K

Temporary malfunction in internal processing of the lane
— Go back to Step 1
camera unit.
00H Routine not ac- Position the target appro- L
Lane camera unit malfunction.
tivated priately again. Perform
SUSPENSION the aiming again. Refer
to DAS-431, "WITHOUT
• Temporary malfunction in internal processing of the DIRECT ADAPTIVE M
10H Writing error lane camera unit. STEERING SYSTEM :
• Lane camera unit malfunction. Work Procedure (Target
Setting)"
N
X AIMING NG Y Position the target appro-
—
(X: 0 - 7, Y: 1 - 8) priately again. Perform
• A target is not-yet-placed.
the aiming again. Refer
(The lane camera unit cannot detect a target.)
• The position of the lane camera unit is not correct.
to DAS-430, "WITHOUT DAS
ABNORMALLY COM- DIRECT ADAPTIVE
— • Inappropriate work environment.
PLETED STEERING SYSTEM :
• Inappropriate vehicle condition.
Work Procedure (Prepa-
ration)". P
NOTE:
Replace camera unit if “00H Routine not activated” or “10H Writing error” are repeatedly indicated during the
above two services are performed.
7. Confirm that “Normally Completed” is displayed and then select “End” to close the aiming adjustment pro-
cedure.

>> GO TO 3.
Perform self-diagnosis of lane camera unit with CONSULT.
YES >> Perform diagnosis on the detected DTC and repair or replace the applicable item. Refer to DAS-
362, "WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : DTC Index".
NO >> GO TO 4.
4.ACTION TEST
Test the LDW/LDP system operation by action test. Refer to DAS-437, "LDW/LDP : Description".
>> WORK END

WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : Work Procedure (Target Mark
Sample) INFOID:0000000013405165
NOTE:

Print this illustration so that the diameter of the circle is 200 mm (7.87 in).
A
DAS
PGIA0105J

ACTION TEST
ACTION TEST
DCA
DCA : Description INFOID:0000000012796313
Always perform the DCA system action test to check that the system operates normally after replacing the ICC
sensor, replacing the accelerator pedal assembly, or repairing any DCA system malfunction.
CAUTION:
Perform the DCA system action test after checking that the ICC system operates normally because the
DCA system shares components with the ICC system.
DCA : Work Procedure INFOID:0000000012796314
NOTE:
When the ICC system is set, the information display changes to the ICC system display.
1.ICC SYSTEM ACTION TEST
Perform the ICC system action test. Refer to CCS-126, "Description".
>> GO TO 2.
2.CHECK DCA SYSTEM SETTING
2. After starting the engine wait for 30 seconds or more.
3. Check that the DCA system setting can be enabled/disabled on the integral switch.
4. Turn OFF the ignition switch and wait for 5 seconds or more.
5. Check that the previous setting is saved when the engine starts again.
>> GO TO 3.
3.CHECK DRIVER ASSISTANCE SYSTEMS SWITCH
3. Enable the setting of the DCA system on the integral switch.
4. Press the dynamic driver assistance switch .
5. Check that the DCA system display on the information display
illuminates.
6. Check that the DCA system display turns OFF when the system
is turned OFF by pressing the dynamic driver assistance switch.
7. Check that the DCA system display turns OFF when the engine
starts again.
NOTE:
The DCA system display does not illuminate even when the dynamic
driver assistance switch is turned ON within approximately 5 sec-
onds after starting the engine. JSOIA0992ZZ
If the accelerator pedal assembly is not replaced>>INSPECTION END

If the accelerator pedal assembly is replaced>>GO TO 4.
4.CHECK DCA SYSTEM OPERATION
Check that the accelerator pedal actuator operates by the “Active Test” items “ACCELERATOR PEDAL
ACTUATOR TEST1” and “ACCELERATOR PEDAL ACTUATOR TEST2” of “ACCELE PEDAL ACT” with
CONSULT.
>> INSPECTION END

LDW/LDP

ACTION TEST
LDW/LDP : Description INFOID:0000000012796315
A
• Perform action test to verify the customer's concern.
• Perform action test and check the system operation after system diagnosis.
WARNING: B
CAUTION:
• Fully understand the following items well before the road test;
- Precautions: Refer to DAS-217, "LDW/LDP System Service". C
- System description for LDW: Refer to DAS-234, "LDW (WITHOUT DIRECT ADAPTIVE STEERING
- System description for LDP: Refer to DAS-240, "LDP (WITHOUT DIRECT ADAPTIVE STEERING SYS- D
TEM) : System Description".
- Handling precaution: Refer to DAS-283, "Precautions for Lane Departure Warning/Lane Departure
Prevention".
E
LDW/LDP : Inspection Procedure INFOID:0000000012796316
WARNING: F
CAUTION:
G
- Precautions: Refer to DAS-217, "LDW/LDP System Service".
- System description for LDW: Refer to DAS-234, "LDW (WITHOUT DIRECT ADAPTIVE STEERING
- System description for LDP: Refer to DAS-240, "LDP (WITHOUT DIRECT ADAPTIVE STEERING SYS- H
TEM) : System Description".
- Handling precaution: Refer to DAS-283, "Precautions for Lane Departure Warning/Lane Departure
Prevention". I
1.CHECK LDW SYSTEM SETTING
2. Check that the LDW system setting can be enabled/disabled on the integral switch. J
K
>> GO TO 2.
2.ACTION TEST FOR LDW L
1. Enable the setting of the LDW system on the integral switch.
2. Turn LDW system display ON (Speaker icon is ON at the “Lane” position).
NOTE:
LDP system is OFF. M
3. Check the LDW operation according to the following table.
DAS

ACTION TEST

Vehicle speed Status of vehi-
Turn signal condi-
(Approx.) cle close to Indication on the combination meter Indicator color Buzzer
tion
[km/h (MPH)] lane marker
Less than Approx.

Close to lane
60 km/h (37 MPH) — White OFF
marker
JSOIA0914ZZ
• OFF
Close to lane Short continu-
• ON (Opposite to Yellow (Blink)
marker ous beeps
the deviate side)
JSOIA1124ZZ
Approx. 70 km/h (45
MPH) or more
Close to lane
ON (Deviate side) White OFF
marker
JSOIA0914ZZ
NOTE:
After the operating conditions of warning are satisfied, the warning continues until the vehicle speed
reaches approximately 60 km/h (37 MPH). Refer to DAS-234, "LDW (WITHOUT DIRECT ADAPTIVE
STEERING SYSTEM) : System Description".
>> GO TO 3.
3.CHECK LDP SYSTEM SETTING
2. Check that the LDP system setting can be enabled/disabled on the integral switch.
>> GO TO 4.
4.ACTION TEST FOR LDP
1. Enable the setting of the LDP system on the integral switch.
2. Turn dynamic driver assistance switch ON (dynamic driver assistance icon is ON at the “Lane” position).
3. Check the LDP operation according to the following table.

ACTION TEST
Vehicle condition/ Driver's operation Action A

Vehicle speed Status of vehicle
Turn signal condi- Yawing con- Indication on the combination
(Approx.) close to lane Indicator Buzzer
tion trol meter
[km/h (MPH)] marker
B
Less than Ap-

Close to lane
C
prox. 60 km/h — OFF Green —
marker
(37 MPH)
D
JSOIA0929ZZ
E
• Turn signal OFF
Short con-
• Turn signal ON Close to lane Yellow
ON tinuous
(Opposite to the marker (Blink)
beeps F
deviate side)
JSOIA1127ZZ
Approx. 70
Turn signal ON Close to lane H
km/h (45 OFF Green —
(Deviate side) marker
MPH) or more
JSOIA0929ZZ I
• Turn signal OFF J

Close to lane Short con-
• Turn signal ON Yellow
marker with soft OFF tinuous
(Opposite to the (Blink)
braking beeps
deviate side)
K
JSOIA1127ZZ
NOTE:
L
After the operating conditions are satisfied, the control continues until the vehicle speed reaches approxi-
mately 60 km/h (37 MPH). Refer to DAS-240, "LDP (WITHOUT DIRECT ADAPTIVE STEERING SYSTEM) :
System Description".
M
>> INSPECTION END
BLIND SPOT WARNING/BLIND SPOT INTERVENTION
N
BLIND SPOT WARNING/BLIND SPOT INTERVENTION : Description INFOID:0000000012796317
Always perform the Blind Spot Warning and Blind Spot Intervention system action test to check that the sys- DAS
tem operates normally after replacing the lane camera unit, replacing the side radar left (right), or repairing any
Blind Spot Intervention system malfunction.
NOTE:
Perform the Blind Spot Intervention system action test after checking that the LDP system operates normally P
because the Blind Spot Intervention system shares components with the LDP system.
WARNING:
CAUTION:
Fully understand the following items well before the road test;
• Precautions: Refer to DAS-217, "Blind Spot Warning/Blind Spot Intervention System Service".
• System description for Blind Spot Warning: Refer to DAS-243, "BSW : System Description".

ACTION TEST
• System description for Blind Spot Intervention: Refer to DAS-249, "BLIND SPOT INTERVENTION
(WITHOUT DIRECT ADAPTIVE STEERING SYSTEM) : System Description".
• Normal operating condition: Refer to DAS-499, "Description".
BLIND SPOT WARNING/BLIND SPOT INTERVENTION : Work Procedure INFOID:0000000012796318
WARNING:
CAUTION:
• Precautions: Refer to DAS-217, "Blind Spot Warning/Blind Spot Intervention System Service".
• System description for Blind Spot Warning: Refer to DAS-243, "BSW : System Description".
• System description for Blind Spot Intervention: Refer to DAS-249, "BLIND SPOT INTERVENTION
(WITHOUT DIRECT ADAPTIVE STEERING SYSTEM) : System Description".
1.LDW/LDP SYSTEM ACTION TEST
Perform the LDW/LDP system action test. Refer to DAS-437, "LDW/LDP : Inspection Procedure".
>> GO TO 2.
2.CHECK BSW SYSTEM SETTING
2. Check that the BSW system setting can be enabled/disabled on the integral switch.
>> GO TO 3.
3.BSW SYSTEM ACTION TEST
1. Enable the setting of the BSW system on the integral switch.
2. Turn BSW system display ON (Speaker icon is ON at the “Blind spot”).
NOTE:
Blind Spot Intervention system is OFF.
3. Check BSW operation according to the following table.

(Approx.) nal condi- Indication on the combination meter Buzzer
[km/h (MPH)] tion
tion area indicator
Less than ap-

prox. — — OFF White OFF
29 (18)
JSOIA0915ZZ

ACTION TEST
A
(Approx.) nal condi- Indication on the combination meter Buzzer
[km/h (MPH)] tion
tion area indicator B
C
Vehicle is ab-
— OFF White OFF
sent
D
JSOIA0915ZZ
Vehicle is de-
OFF ON White OFF
tected
F
Approx. JSOIA0915ZZ
32 (20) G
or more
Before turn
Short
signal oper-
ates Blink
Yellow continu- H
(Blink) ous
Vehicle is de-
beeps
tected
ON
JSOIA1125ZZ
I
(vehicle
detected
direction)
Vehicle is de- J
tected after Yellow
Blink OFF
turn signal op- (Blink)
erates
K
JSOIA1125ZZ
L
>> GO TO 4.
4.CHECK BLIND SPOT INTERVENTION SYSTEM SETTING
M
2. Check that the Blind Spot Intervention system setting can be enabled/disabled on the integral switch.
4. Check that the previous setting is saved when the engine starts again. N
>> GO TO 5.
DAS
5.CHECK DYNAMIC DRIVER ASSISTANCE SWITCH
2. After starting the engine wait for 5 seconds or more. P
3. Enable the setting of the Blind Spot Intervention system on the integral switch.
4. Press the dynamic driver assistance switch.
5. Check that the Blind Spot Intervention system display on the combination meter illuminates.
6. Check that the Blind Spot Intervention system display turns OFF when the system is turned OFF by press-
ing the dynamic driver assistance switch.
7. Check that the Blind Spot Intervention ON indicator turns OFF when the engine starts again.
NOTE:

ACTION TEST
• The Blind Spot Intervention system display does not illuminate even when the dynamic driver assistance
switch is turned ON within approximately 5 seconds after starting the engine.
• When the Blind Spot Intervention system setting is disabled on the integral switch, the Blind Spot Interven-
tion system display is not turned ON by pressing the dynamic driver assistance switch.
>> INSPECTION END

BCI
BCI : Description INFOID:0000000012796319
Always perform the BCI system action test to check that the system operates normally after replacing the side
radar (left or right), or repairing any BCI system malfunction.
WARNING:
CAUTION:
• Precautions: Refer to DAS-218, "BCI system service".
• System description for BCI: Refer to DAS-254, "BCI : System Description".
BCI : Work Procedure INFOID:0000000012796320
WARNING:
CAUTION:
• Precautions: Refer to DAS-218, "BCI system service".
• System description for BCI: Refer to DAS-254, "BCI : System Description".
1.CHECK BCI SYSTEM SETTING
Check the sonar system operation. Refer to AV-441, "System Description".
>> GO TO 2.
2.CHECK BCI SYSTEM SETTING
2. Check that the BCI system setting can be enabled/disabled on the integral switch.
>> GO TO 3.
3.ACTION TEST FOR BCI
1. Enable the setting of the BCI system on the integral switch.
2. Check the BCI operation according to the following table.
Vehicle condition Action Buzzer

• Chime sound (single beep)
• Flashes Blind Spot Warning/Blind Spot Intervention
If the radar detects an approaching
• R range indicator on the side of the approaching vehicle is Single beep
vehicle from the side
• 0 km/h (0 MPH) detected
• Yellow rectangular frame appears in the display
No approaching vehicle No action —
>> INSPECTION END

C1A50 ADAS CONTROL UNIT
< DTC/CIRCUIT DIAGNOSIS > [DRIVER ASSISTANCE SYSTEM]
DTC/CIRCUIT DIAGNOSIS A
C1A50 ADAS CONTROL UNIT
LANE CAMERA UNIT
B
LANE CAMERA UNIT : DTC Logic INFOID:0000000013405168
DTC DETECTION LOGIC C
DTC Trouble diagnosis name DTC detecting condition

D
ADAS MALFUNCTION
C1A50 If ADAS control unit is malfunctioning
(ADAS control unit malfunction)
POSSIBLE CAUSE E
ADAS control unit
FAIL-SAFE

If DTC “C1A50” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. H
YES >> Perform diagnosis of applicable. Refer to DAS-470, "LANE CAMERA UNIT : DTC Logic".
NO >> GO TO 2. I
2. Turn the LDP system ON.
4. Check if the “C1A50” is detected as the current malfunction in “Self Diagnostic Result” of “LANE CAM-
ERA”. K
YES >> Refer to DAS-443, "LANE CAMERA UNIT : Diagnosis Procedure".
LANE CAMERA UNIT : Diagnosis Procedure INFOID:0000000013405169
M
If DTC “C1A50” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. N
NO >> GO TO 2. DAS
Check if any DTC is detected in “Self Diagnostic Result” of “ICC/ADAS”.
P

LANE CAMERA UNIT
DTC DETECTION LOGIC

CAMERA UNIT MALF
C1B00 If lane camera unit is malfunctioning
(Camera unit malfunction)
POSSIBLE CAUSE
Lane camera unit
FAIL-SAFE
3. Check if the “C1B00” is detected as the current malfunction in “Self Diagnostic Result” of “LANE CAM-
ERA”.

Check if any DTC other than “C1B00” is detected in “Self Diagnostic Result” of “LANE CAMERA”.
DAS-362, "WITHOUT DIRECT ADAPTIVE STEERING SYSTEM : DTC Index".

A
LANE CAMERA UNIT
B
DTC DETECTION LOGIC
C
CAM AIMING INCMP
C1B01 Camera aiming is not completed
(Camera aiming incomplete)
D
POSSIBLE CAUSE
• Lane camera aiming is not adjusted
• Lane camera aiming adjustment has been interrupted E
FAIL-SAFE
G
2. Perform “All DTC Reading” with CONSULT. H
ERA”.
Is “C1B01” detected as the current malfunction? I
1.CAMERA AIMING ADJUSTMENT K

1. Perform the camera aiming. Refer to DAS-430, "WITHOUT DIRECT ADAPTIVE STEERING SYSTEM :
Description".
2. Erase all self-diagnosis results with CONSULT. L
4. Check if the “C1B01” is detected in “Self Diagnostic Result” of “LANE CAMERA”.
Is “C1B01” detected? M
YES >> Replace the lane camera unit. Refer to DAS-507, "Removal and Installation".
N
DAS

LANE CAMERA UNIT
DTC DETECTION LOGIC

ABNRML TEMP DETECT
C1B03 Temperature around lane camera unit is excessively high
(Abnormal temperature detect)
POSSIBLE CAUSE
Interior room temperature is excessively high
FAIL-SAFE
ERA”.
1.COOLING LANE CAMERA UNIT

1. Wait for 10 minutes or more to cool the lane camera unit.

C1B20 CONTROL MODULE
A
DRIVER ASSISTANCE BUZZER CONTROL MODULE : DTC Logic INFOID:0000000012796321
B
DTC DETECTION LOGIC
C
• If driver assistance buzzer control module is malfunctioning
CONTROL MODULE
C1B20 • Malfunction is detected buzzer signal circuits between driver assistance
(Control module) D
buzzer control module and driver assistance buzzer
POSSIBLE CAUSE
• Driver assistance buzzer control module E
• Driver assistance buzzer
• Driver assistance buzzer circuit
FAIL-SAFE F
None
G
3. Check if the “C1B20” is detected as the current malfunction in “Self Diagnostic Result” of “BSW/BUZZER”.
YES >> Refer to DAS-447, "DRIVER ASSISTANCE BUZZER CONTROL MODULE : Diagnosis Proce- I
dure".
J
DRIVER ASSISTANCE BUZZER CONTROL MODULE : Diagnosis Procedure
INFOID:0000000012796322
K
Check if any DTC other than “C1B20” is detected in “Self Diagnostic Result” of “BSW/BUZZER”.
Is any DTC detected? L
NO >> GO TO 2. M
2.CHECK DRIVER ASSISTANCE BUZZER SIGNAL CIRCUIT FOR OPEN
N
2. Disconnect the driver assistance buzzer connector.
3. Disconnect the driver assistance buzzer control module connector.
4. Check continuity between the driver assistance buzzer control module harness connector and driver
assistance buzzer harness connector. DAS
Driver assistance buzzer

control module Continuity P
8 1
M56 M107 Existed
16 2
YES >> GO TO 3.

3.CHECK DRIVER ASSISTANCE BUZZER SIGNAL CIRCUIT FOR SHORT

Check continuity between the driver assistance buzzer control module harness connector and ground.

module Continuity
8
M56 Not existed
16
YES >> GO TO 4.
4.CHECK DRIVER ASSISTANCE BUZZER
Check driver assistance buzzer. Refer to DAS-448, "DRIVER ASSISTANCE BUZZER CONTROL MODULE :
Component Inspection".
YES >> Replace the driver assistance buzzer control module. Refer to DAS-511, "Removal and Installa-
tion".
NO >> Replace the driver assistance buzzer. Refer to DAS-512, "Removal and Installation".
DRIVER ASSISTANCE BUZZER CONTROL MODULE : Component Inspection
INFOID:0000000012796323
1.CHECK DRIVER ASSISTANCE BUZZER

2. Disconnect driver assistance buzzer connector.
3. Check resistance between driver assistance buzzer terminals.
Terminal Resistance
1 2 Approx. 6 Ω
NO >> Replace driver assistance buzzer.

C1B50 SIDE RADAR MALFUNCTION
C1B50 SIDE RADAR MALFUNCTION
A
SIDE RADAR
SIDE RADAR : DTC LOGIC INFOID:0000000012796324
B
DTC DETECTION LOGIC
DTC Trouble diagnosis name DTC detecting condition C

SIDE RDR MALFUNCTION
C1B50 Side radar malfunction
(Side radar malfunction)
D
POSSIBLE CAUSE
Side radar
FAIL-SAFE E
• Blind Spot Intervention F

3. Check if the “C1B50” is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR
RIGHT/LEFT”.
Is the “C1B50” detected as the current malfunction?
I
YES >> Refer to DAS-449, "SIDE RADAR : Diagnosis Procedure".
J
SIDE RADAR : Diagnosis Procedure INFOID:0000000012796325
1.CHECK SELF-DIAGNOSIS RESULT K

Check if any DTC other than “C1B50” is detected in “Self Diagnostic Result” of “SIDE RADAR LEFT/RIGHT”
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunction part. Refer to DAS- L
347, "DTC Index" (SIDE RADAR RIGHT) or DAS-349, "DTC Index" (SIDE RADAR LEFT).
NO >> Replace the side radar. Refer to DAS-508, "Removal and Installation".
M
DAS

C1B51 BLIND SPOT WARNING/BLIND SPOT INTERVENTION INDICATOR
SHORT CIRCUIT
SHORT CIRCUIT
SIDE RADAR
SIDE RADAR : DTC Logic INFOID:0000000012796326
DTC DETECTION LOGIC

BSW/BSI IND SHORT CIR
Short circuit in Blind Spot Warning/Blind Spot Intervention indicator circuit is
C1B51 (Blind Spot Warning/Blind Spot In-
detected. (Over current is detected)
tervention indicator short circuit)
POSSIBLE CAUSE
• Blind Spot Warning/Blind Spot Intervention indicator circuit.
• Blind Spot Warning/Blind Spot Intervention indicator.
• Side radar.
FAIL-SAFE
RIGHT/LEFT”.
1.CHECK BLIND SPOT WARNING/BLIND SPOT INTERVENTION INDICATOR CIRCUIT FOR SHORT
2. Disconnect side radar harness connector and Blind Spot Warning/Blind Spot Intervention indicator har-
ness connector.
3. Check continuity between side radar harness connector and ground.
Side radar
Continuity
Connector Terminal
Ground
B92 (LH)
6 Not existed
B93 (RH)
YES >> GO TO 2.
2.REPLACE THE SIDE RADAR
1. Replace the side radar.
3. Check if the “C1B51” is detected in “Self Diagnostic Result” of “SIDE RADAR RIGHT/LEFT”

SHORT CIRCUIT
Is the DTC “C1B51” detected?
YES >> Replace the side radar. Refer to DAS-508, "Removal and Installation". A
DAS

OPEN CIRCUIT
OPEN CIRCUIT
SIDE RADAR
DTC DETECTION LOGIC

BSW/BSI IND OPEN CIR
Open circuit in Blind Spot Warning/Blind Spot Intervention indicator circuit is
C1B52 (Blind Spot Warning/Blind Spot In-
detected.
tervention indicator open circuit)
POSSIBLE CAUSE
• Blind Spot Warning/Blind Spot Intervention indicator circuit.
• Blind Spot Warning/Blind Spot Intervention indicator.
• Side radar.
FAIL-SAFE
RIGHT/LEFT”.
1.CHECK BLIND SPOT WARNING/BLIND SPOT INTERVENTION INDICATOR CIRCUIT FOR OPEN 1
2. Disconnect side radar harness connector and Blind Spot Warning/Blind Spot Intervention indicator har-
ness connector.
3. Check continuity between side radar harness connector and Blind Spot Warning/Blind Spot Intervention
indicator harness connector.
Blind Spot Warning/Blind

Side radar
Spot Intervention indicator Continuity

B92 (LH) D15 (LH)
6 1 Existed
B93 (RH) D27 (RH)
YES >> GO TO 2.
2.CHECK BLIND SPOT WARNING/BLIND SPOT INTERVENTION INDICATOR CIRCUIT FOR OPEN 2
OPEN CIRCUIT
Check continuity between Blind Spot Warning/Blind Spot Intervention indicator harness connector and ground.
A
Blind Spot Warning/Blind
Spot Intervention indicator Continuity
B
D15 (LH)
4 Existed
D27 (RH)
C
YES >> GO TO 3.
NO >> Repair the harnesses or connectors. D
3.CHECK SIDE RADAR VOLTAGE OUTPUT
1. Connect side radar harness connector.
2. Check voltage between Blind Spot Warning/Blind Spot Intervention indicator harness connector and E
ground.
Blind Spot Warning/Blind F

Spot Intervention indicator Voltage
Condition
(Approx.)
Connector Terminal
Ground
D15 (LH) Ignition switch G
1 OFF ⇒ ON 6V
D27 (RH) (Approx. 2 sec.)
Is the inspection result normal? H
YES >> Replace Blind Spot Warning/Blind Spot Intervention indicator.
NO >> Replace side radar. Refer to DAS-508, "Removal and Installation".
I
DAS

C1B55 RADAR BLOCKAGE
SIDE RADAR
DTC DETECTION LOGIC
DTC No. Trouble diagnosis name DTC detecting condition

RADAR BLOCKAGE
C1B55 Side radar is blocked.
(Radar blockage)
NOTE:
DTC “C1B55” may be detected under the following conditions except for possible cause. (Explain to the customer about the difference
between the contamination detection function and the indication when the malfunction is detected and tell them “This is not malfunc-
tion”.)
• Due to the nature of radar technology it is possible to get a blockage warning and not actually be blocked. This is rare and is known as
a false blockage warning. A false blocked condition either self-clears or clears after an ignition cycle.
POSSIBLE CAUSE
Stain or foreign materials is deposited.
FAIL-SAFE
4. Check if the C1B55 is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR
RIGHT/LEFT”.
Is the DTC “C1B55” detected?
1.CHECK THE REAR BUMPER

Check rear bumper near the side radar contaminated with foreign materials.
>> GO TO 2.
2.CHECK THE SIDE RADAR
Check side radar and the side radar outskirts contaminated with foreign materials.
>> GO TO 3.
3.CHECK THE SIDE RADAR INSTALL CONDITION
Check side radar installation condition (installation position, properly tightened, a bent bracket).
>> GO TO 4.

4.INTERVIEW A
1. Ask if there is stain or foreign materials.
2. Ask if there is any temporary ambient condition such as splashing water, mist or fog.
3. Ask if there is any object such as ice, frost or dirt obstructing the side radar.
B
Is any of above conditions seen?
YES >> Explain to the customer about the difference between the blockage detection function and the
indication when the malfunction is detected and tell them “This is not malfunction”.
C
DAS

ACCELERATOR PEDAL ACTUATOR : DTC Logic INFOID:0000000012796332
DTC DETECTION LOGIC

APA MOTOR MALF
C1F01 (Accelerator pedal actuator motor If the accelerator pedal actuator motor error is detected
malfunction)
POSSIBLE CAUSE
Accelerator pedal actuator integrated motor malfunction
FAIL-SAFE
3. Slowly depress the accelerator pedal completely, and then release it.
4. Repeat step 3 several times.
6. Check if the DTC “C1F01” is detected as the current malfunction on the self-diagnosis results of “ICC/
ADAS” or “ACCELE PEDAL ACT”.
YES >> Refer to DAS-456, "ACCELERATOR PEDAL ACTUATOR : Diagnosis Procedure".
ACCELERATOR PEDAL ACTUATOR : Diagnosis Procedure INFOID:0000000012796333

Perform DTC confirmation procedure. If “C1F01” is detected, replace the accelerator pedal assembly. Refer to
DAS-505, "Exploded View".
>> INSPECTION END

A
B
DTC DETECTION LOGIC

APA C/U MALF
C1F02 (Accelerator pedal actuator control If the accelerator pedal actuator integrated control unit error is detected
unit malfunction) D
POSSIBLE CAUSE
Accelerator pedal actuator integrated control unit malfunction
E
FAIL-SAFE
G
H
4. Check if the “C1F02” is detected as the current malfunction on the self-diagnosis results of “ACCELE I
PEDAL ACT” or “ICC/ADAS”.
YES >> Refer to DAS-457, "ACCELERATOR PEDAL ACTUATOR : Diagnosis Procedure". J
K

L
2. Check if the “C1F02” is detected as the current malfunction on the self-diagnosis results of “ACCELE
PEDAL ACT” or “ICC/ADAS”.
Is “C1F02” detected as the current malfunction? M
YES >> Replace the accelerator pedal assembly. Refer to DAS-505, "Exploded View".
N
DAS

DTC DETECTION LOGIC

• The temperature of the motor integrated in the accelerator pedal actuator re-
APA HI TEMP
mains 100°C (212°F) or more for 0.4 seconds or more.
C1F03 (Accelerator pedal actuator high
• The temperature of the motor drive circuit integrated in the accelerator pedal
temperature)
actuator remains 120°C (248°F) or more for 0.4 seconds or more.
NOTE:
When the accelerator pedal actuator operates excessively, “C1F03” may be detected temporarily.
POSSIBLE CAUSE
Accelerator pedal actuator integrated motor malfunction
FAIL-SAFE
2. Wait for 10 minutes or more and cool the accelerator pedal actuator integrated motor.
3. Drive the vehicle with DCA system ON and operate the system.
CAUTION:
6. Check if the DTC “C1F03” is detected as the current malfunction in self-diagnosis results of “ACCELE
PEDAL ACT”.

Perform DTC confirmation procedure. If “C1F03” is detected, replace the accelerator pedal assembly. Refer to
DAS-505, "Exploded View".
>> INSPECTION END

A
B
DTC DETECTION LOGIC

APA PWR SUPLY CIR
The battery voltage sent to accelerator pedal actuator remains less than 7.9 V
C1F05 (Accelerator pedal actuator power
or more than 19.3 V for 5 seconds
supply circuit) D
POSSIBLE CAUSE
• Harness, connector, or fuse
E
FAIL-SAFE
• Back-up Collision Intervention (BCI) G

1.PERFORM DTC CONFIRMATION PROCEDURE H
3. Perform “All DTC Reading” with CONSULT. I
4. Check if the “C1F05” is detected as the current malfunction on the self-diagnosis results of “ACCELE
PEDAL ACT”.
Is “C1F05” detected as the current malfunction? J
1.CHECK POWER SUPPLY CIRCUIT L

Check the accelerator pedal actuator power supply circuit. Refer to DAS-479, "ACCELERATOR PEDAL
ACTUATOR : Diagnosis Procedure".
M
NO >> Repair or replace the malfunctioning parts.
N
DAS

C1F06 CAN CIRCUIT2
C1F06 CAN CIRCUIT2
DTC DETECTION LOGIC

CAN CIR 2 If accelerator pedal actuator detects an error signal that is received from ADAS
C1F06
(CAN Circuit 2) control unit via ITS communication
POSSIBLE CAUSE
ADAS control unit
FAIL-SAFE
If DTC “C1F06” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
NO >> GO TO 2.
4. Check if the “C1F06” is detected as the current malfunction in “Self Diagnostic Result” of “ACCELE
PEDAL ACT”.

NO >> GO TO 2.
2.REPLACE ADAS CONTROL UNIT
2. Replace the ADAS control unit. Refer to DAS-214, "Removal and Installation".
3. Erases all self-diagnosis results.
5. Check if the “C1F06” is detected in self-diagnosis results of “ACCELE PEDAL ACT”.

C1F07 CAN CIRCUIT1
C1F07 CAN CIRCUIT1
A
B
DTC DETECTION LOGIC

CAN CIR 1 If accelerator pedal actuator detects an error signal that is received from ADAS
C1F07
(CAN Circuit1) control unit via ITS communication
D
POSSIBLE CAUSE
ADAS control unit
FAIL-SAFE E
If DTC “C1F07” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. H
NO >> GO TO 2. I
2. Turn the DCA system ON. J
4. Check if the “C1F07” is detected as the current malfunction in “Self Diagnostic Result” of “ACCELE
PEDAL ACT”. K
M
N
NO >> GO TO 2.
DAS
2. Replace the ADAS control unit. Refer to DAS-214, "Removal and Installation". P
3. Erases all self-diagnosis results.
5. Check if the “C1F07” is detected in self-diagnosis results of “ACCELE PEDAL ACT”.

U0104 ADAS CAN 1
U0104 ADAS CAN 1
LANE CAMERA UNIT
DTC DETECTION LOGIC

ADAS CAN CIR1
If lane camera unit detects an error signal that is received from ADAS control unit
U0104 (ADAS control unit CAN circuit
via ITS communication
1)
POSSIBLE CAUSE
ADAS control unit
FAIL-SAFE
NO >> GO TO 2.
4. Check if the “U0104” is detected as the current malfunction in “Self Diagnostic Result” of “LANE CAM-
ERA”.

NO >> GO TO 2.
SIDE RADAR
DTC DETECTION LOGIC

U0104 ADAS CAN 1
DTC Trouble diagnosis name DTC detecting condition A

ADAS CAN CIR1 Side radar detected an error of ITS communication signal that was received
U0104
(ADAS control unit CAN circuit 1) from ADAS control unit.
B
POSSIBLE CAUSE
ADAS control unit
FAIL-SAFE C
• Blind Spot Intervention D
1.CHECK DTC PRIORITY E
Is applicable DTC detected? F
YES >> Perform diagnosis of applicable. Refer to DAS-471, "SIDE RADAR LH : DTC Logic" (SIDE
RADAR LH) or DAS-472, "SIDE RADAR RH : DTC Logic" (SIDE RADAR RH).
NO >> GO TO 2. G
2. Turn the Blind Spot Intervention system ON. H
4. Check if the U0104 is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR
RIGHT/LEFT”. I
Is the DTC “U0104” detected?
NO-1 >> To check malfunction symptom before repair: Refer to GI-45, "Intermittent Incident". J
K
L
NO >> GO TO 2. M

Check if any DTC is detected in “Self Diagnostic Result” of “ICC/ADAS”. N
DAS-338, "DTC Index". DAS
NO >> Replace side radar LH or RH. Refer to DAS-508, "Removal and Installation"
P
DTC DETECTION LOGIC

ADAS CAN CIR 1 If driver assistance buzzer control module detects an error signal that is re-
U0104
(ADAS control unit CAN circuit 1) ceived from ADAS control unit via ITS communication

U0104 ADAS CAN 1
POSSIBLE CAUSE
ADAS control unit
FAIL-SAFE
None
CHECK DTC PRIORITY
YES >> Perform diagnosis of applicable. Refer to DAS-472, "DRIVER ASSISTANCE BUZZER CONTROL
MODULE : DTC Logic".
NO >> GO TO 2.
4. Check if the “U0104” is detected as the current malfunction in “Self Diagnostic Result” of “BSW/BUZZER”.
YES >> Refer to DAS-464, "DRIVER ASSISTANCE BUZZER CONTROL MODULE : Diagnosis Proce-
dure".
INFOID:0000000012796347

NO >> GO TO 2.
NO >> Replace the driver assistance buzzer control module. Refer to DAS-511, "Removal and Installa-
tion".

A
LANE CAMERA UNIT
B
DTC DETECTION LOGIC

STRG SEN CAN CIR1
If lane camera unit detects an error signal that is received from steering angle sen-
U0126 (Steering angle sensor CAN
sor via ADAS control unit
circuit1) D
POSSIBLE CAUSE
E
FAIL-SAFE
Is applicable DTC detected? H
NO >> GO TO 2.
ERA”.

N
NO >> GO TO 2.
2.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS DAS

U0405 ADAS CAN 2
U0405 ADAS CAN 2
LANE CAMERA UNIT
DTC DETECTION LOGIC

ADAS CAN CIR2
If lane camera unit detects an error signal that is received from ADAS control unit
U0405 (ADAS control unit CAN circuit
via ITS communication
2)
POSSIBLE CAUSE
ADAS control unit
FAIL-SAFE
NO >> GO TO 2.
ERA”.

NO >> GO TO 2.
SIDE RADAR
DTC DETECTION LOGIC

U0405 ADAS CAN 2

ADAS CAN CIR2 Side radar detected an error of ITS communication signal that was received
U0405
(ADAS control unit CAN circuit 2) from ADAS control unit.
B
POSSIBLE CAUSE
ADAS control unit.
FAIL-SAFE C
• Blind Spot Intervention D
1.CHECK DTC PRIORITY E
Is applicable DTC detected? F
NO >> GO TO 2. G
2. Turn the Blind Spot Intervention system ON. H
4. Check if the U0405 is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR
RIGHT/LEFT”. I
Is the DTC “U0405” detected?
NO-1 >> To check malfunction symptom before repair: Refer to GI-45, "Intermittent Incident". J
K
L
NO >> GO TO 2. M

Check if any DTC is detected in “Self Diagnostic Result” of “ICC/ADAS”. N
DAS-469, "ACCELERATOR PEDAL ACTUATOR : DTC Logic". DAS
NO >> Replace side radar LH or RH. Refer to DAS-508, "Removal and Installation".

LANE CAMERA UNIT
DTC DETECTION LOGIC

STRG SEN CAN CIR2
If lane camera unit detects an error signal that is received from steering angle sen-
U0428 (Steering angle sensor CAN
sor via ADAS control unit
circuit2)
POSSIBLE CAUSE
FAIL-SAFE
NO >> GO TO 2.
ERA”.

NO >> GO TO 2.

A
ACCELERATOR PEDAL ACTUATOR : Description INFOID:0000000012796350
B
ITS COMMUNICATION
large quantities of data at high speed by connecting control units with 2 communication lines. C
D
DTC DETECTION LOGIC
E
CAN COMM CIRCUIT If accelerator pedal actuator is not transmitting or receiving ITS communication
U1000
(CAN communication circuit) signal for 2 seconds or more
F
POSSIBLE CAUSE
ITS communication system
FAIL-SAFE G
• Distance Control Assist (DCA) H
K
L
M
2. Turn the DCA system ON, and then wait for 2 seconds or more. N
4. Check if the “U1000” is detected as the current malfunction in “Self Diagnostic Result” of “ACCELE
PEDAL ACT”.
DAS
P
LANE CAMERA UNIT
LANE CAMERA UNIT : Description INFOID:0000000013405225
ITS COMMUNICATION

DTC DETECTION LOGIC

CAN COMM CIRCUIT If lane camera unit is not transmitting or receiving ITS communication signal for 2
U1000
(CAN communication circuit) seconds or more
POSSIBLE CAUSE
FAIL-SAFE

2. Turn the LDP system ON, and then wait for 2 seconds or more.
ERA”.
NO >> Refer to GI-45, "Intermittent Incident".
SIDE RADAR LH
SIDE RADAR LH : Description INFOID:0000000012796353
CAN COMMUNICATION
CAN (Controller Area Network) is a serial communication line for real time applications. It is an on-vehicle mul-
vehicle is equipped with many electronic control units, and each control unit shares information and links with
other control units during operation (not independent). In CAN communication, control units are connected
CAN communication signal chart. Refer to LAN-67, "CAN COMMUNICATION SYSTEM : CAN Communica-
ITS COMMUNICATION
large quantities of data at high speed by connecting plural units with 2 communication lines.

A
SIDE RADAR LH : DTC Logic INFOID:0000000012796354
DTC DETECTION LOGIC

B
CAN COMM CIRCUIT If Side radar LH is not transmitting or receiving ITS communication signal for
U1000 C
(CAN communication circuit) 2 seconds or more
POSSIBLE CAUSE
ITS communication system D
FAIL-SAFE
• Blind Spot Warning (BSW) E
DTC CONFIRMATION PROCEDURE F

1. Start the engine. G
4. Check if the “U1000” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. H
YES >> Refer to DAS-471, "SIDE RADAR LH : Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-45, "Intermittent Incident". I
SIDE RADAR LH : Diagnosis Procedure INFOID:0000000012796355
J
2. Turn the Blind Spot Intervention system ON, and then wait for 30 seconds or more. K
4. Check if the “U1000” is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR
LEFT”. L
SIDE RADAR RH
N
SIDE RADAR RH : Description INFOID:0000000012796356
CAN COMMUNICATION
CAN (Controller Area Network) is a serial communication line for real time applications. It is an on-vehicle mul- DAS
vehicle is equipped with many electronic control units, and each control unit shares information and links with
other control units during operation (not independent). In CAN communication, control units are connected P
CAN communication signal chart. Refer to LAN-67, "CAN COMMUNICATION SYSTEM : CAN Communica-
ITS COMMUNICATION
large quantities of data at high speed by connecting plural units with 2 communication lines.

SIDE RADAR RH : DTC Logic INFOID:0000000012796357
DTC DETECTION LOGIC

CAN COMM CIRCUIT If Side radar RH is not transmitting or receiving ITS communication signal for
U1000
(CAN communication circuit) 2 seconds or more
POSSIBLE CAUSE
FAIL-SAFE
YES >> Refer to DAS-472, "SIDE RADAR RH : Diagnosis Procedure".
SIDE RADAR RH : Diagnosis Procedure INFOID:0000000012796358

2. Turn the Blind Spot Intervention system ON, and then wait for 30 seconds or more.
RIGHT”.
DRIVER ASSISTANCE BUZZER CONTROL MODULE : Description INFOID:0000000012796359
ITS COMMUNICATION
DTC DETECTION LOGIC

CAN COMM CIRCUIT If driver assistance buzzer control module is not transmitting or receiving ITS
U1000
(CAN communication circuit) communication signal for 2 seconds or more

POSSIBLE CAUSE
ITS communication system A
FAIL-SAFE
None
B
C
4. Check if the “U1000” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. D
dure". E
DRIVER ASSISTANCE BUZZER CONTROL MODULE : Diagnosis Procedure F
INFOID:0000000012796361
1.PERFORM THE SELF-DIAGNOSIS G

2. Turn the MAIN switch of ICC system ON, and then wait for 2 seconds or more.
YES >> Refer to LAN-41, "Trouble Diagnosis Flow Chart". I
J
DAS

ACCELERATOR PEDAL ACTUATOR : Description INFOID:0000000012796362
CAN controller controls the communication of ITS communication signal and the error detection.
DTC DETECTION LOGIC

CONTROL UNIT (CAN) If accelerator pedal actuator detects malfunction by CAN controller initial diag-
U1010
[Control unit (CAN)] nosis
POSSIBLE CAUSE
FAIL-SAFE

3. Check if the “U1010” is detected as the current malfunction in “Self Diagnostic Result” of “ACCELE
PEDAL ACT”.
YES >> Replace the accelerator pedal actuator. Refer to DAS-505, "Exploded View".
LANE CAMERA UNIT
LANE CAMERA UNIT : Description INFOID:0000000013405228
DTC DETECTION LOGIC


CONTROL UNIT (CAN)
U1010 If lane camera unit detects malfunction by CAN controller initial diagnosis
[Control unit (CAN)]
B
POSSIBLE CAUSE
Lane camera unit
FAIL-SAFE C
D
E
4. Check if the “U1010” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. F
NO-1 >> To check malfunction symptom before repair: Refer to GI-45, "Intermittent Incident". G
H
1. Turn the LDP system ON. I
ERA”.
J
K
SIDE RADAR LH
SIDE RADAR LH : Description INFOID:0000000012796365
L
SIDE RADAR LH : DTC Logic INFOID:0000000012796366
M
DTC DETECTION LOGIC
N
CONTROL UNIT (CAN)
U1010 If side radar LH detects malfunction by CAN controller initial diagnosis.
DAS
POSSIBLE CAUSE
Side radar LH
P
FAIL-SAFE


YES >> Refer to DAS-476, "SIDE RADAR LH : Diagnosis Procedure".
1.CHECK SELF-DIAGNOSIS RESULT

LEFT”.
YES >> Replace the side radar LH. DAS-508, "Removal and Installation".
SIDE RADAR RH
SIDE RADAR RH : Description INFOID:0000000012796368
SIDE RADAR RH : DTC Logic INFOID:0000000012796369
DTC DETECTION LOGIC

CONTROL UNIT (CAN)
U1010 If Side radar RH detects malfunction by CAN controller initial diagnosis.
POSSIBLE CAUSE
Side radar RH
FAIL-SAFE
YES >> Refer to DAS-476, "SIDE RADAR RH : Diagnosis Procedure".
1.CHECK SELF-DIAGNOSIS RESULT

2. Perform “All DTC Reading” with CONSULT. A
RIGHT”.
Is “U1010” detected as the current malfunction? B
YES >> Replace the side radar RH. DAS-508, "Removal and Installation".
DRIVER ASSISTANCE BUZZER CONTROL MODULE C
DRIVER ASSISTANCE BUZZER CONTROL MODULE : Description INFOID:0000000012796371
CAN controller controls the communication of ITS communication signal and the error detection. D
E
DTC DETECTION LOGIC

F
CONTROL UNIT (CAN) If driver assistance buzzer control module detects malfunction by CAN control-
U1010
[Control unit (CAN)] ler initial diagnosis
POSSIBLE CAUSE G
Driver assistance buzzer control module
FAIL-SAFE
H
None

YES >> Refer to DAS-477, "DRIVER ASSISTANCE BUZZER CONTROL MODULE : Diagnosis Proce- K
dure".
INFOID:0000000012796373
M
2. Perform “All DTC Reading” with CONSULT. N
YES >> Replace the driver assistance buzzer control module. Refer to DAS-511, "Removal and Installa- DAS
tion".
P

U1527 CCM CAN 1
U1527 CCM CAN 1
DTC DETECTION LOGIC

CCM CAN CIRCUIT 2 If driver assistance buzzer control module detects an error signal that is re-
U1527
(CCM CAN Circuit 2) ceived from chassis control module via ADAS control unit
POSSIBLE CAUSE
FAIL-SAFE
None
NO >> GO TO 2.
dure".
INFOID:0000000012796375

NO >> GO TO 2.

A
B
1.CHECK FUSES
C
Signal name Fuse No.
Battery power supply 67
D
Ignition power supply 54
YES >> GO TO 2. E
NO >> Replace the blown fuse after repairing the affected circuit if a fuse is blown.
2.CHECK ACCELERATOR PEDAL ACTUATOR POWER SUPPLY CIRCUIT
F
Check voltage between accelerator pedal actuator harness connector and ground.
Terminal
Condition G
(+) (–) Voltage
Accelerator pedal actuator (Approx.)
Ignition
Connector Terminal switch H
Ground
1 OFF Battery volt-
M124
2 ON age
I
YES >> GO TO 3.
NO >> Repair the accelerator pedal actuator power supply circuit. J
3.CHECK ACCELERATOR PEDAL ACTUATOR GROUND CIRCUIT
2. Disconnect the accelerator pedal actuator connector. K
3. Check for continuity between accelerator pedal actuator harness connector and ground.
Accelerator pedal actuator L

Continuity
M124 7 Existed
M
NO >> Repair the accelerator pedal actuator ground circuit. N
LANE CAMERA UNIT
DAS
1.CHECK FUSES
Check if any of the following fuses are blown: P

YES >> GO TO 2.

2.CHECK LANE CAMERA UNIT POWER SUPPLY CIRCUIT

Check voltage between lane camera unit harness connector and ground.
Terminal
Condition
(+) (–) Voltage
Lane camera unit (Approx.)
Ignition
Ground OFF 0V
R1 7 Battery volt-
ON
age
YES >> GO TO 3.
NO >> Repair the lane camera unit power supply circuit.
3.CHECK LANE CAMERA UNIT GROUND CIRCUIT
2. Disconnect the lane camera unit connector.
3. Check for continuity between lane camera unit harness connector and ground.
Lane camera unit

Continuity
Connector Terminal
Ground
1
R1 Existed
5
NO >> Repair the lane camera unit ground circuit.
SIDE RADAR LH
1.CHECK FUSES

Ignition power supply (2.0L turbo gasoline engine) 75
YES >> GO TO 2.
2.CHECK POWER SUPPLY CIRCUIT
2. Disconnect the side radar LH connector.
3. Check voltage between side radar LH harness connector and ground.

Terminals A
Condition
(+) (−) Voltage
Side radar LH (Approx.)
Ignition switch B
Connector Terminal
Ground
OFF 0V
B92 5
ON Battery voltage C
YES >> GO TO 3.
NO >> Repair the side radar LH power supply circuit. D
3.CHECK GROUND CIRCUIT
Check continuity between side radar LH harness connectors and ground. E
Side radar LH
Continuity
Connector Terminal Ground F
B92 2 Existed
G
NO >> Repair the side radar LH ground circuit.
SIDE RADAR RH H
1.CHECK FUSES I

J

K
YES >> GO TO 2.
NO >> Replace the blown fuse after repairing the affected circuit if a fuse is blown. L
2.CHECK POWER SUPPLY CIRCUIT
M
2. Disconnect the side radar RH connector.
3. Check voltage between side radar RH harness connector and ground.
Terminals
N
Condition
(+) (−) Voltage
Side radar RH (Approx.)
Ignition switch DAS
Connector Terminal
Ground
OFF 0V
B93 5
ON Battery voltage P
YES >> GO TO 3.
NO >> Repair the side radar RH power supply circuit.
3.CHECK GROUND CIRCUIT
Check continuity between side radar RH harness connectors and ground.

Side radar RH
Continuity
B93 2 Existed
NO >> Repair the side radar RH ground circuit.
INFOID:0000000012796379
1.CHECK FUSES

YES >> GO TO 2.
2.CHECK DRIVER ASSISTANCE BUZZER CONTROL MODULE POWER SUPPLY CIRCUIT
Check voltage between driver assistance buzzer control module harness connector and ground.
Terminal
Condition
(+) (–)
Voltage
Driver assistance buzzer (Approx.)
control module Ignition
switch
Battery volt-
M56 1 ON
age
YES >> GO TO 3.
NO >> Repair the driver assistance buzzer control module power supply circuit.
3.CHECK DRIVER ASSISTANCE BUZZER CONTROL MODULE GROUND CIRCUIT
2. Disconnect the driver assistance buzzer control module.
3. Check for continuity between driver assistance buzzer control module harness connector and ground.
Driver assistance buzzer control mod-

ule Continuity
5
M56 Existed
13
NO >> Repair the driver assistance buzzer control module.

RIGHT/LEFT SWITCHING SIGNAL CIRCUIT
RIGHT/LEFT SWITCHING SIGNAL CIRCUIT
A
1.CHECK CONNECTOR B
2. Check the terminals and connectors of the side radar RH for damage, bend and short (unit side and con-
nector side). C
YES >> GO TO 2.
NO >> Repair the terminal or connector. D
2.CHECK CONTINUITY RIGHT/LEFT SWITCHING SIGNAL CIRCUIT
1. Disconnect side radar RH connector. E
2. Check continuity between side radar RH harness connectors and ground.
Side radar RH
Continuity F
B93 1 Existed
Is the inspection result normal? G
NO >> Repair harness or connector.
H
DAS

DRIVER ASSISTANCE BUZZER CIRCUIT
Component Function Check INFOID:0000000012796381
1.CHECK WARNING BUZZER

2. Select the active test item “BUZZER 1 (ADAS)” of “BSW/BUZZER” with CONSULT.
3. With operating the test item, check the operation.
On : Warning buzzer is activated.

Off : Warning buzzer is not activated.
NO >> Refer to DAS-484, "Diagnosis Procedure".
1.CHECK DRIVER ASSISTANCE BUZZER SIGNAL CIRCUIT FOR OPEN

2. Disconnect the driver assistance buzzer connector.
3. Disconnect the driver assistance buzzer control module connector.
4. Check continuity between the driver assistance buzzer control module harness connector and driver
assistance buzzer harness connector.

control module Continuity
8 1
M56 M107 Existed
16 2
YES >> GO TO 2.
2.CHECK DRIVER ASSISTANCE BUZZER SIGNAL CIRCUIT FOR SHORT
Check continuity between the driver assistance buzzer control module harness connector and ground.

module Continuity
8
M56 Not existed
16
YES >> GO TO 3.
3.CHECK DRIVER ASSISTANCE BUZZER SIGNAL
1. Connect the driver assistance buzzer connector and driver assistance buzzer control module connector.
3. Select the active test of “BSW/BUZZER” with CONSULT.
4. Check waveform between the driver assistance buzzer control module harness connector and ground.

Driver assistance buzzer control module A

Voltage
Terminal Condition
Connector (Approx.)
+ -
B
At “BUZZER 1” C
test of “Active
test”
D
JSOIA0949ZZ
E
At “BUZZER 2”
M56 8 16 test of “Active
test”
F
JSOIA0950ZZ
At “BUZZER 3”
test of “Active H
test”
JSOIA0951ZZ I
YES >> Replace the driver assistance buzzer. Refer to DAS-512, "Removal and Installation".
NO >> Replace the driver assistance buzzer control module. Refer to DAS-511, "Removal and Installa- J
tion".
DAS

DRIVER ASSISTANCE SYSTEM SYMPTOMS
< SYMPTOM DIAGNOSIS > [DRIVER ASSISTANCE SYSTEM]
SYMPTOM DIAGNOSIS
Symptom Table INFOID:0000000012796383
Symptom Confirmation item Inspection item/Reference page

System cannot be turned ON/
All of system display does not illuminate OFF ON the integral switch
Refer to DAS-488, "Description"
Switch does not turn ON/Switch
DCA/LDP/Blind Spot Intervention system display does not illu-
does not turn OFF
PFCW/LDW/BSW/DCA/LDP/ minate
Blind Spot Intervention/BCI sys-
tem display does not illuminate TCM
Refer to TM-102, "2.0L TURBO
BCI system display does not illuminate
GASOLINE ENGINE : DTC In-
dex"
Combination meter
Other information display is not illuminated
Refer to MWI-87, "DTC Index"
ADAS control unit
PFCW/LDW/BSW/DCA/LDP/ Information display is functioning normally
Refer to DAS-338, "DTC Index"
Blind Spot Intervention/BCI
warning display does not illumi- Perform On Board Diagnosis of
nate Combination meter
Information display is not functioning normally
(Buzzer is functioning normally) Refer to MWI-68, "On Board Di-
agnosis Function"
PFCW/LDW/BSW/DCA/LDP/
Blind Spot Intervention warning
Chime does not sound
buzzer is not sounding —
(Warning display is functioning
normally)
ADAS control unit
BCI warning buzzer is not Buzzer of camera assistance sonar is functioning normally Refer to DAS-214, "Removal
sounding and Installation"
(Warning display is functioning Camera assistance sonar
normally) Buzzer of camera assistance sonar is not functioning normally Refer to AV-616, "Symptom Ta-
ble"
No force generated for putting
No force generated for putting
DCA is not activated back the accelerator pedal
back the accelerator pedal
Frequently cannot detect the ve-
Frequently cannot detect the
hicle ahead/Detection zone is
vehicle ahead/Detection zone
short
is short
Refer toDAS-494, "Description"
PFCW/DCA is not activated System misidentifies a vehicle
PFCW and DCA are not ac- even though there is no vehicle Perform radar alignment
tivated ahead Refer to CCS-114, "Application
System misidentifies a vehicle Notice"
in the next lane
The system does not detect the
System does not detect the ve-
vehicle ahead at all
hicle ahead at all

Symptom Confirmation item Inspection item/Reference page
A
Check Cause of auto-cancel
• With DAST: DAS-526, "CON-
SULT Function"
The system operates once but is cancelled.
• Without DAST: DAS-289, B
"CONSULT Function (ICC/
ADAS)"
LDW/LDP is not functioning nor-
Symptom operates even when
mally Functions when changing the course in direction of the turn
using turn signal
C
signal
Warning functions are not timely
Lane camera unit aiming adjust- D
• Does not function when driving on lane markers
ment
• Functions when driving in a lane
• Functions in a different position from the actual position
Check “Cause of auto-cancel 1” E
The system operates once but is cancelled. Refer to DAS-526, "CONSULT
Function"
Blind Spot Intervention is not Blind Spot Intervention are not timely
functioning normally • Does not function when approaching a lane marker while Lane camera unit aiming adjust-
F
Blind Spot Warning/Blind Spot Intervention indicator is illumi- ment
nated Refer to DAS-788, "Description"
• Functions when driving in the middle of lane G
Check “Cause of auto-cancel 3”
The system operates once but is cancelled. Refer to DAS-28, "CONSULT
Function (ICC/ADAS)"
H
ADAS control unit
Refer to DAS-214, "Removal
Intervention is activated
Does not detect a vehicle and Installation"
just behind. I
Side radar
Refer to DAS-508, "Removal
Intervention is not activated
and Installation"
ADAS control unit J
Buzzer of camera assistance
BCI is not activated Refer to DAS-214, "Removal
sonar is activated
Does not detect obstacles and Installation"
behind the vehicle. Camera assistance sonar K
Buzzer of camera assistance
Refer to AV-616, "Symptom Ta-
sonar is not activated
ble"
ADAS control unit L
DCA is activated Refer to DAS-214, "Removal
No force generated for put- and Installation"
ting back the accelerator
pedal No force generated for putting
DCA is not activated back the accelerator pedal M
DAS

SYSTEM SETTINGS CANNOT BE TURNED ON/OFF ON THE INTEGRAL
SWITCH
SYSTEM SETTINGS CANNOT BE TURNED ON/OFF ON THE INTEGRAL
SWITCH
• System setting is not selectable on the navigation screen.

NOTE:
When the ignition switch is in ACC position, each system settings cannot be changed.
- The switching between ON and OFF cannot be performed by operating the integral switch.
- The item on the integral switch is not active.
• After turning ON the ignition switch or starting the engine, settings of the integral switch cannot be selected
for several tens of seconds under the following conditions:
- After replacing display control unit.
- After erasing connection history of the integral switch.
- After erasing self-diagnosis results.
• The system setting differs from the one set at the previous driving.
NOTE:
Turn OFF the ignition switch and wait for 5 seconds or more.
1.CHECK DCA SYSTEM SETTING

2. Check that the each system settings is selectable on the integral switch.
YES >> GO TO 3.
NO >> GO TO 2.
1. Perform “All DTC Reading” with CONSULT-.
2. Check if the DTC is detected in self-diagnosis results of “ICC/ADAS”, “MULTI AV” and “METER/M&A”.
Refer to the following.
- ICC/ADAS: DAS-338, "DTC Index"
- MULTI AV: AV-485, "DTC Index"
- METER/M&A: MWI-87, "DTC Index"
YES >> Repair or replace malfunctioning parts.
3.CHECK DATA MONITOR OF ADAS CONTROL UNIT
Check that “DCA SELECT” operates normally in “DATA MONITOR” of “ICC/ADAS” with CONSULT.
YES >> Refer to AV-83, "On Board Diagnosis Function".
NO >> GO TO 4.
4.CHECK MULTIFUNCTION SWITCH
Operate the multifunction switch to check that the audio, navigation system, and air conditioner operate prop-
erly.
NO >> Repair or replace malfunctioning parts.

CHIME DOES NOT SOUND
A
The warning chime may not sound in some cases when there is a short distance between vehicles. Some B
examples are:
• When the vehicles are traveling at the same speed and the distance between vehicles is not changing.
• When the vehicle ahead is traveling faster and the distance between vehicles is increasing.
• When a vehicle cuts in near own vehicle. C
• The warning chime will not sound when own vehicle approaches vehicles that are parked or moving slowly.
• The warning chime does not sound when the system does not detect any vehicle ahead. (Diagnose the con-
ditions under which the system is detecting the vehicle ahead and when the system is malfunctioning. If D
there is any malfunction in detecting the vehicle ahead, check the system following the DAS-494, "Descrip-
tion".)
Diagnosis Procedure INFOID:0000000012796387 E
1.PERFORM ACTIVE TEST

Check if the warning chime sounds on the active test item “ICC BUZZER” of “ICC/ADAS” with CONSULT. F
Does the warning chime sound?
YES >> GO TO 2.
NO >> GO TO 3. G
2.CHECK THE MALFUNCTION SYMPTOM DURING WARNING CHIME OPERATION
Understand the vehicle ahead detection condition when the malfunction occurred. If the warning chime should H
have sounded, replace the ADAS control unit. Refer to DAS-214, "Removal and Installation".
>> GO TO 9. I
J
2. Check if the “U1000” is detected in self-diagnosis results of “ICC/ADAS”.
YES >> GO TO 4.
K
NO >> GO TO 5.
4.CAN COMMUNICATIONS INSPECTION
Check the CAN communication and repair or replace malfunctioning parts. Refer to DAS-175, "DTC Logic". L
>> GO TO 9.
M
5.PERFORM THE SELF-DIAGNOSIS OF DRIVER ASSISTANCE BUZZER CONTROL MODULE
2. Check if any DTC is detected in self-diagnosis results of “BSW/BUZZER”. N
YES >> Repair or replace malfunctioning parts. Refer to DAS-353, "DTC Index".
NO >> GO TO 6. DAS
6.CHECK DRIVER ASSISTANCE BUZZER CIRCUIT
Check driver assistance buzzer. Refer to DAS-484, "Component Function Check".
P
YES >> GO TO 8.
NO >> GO TO 7.
7.REPAIR OR REPLACE MALFUNCTIONING PARTS
Repair or replace malfunctioning parts.

>> GO TO 9.
Replace the ADAS control unit. Refer to DAS-214, "Removal and Installation".
>> GO TO 9.
9.CHECK EACH SYSTEM
1. Erase “self-diagnosis result”, and then perform “All DTC Reading” again after performing the action test.
(Refer to DAS-436, "DCA : Description" for action test.)
2. Check if the each system is normal.
>> INSPECTION END

SWITCH DOES NOT TURN ON / SWITCH DOES NOT TURN OFF
A
B
The switch does not turn ON
• When the system setting is ON, the system display does not illuminate even if the dynamic driver assistance
switch is depressed.
C
The switch does not turn OFF
• The system display does not turn off even if the dynamic driver assistance switch is pressed when the sys-
tem display illuminates.
D
1.CHECK SYSTEM SETTING E

3. Check that system setting on the integral switch is ON.
F
Is system setting ON?
YES >> GO TO 2.
NO >> Enable the system setting. G
2.DYNAMIC DRIVER ASSISTANCE SWITCH INSPECTION
2. Check that “DYNA ASIST SW” operates normally in “DATA MONITOR” of “ICC/ADAS” with CONSULT. H
YES >> GO TO 3.
NO >> GO TO 4. I
3.PERFORM THE SELF-DIAGNOSIS OF COMBINATION METER
2. Check if the DTC is detected in self-diagnosis results of “METER/M&A”. Refer to MWI-87, "DTC Index".
YES >> GO TO 7. K
NO >> GO TO 6.
4.CHECK STEERING SWITCH CIRCUIT
Check the steering switch circuit. Refer to DAS-119, "Diagnosis Procedure (2.0 TURBO GASOLINE L
ENGINE)" (2.0L turbo gasoline engine) or DAS-117, "Diagnosis Procedure (VR30DDTT)" (VR30DDTT).
M
YES >> GO TO 5.
NO >> GO TO 6.
5.PERFORM THE SELF-DIAGNOSIS N
2. Check if the DTC is detected in self-diagnosis results of “ICC/ADAS”. Refer to DAS-338, "DTC Index".
Is any DTC detected? DAS
YES >> GO TO 6.
NO >> GO TO 7.
6.REPAIR OR REPLACE MALFUNCTIONING PARTS. P
Repair or replace malfunctioning parts.
>> GO TO 7.
7.CHECK EACH SYSTEM

2. Check that the each system is normal.
>> INSPECTION END

NO FORCE GENERATED FOR PUTTING BACK THE ACCELERATOR PEDAL
NO FORCE GENERATED FOR PUTTING BACK THE ACCELERATOR
A
PEDAL
B
The dynamic driver assistance switch can be turned ON/OFF but the actuation force of accelerator pedal is
not generated.
NOTE: C
• When the vehicle ahead detection indicator does not illuminate, the control and warning with the system are
not performed.
• The actuation force of accelerator pedal may not be generated sufficiently depending on depressing method
or depressing amount of accelerator pedal. D
E
2. Check if any DTC is detected in self-diagnosis results of “ICC/ADAS” or “ACCELE PEDAL ACT“. F
YES >> GO TO 2.
NO >> GO TO 3. G
2.REPAIR OR REPLACE THE MALFUNCTIONING PARTS
Repair or replace malfunctioning parts. Refer to DAS-338, "DTC Index" (ICC/ADAS) or DAS-345, "DTC Index"
H
(ACCELE PEDAL ACT).
>> GO TO 5.
I
3.PERFORM ACTIVE TEST
Check if the accelerator pedal actuator operates by the active test items “ACCELERATOR PEDAL ACTUA-
TOR TEST1” and “ACCELERATOR PEDAL ACTUATOR TEST2” of “ACCELE PEDAL ACT” with CONSULT. J
Does it operate?
YES >> GO TO 4.
NO >> Replace the accelerator pedal assembly. K
4.CHECK VEHICLE AHEAD DETECTION PERFORMANCE
Understand the vehicle ahead detection condition when the malfunction occurred. If the detecting function is L
malfunctioning, check according to DAS-494, "Description".
>> INSPECTION END M

5.CHECK DCA SYSTEM
(Refer to DAS-436, "DCA : Description" for action test.) N
2. Check if the DCA system is normal.
>> INSPECTION END DAS

FREQUENTLY CANNOT DETECT THE VEHICLE AHEAD / DETECTION ZONE IS
SHORT
FREQUENTLY CANNOT DETECT THE VEHICLE AHEAD / DETECTION
ZONE IS SHORT
Symptom check: Detection function may become unstable under the following conditions.
• When the vehicle is driving on a curve such as S-curve where the curvature changes.
• When the vehicle is driving on up-and-down road or passing the peak or foot of slope or passing the break of
the inclination of hill.
1.VISUAL CHECK (1)

Check front bumper grille near the ICC sensor for contamination and foreign materials.
Do foreign materials adhere?
YES >> GO TO 2.
NO >> GO TO 3.
2.WIPE OUT DIRT AND FOREIGN OBJECTS
Wipe out the contamination and/or foreign materials from the front bumper grille near the ICC sensor.
>> GO TO 7.
3.VISUAL CHECK (2)
Check ICC sensor for cracks and/or scratches.
Are there cracks?
YES >> GO TO 5.
NO >> GO TO 4.
4.PERFORM RADAR ALIGNMENT
1. Perform radar alignment. Refer to CCS-114, "Application Notice".
2. Perform action test. Refer to DAS-436, "DCA : Description".
3. Check that the vehicle ahead detection performance improves.
Does it improve?
NO >> GO TO 5.
5.REPLACE ICC SENSOR
1. Replace the ICC sensor. Refer to CCS-166, "Removal and Installation".
Does it improve?
NO >> GO TO 6.
>> GO TO 7.
7.CHECK DCA SYSTEM
2. Check that the DCA/FCW system is normal.

FREQUENTLY CANNOT DETECT THE VEHICLE AHEAD / DETECTION ZONE IS
SHORT
>> INSPECTION END
A
DAS

THE SYSTEM DOES NOT DETECT THE VEHICLE AHEAD AT ALL
When DCA/PFCW system is active, the DCA/PFCW system does not perform any control even through there
is a vehicle ahead.
1.CHECK INFORMATION DISPLAY

1. Start the self-diagnosis mode of combination meter. Refer to MWI-68, "On Board Diagnosis Function".
2. Check that the segment of information display is displayed normally.
YES >> GO TO 2.
NO >> Replace the combination meter.
2.VISUAL CHECK (1)
Check front bumper grille near the ICC sensor for contamination and/or foreign materials.
Do foreign materials adhere?
YES >> GO TO 3.
NO >> GO TO 4.
3.WIPE OUT DIRT AND FOREIGN MATERIALS
Wipe out the contamination and/or foreign materials from the front bumper grille near the ICC sensor.
>> GO TO 8.
4.VISUAL CHECK (2)
Check ICC sensor for cracks and/or scratches.
Are there cracks?
YES >> GO TO 6.
NO >> GO TO 5.
5.PERFORM RADAR ALIGNMENT
Does it improve?
NO >> GO TO 6.
6.REPLACE ICC SENSOR
1. Replace the ICC sensor. Refer to CCS-166, "Removal and Installation".
Does it improve?
NO >> GO TO 7.
>> GO TO 8.
8.CHECK DCA SYSTEM

(Refer to DAS-436, "DCA : Description" for action test.) A
2. Check that the DCA/FCW system is normal.
>> INSPECTION END B
DAS

THE SYSTEM OPERATES EVEN WHEN USING TURN SIGNAL
THE SYSTEM OPERATES EVEN WHEN USING TURN SIGNAL
The warning of Lane Departure Warning (LDW) and Lane Departure Prevention (LDP) and the yaw moment
control are activated during the use of a turn signal.
NOTE:
For the operational conditions of Lane Departure Warning (LDW) and Lane Departure Prevention (LDP), refer
to the following descriptions.
• LDW: DAS-234, "LDW (WITHOUT DIRECT ADAPTIVE STEERING SYSTEM) : System Description"
• LDP: DAS-240, "LDP (WITHOUT DIRECT ADAPTIVE STEERING SYSTEM) : System Description"
1.CHECK TURN SIGNAL OPERATION

Check that both right and left turn signals are normal.
YES >> GO TO 2.
NO >> Repair or replace malfunctioning parts. Refer to DAS-486, "Symptom Table".
2. Check if the DTC is detected in self-diagnosis results of “ICC/ADAS” Refer to DAS-338, "DTC Index".

NORMAL OPERATING CONDITION
A
PRECAUTIONS FOR DISTANCE CONTROL ASSIST (DCA) SYSTEM B

• If the vehicle ahead comes to a stop, the vehicle decelerates to a standstill within the limitations of the sys-
tem. The system will cancel once it judges that the vehicle has come to a standstill with a warning chime. To
prevent the vehicle from moving, the driver must depress the brake pedal. C
• The DCA system will not apply brake control while the driver's foot is on the accelerator pedal.
• This system is only an aid to assist the driver and is not a collision warning or avoidance device. It is the
driver's responsibility to stay alert, drive safely and be in control of the vehicle at all times.
• This system will not adapt automatically to road conditions. Do not use the system on roads with sharp D
curves, or on icy roads, in heavy rain or in fog.
• The distance sensor will not detect the following object.
- Stationary and slow moving vehicles E
- Pedestrians or objects in the roadway
- Oncoming vehicles in the same lane
- Motorcycles traveling offset in the travel lane
• As there is a performance limit to the distance control function, never rely solely on the DCA system. This F
system does not correct careless, inattentive or absent-minded driving, or overcome poor visibility in rain,
fog, or other bad weather. Decelerate the vehicle speed by depressing the brake pedal, depending on the
distance to the vehicle ahead and the surrounding circumstances in order to maintain a safe distance G
between vehicles.
• The system may not detect the vehicle in front of own vehicle in certain road or weather conditions. To avoid
accidents, never use the DCA system under the following conditions.
H
- On roads with sharp curves
- On slippery road surfaces such as on ice or snow, etc.
- During bad weather (rain, fog, snow, etc.)
- When rain, snow or dirt adhere to the system sensor I
- On steep downhill roads (frequent braking may result in overheating the brakes)
- On repeated uphill and downhill roads
• In some road or traffic conditions, a vehicle or object can unexpectedly come into the sensor detection zone
J
and cause automatic braking. Driver may need to control the distance from other vehicles using the acceler-
ator pedal. Always stay alert and avoid using the DCA system when it is not recommended in this section.
• The following are some conditions in which the sensor cannot detect the signals.
- When the snow or road spray from traveling vehicles reduces the sensor's visibility K
- When excessively heavy baggage is loaded in the rear seat or the luggage room of own vehicle
• The DCA system is designed to automatically check the sensor's operation. When the sensor area of front
bumper is covered with dirt or is obstructed, the system will automatically be canceled. If the sensor is cov- L
ered with ice, a transparent or translucent vinyl bag, etc., the DCA system may not detect them. In these
instances, the DCA system may not be able to decelerate the vehicle properly. Be sure to check and clean
the sensor regularly.
• The DCA system is designed to help assist the driver to maintain a following distance from the vehicle M
ahead. The system will decelerate as necessary and if the vehicle ahead comes to a stop, the vehicle decel-
erates to standstill. However, the DCA system can only apply up to approximately 40% of the vehicles total
braking power. If a vehicle moves into the traveling lane ahead or if a vehicle traveling ahead rapidly decel- N
erates, the distance between vehicles may become closer because the DCA system cannot decelerate the
vehicle quickly enough. If this occurs, the DCA system will sound a warning chime and blink the system dis-
play to notify the driver to take necessary action.
• The DCA system does not control vehicle speed or warn when driver approach stationary and slow moving DAS
vehicles. Driver must pay attention to vehicle operation to maintain proper distance from vehicles ahead.

• The detection zone of the sensor is limited. A vehicle ahead must
be in the detection zone for the system to operate.
- A vehicle ahead may move outside of the detection zone due to its
position within the same lane of travel. Motorcycles may not be
detected in the same lane ahead if they are traveling offset from
the center line of the lane. A vehicle that is entering the lane ahead
may not be detected until the vehicle has completely moved into
the lane. If this occurs, the system may warn driver by blinking the
system indicator and sounding the chime. The driver may have to
manually control the proper distance away from vehicle traveling
ahead.
JPOIA0221ZZ
- When driving on some roads, such as winding, hilly, curved, nar-

row roads, or roads which are under construction, the sensor may
detect vehicles in a different lane, or may temporarily not detect a
vehicle traveling ahead. This may cause the system to work inap-
propriately. The detection of vehicles may also be affected by vehi-
cle operation (steering maneuver or traveling position in the lane,
etc.) or vehicle condition. If this occurs, the system may warn
driver by blinking the system indicator and sounding the chime
unexpectedly. The driver will have to manually control the proper
distance away from the vehicle traveling ahead.
• The approach warning chime may sound and the driver assist sys-
tem forward indicator (orange) may blink when the radar sensor
detects objects on the side of the vehicle or on the side of the road.
This may cause the DCA system to decelerate or accelerate the
vehicle. The radar sensor may detect these objects when the vehi-
cle is driven on winding roads, narrow roads, hilly roads or when
entering or exiting a curve. In these cases driver will have to manu-
ally control the proper distance ahead of own vehicle. Also, the
sensor sensitivity can be affected by vehicle operation (steering
maneuver or driving position in the lane) or traffic or vehicle condi-
tion (for example, if a vehicle is being driven with some damage).
• The DCA system automatically decelerates own vehicle to help
assist the driver to maintain a following distance from the vehicle
JPOIA0220ZZ
ahead. Manually brake when deceleration is required to maintain a
safe distance upon sudden braking by the vehicle ahead or when a vehicle suddenly appears in front of own
vehicle. Always stay alert when using the DCA system.
• When the vehicle ahead detection indicator lamp is not illuminated, system will not control or warn the driver.
• Never place a foot under the brake pedal. A foot may be caught when the system controls the brake.
• If the vehicle ahead comes to a standstill, the vehicle decelerates to a standstill within the limitations of the
system. The system will release brake control with a warning chime once it judges the vehicle is at a stand-
still. To prevent the vehicle from moving, the driver must depress the brake pedal. [The system will resume
control automatically once the system reaches 5 km/h (3 MPH)].
• When the brake operates, a noise may be heard. This is not a malfunction.
PRECAUTIONS FOR PREDICTIVE FORWARD COLLISION WARNING (PFCW)

• The predictive forward collision warning system is designed to warn driver before a collision but will not
avoid a collision. It is the driver's responsibility to stay alert, drive safely and be in control of the vehicle at all A
times.
• The radar sensor does not detect the following objects.
- Pedestrians, animals, or obstacles in the roadway.
B
- Oncoming vehicles
- Crossing vehicles
• The predictive forward collision warning system does not function when a vehicle ahead is a narrow vehicle,
such as a motorcycle. C
• The radar sensor may not detect a second vehicle ahead in the following conditions:
- Snow or heavy rain
- Dirt, ice, snow or other material covering the radar sensor D
- Interference by other radar sources
- Snow or road spray from traveling vehicles is splashed
- Driving in a tunnel
• The radar sensor may not detect a second vehicle when the vehicle ahead is being towed. E
• When the distance to the vehicle ahead is too close, the beam of the radar sensor is obstructed.
• The radar sensor may not detect a second vehicle when driving on a steep downhill slope or on roads with
sharp curves. F
• Excessive noise will interfere with the warning tone sound, and it may not be heard.
PRECAUTIONS FOR LANE DEPARTURE WARNING (LDW)
• If the LDW system malfunctions, it will cancel automatically, and the LDW malfunction message will appear G
in the vehicle information display.
• LDW system is only a warning device to inform the driver of a potential unintended lane departure. It will not
steer the vehicle or prevent loss of control. It is the driver’s responsibility to stay alert, drive safely, keep the
H
vehicle in the traveling lane, and be in control of the vehicle at all times.
• LDW system will not operate at speeds below approximately 70 km/h (45 MPH) or if it cannot detect lane
markers.
• Excessive noise will interfere with the warning chime sound, and the chime may not be heard. I
• LDW system may not function properly under the following conditions:
yellow painted lane markers; non-standard lane markers; or lane markers covered with water, dirt or snow, J
etc.
- On roads where the discontinued lane markers are still detectable.
- On roads where there are sharply contrasting objects, such as shadows, snow, water, wheel ruts, seams or K
lines remaining after road repairs. (The LDW system could detect these items as lane markers.)
- When the vehicle's traveling direction does not align with the lane marker. L
- When strong light enters the lane camera unit. (For example, the light directly shines on the front of the vehi- M
- When a sudden change in brightness occurs. (For example, when the vehicle enters or exits a tunnel or
under a bridge.) N
PRECAUTIONS FOR LANE DEPARTURE PREVENTION (LDP)
• If the LDP system malfunctions, it will cancel automatically, and the LDP malfunction message will appear in
the vehicle information display. DAS
• The LDP system will not always steer the vehicle to keep it in the lane. It is not designed to prevent loss of
control. It is the driver’s responsibility to stay alert, drive safely, keep the vehicle in the traveling lane, and be
in control of vehicle at all times.
P
• LDP system is primarily intended for use on well-developed freeways or highways. It may not detect the lane
markers in certain roads, weather or driving conditions.
• Using the LDP system under some conditions of road, lane marker or weather, or when driver change lanes
without using the turn signal could lead to an unexpected system operation. In such conditions, driver needs
to correct the vehicle's direction with driver's steering operation to avoid accidents.
• The LDP system will not operate at speeds below approximately 70 km/h (45 MPH) or if it cannot detect lane
markers.
• Do not use the LDP system under the following conditions as it may not function properly:

- When driving in a makeshift or temporary lane.
- When the vehicle is equipped with non-original brake or steering parts or suspension parts.
• Excessive noise will interfere with the warning chime sound, and the chime may not be heard.
• The functions of the LDP system (warning and, system application of the steering or brakes) may or may not
operate properly under the following conditions:
etc.
lines remaining after road repairs (The LDP system could detect these items as lane markers.).
under a bridge.)
PRECAUTIONS FOR BLIND SPOT WARNING & BLIND SPOT INTERVENTION
• The Blind Spot Warning and Blind Spot Intervention systems are not a replacement for proper driving proce-
dure and are not designed to prevent contact with vehicles or objects. When changing lanes, always use the
side and rear mirrors and turn and look in the direction driver will move to ensure it is safe to change lanes.
Never rely solely on the Blind Spot Warning or Blind Spot Intervention system.
• Using the Blind Spot Intervention system under some road, lane marker or weather conditions could lead to
improper system operation. Always rely on driver's own steering and braking operation to avoid accidents.
• The Blind Spot Warning and Blind Spot Intervention systems may not provide the warning or the control for
vehicles that pass through the detection zone quickly.
• The side radar may not be able to detect and activate Blind Spot Warning/Blind Spot Intervention when cer-
tain objects are present such as:
- Pedestrians, bicycles, animals.
- Several types of vehicles such as motorcycles.
- Oncoming vehicles.
- Vehicles remaining in the detection zone when driver accelerate from a stop.
- A vehicle merging into an adjacent lane at a speed approximately the same as vehicle.
- A vehicle approaching rapidly from behind.
- A vehicle which vehicle overtakes rapidly.
• The side radar detection zone is designed based on a standard lane width. When driving in a wider lane, the
side radar may not detect vehicles in an adjacent lane. When driving in a narrow lane, the side radar may
detect vehicles driving two lanes away.
• The side radar are designed to ignore most stationary objects, however objects such as guardrails, walls,
foliage and parked vehicles may occasionally be detected. This is a normal operating condition.
PRECAUTIONS FOR BLIND SPOT INTERVENTION
• Do not use the Blind Spot Intervention system under the following conditions because the system may not
function properly.
- During bad weather (for example. rain, fog, snow, etc.)

- When driving in a makeshift or temporary lane. A
B
- When the vehicle is equipped with non-original steering parts, brake parts or suspension parts.
• The camera may not detect lane markers in the following situations and the Blind Spot Intervention system
may not operate properly.
- On roads where there are multiple parallel lane markers; lane markers that are faded or not painted clearly; C
yellow painted lane markers; nonstandard lane markers; lane markers covered with water, dirt, snow, etc.
- On roads where there are sharp curves. D
lines remaining after road repairs.
- When the vehicle is traveling direction does not align with the lane markers. E
- When rain, snow or dirt adheres to the windshield in front of a lane camera unit.
- When the headlights are not bright due to dirt on the lens or if aiming is not adjusted properly. F
- When strong light enters a lane camera unit. (for example, light directly shines on the front of the vehicle at
sunrise or sunset.)
- When a sudden change in brightness occurs. (for example, when the vehicle enters or exits a tunnel or
under a bridge.) G
• The Blind Spot Intervention system will not operate if own vehicle is on a lane marker when another vehicle
enters the detection zone. In this case only the BSW system operates.
• Blind Spot Intervention assist will not operate or will stop operating and only a warning chime will sound H
- When the accelerator pedal is depressed while the assist is provided.
- When steering quickly.
- When the ICC, DCA, predictive forward collision warning or forward emergency braking warnings sound. I
- When driving on a curve at a high speed.
J
PRECAUTIONS FOR BACKUP COLLISION INTERVENTION (BCI)
• The Back-up Collision Intervention system is not a replacement for proper driving procedure and is not
designed to prevent contact with vehicles or objects. When backing out of parking space, always use the
inside and outside rear view mirrors and turn and look in the direction own vehicle will move. Never rely K
solely on the Back-up Collision Intervention system.
• There is a limitation to the detection capability of the radar and the sonar. Using the BCI system under some
road, ground, lane marker, traffic or weather conditions could lead to improper system operation. Always rely L
on driver operation to avoid accidents.
• In the case of several vehicles approaching in a row or in the opposite direction, a chime may not be issued
to the BCI system after the first vehicle passes the sensors.
• When the sonar sounds a tone, the BCI system does not chime a sound (single beep). M
• The BCI system does not operate if the object is very close to the bumper.
• The radar sensor may not be able to detect certain objects are present such as:
- Pedestrians, bicycles or animals. N
- A vehicle that is passing at a speed greater than approximately 24 km/h (15 MPH).
• The radar sensor may not detect approaching vehicles in certain situations:
- When the vehicle parked next to own vehicle obstructs the beam of the radar sensor.
- When the vehicle is parked in an angled parking space. DAS
- When the vehicle is parked on inclined ground.
- When the vehicle turns around into own vehicle’s aisle.
- When the angle formed by own vehicle and approaching vehicle is small. P
• The sonar sensor system may not detect:
- Small or moving object.
- Wedge-shaped objects.
- Object closer to the bumper [less than approximately 30 cm (10 in)].
- Thin objects such as rope, wire, chain, etc...
• The brakes engaged by the BCI system is not as effective on a slope as it is on flat ground. When on a steep
slope, the system may not function properly.

• Do not use the BCI system under the following conditions because the system may not function properly:
- When driving with a tire that is not the within normal tire condition (example: tire wear, low tire pressure,
- When the vehicle is equipped with non-original brake parts or suspension parts.

ACCELERATOR PEDAL ASSEMBLY
< REMOVAL AND INSTALLATION > [DRIVER ASSISTANCE SYSTEM]
REMOVAL AND INSTALLATION A

ACCELERATOR PEDAL ASSEMBLY
Exploded View INFOID:0000000012796399
B
Refer to ACC-5, "MODELS WITH DISTANCE CONTROL ASSIST SYSTEM : Exploded View".
CAUTION:
Always perform accelerator pedal released position learning after replacement, removal, or installa- C
tion of accelerator pedal assembly, and then check the DCA system operation. Refer to DAS-427,
"Description".
D
DAS

DYNAMIC DRIVER ASSISTANCE SWITCH
DYNAMIC DRIVER ASSISTANCE SWITCH
Dynamic driver assistance switch is integrated in the steering switch. Refer to ST-32, "Exploded View".
NOTE:
Always remove dynamic driver assistance switch together with steering wheel.

LANE CAMERA UNIT
LANE CAMERA UNIT
A
REMOVAL B
1. Remove headlining assembly. Refer to INT-46, "Removal and Installation".
2. Remove the bolts.
C
3. Remove lane camera unit.
INSTALLATION
Install in the reverse order of removal. D
CAUTION:
• Remove the camera lens cap for replacement.
• Never give an impact to the lane camera unit.
• Perform the camera aiming every time the lane camera unit is removed and installed. Refer to DAS- E
428, "Description".
DAS

SIDE RADAR
SIDE RADAR
EXPLODED VIEW
JSOIA0942GB
Bracket Side radar Bracket
: N·m (kg-m, in-lb)

Removal
1. Remove the rear bumper fascia. Refer to EXT-22, "Removal and Installation".
2. Remove the side radar connector.
ALOIA0052ZZ
3. Remove the mounting nut.

4. Remove the side radar RH/LH.
Installation
Note the following, and install in the reverse order of removal.

SIDE RADAR
• Tighten mounting nuts in the numerical order as shown in the fig-
ure. A
• Always lock the side radar connector.
JSOIA0359ZZ
DAS

BLIND SPOT WARNING/BLIND SPOT INTERVENTION INDICATOR
BLIND SPOT WARNING/BLIND SPOT INTERVENTION INDICATOR

Removal
1. Remove the front door sash inner cover. Refer to INT-17, "FRONT DOOR SASH INNER COVER :
Removal and Installation".
2. Remove the Blind Spot Warning/Blind Spot Intervention indicator.
Installation

A
REMOVAL B
1. Remove grove box. Refer to IP-13, "Removal and Installation".
2. Remove steering force control module mounting bolts and move steering force control module to obtain
space for work. Refer to STC-492, "Removal and Installation". C
3. Remove driver assistance buzzer control module mounting
screw .
4. Disconnect harness connector from the driver assistance buzzer D
control module.
5. Remove driver assistance buzzer control module.
E
F
JSOIA0943ZZ
INSTALLATION G
Installation is in the reverse order of removal.
DAS

DRIVER ASSISTANCE BUZZER
DRIVER ASSISTANCE BUZZER
REMOVAL
1. Remove the instrument panel. Refer to IP-13, "Removal and Installation".
2. Remove driver assistance buzzer mounting screw .
3. Remove driver assistance buzzer.
JSOIA0944ZZ
INSTALLATION

PRECAUTIONS
< PRECAUTION > [CHASSIS CONTROL]
PRECAUTION A
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT B
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along C
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted. D
Service Manual.
WARNING: E
F
see “SRS AIR BAG”. G
connectors. H
WARNING:
Always observe the following items for preventing accidental activation. I
a hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly causing J
serious injury.
K
Precautions for Performing 2-wheel Drive Test INFOID:0000000013504507
A vehicle with 2.2L diesel engine or 2.0L turbo gasoline engine of this model limits torque when a difference
L
occurs in each wheel speed. For this reason, it is necessary to use Chassis Dynamometer Mode when per-
forming the 2-wheel drive test (e.g. with 2-wheel chassis dynamometer, speedometer tester).
For Chassis Dynamometer Mode, refer to ENGINE >> ENGINE CONTROL SYSTEM >> BASIC INSPECTION
>> CHASSIS DYNAMOMETER MODE >> Description. M
When disconnecting the battery terminal, pay attention to the following. N

• When removing the 12V battery terminal, turn OFF the ignition DAS
P
SEF289H

PRECAUTIONS
NOTE:
NOTE:
• Example of high-load driving
NOTE:
nected, then DTC may be detected.
NOTE:
The removal of 12V battery may cause a DTC detection error.
Precautions for Harness Repair INFOID:0000000012796407
NOTE:
SKIB8766E
• Bypass connection is never allowed at the repaired area.

NOTE:
Bypass connection may cause CAN communication error. The
line are lost.
SKIB8767E
• Replace the applicable harness as an assembly if error is detected on the shield lines of CAN communica-
tion line.
Precautions for Chassis control INFOID:0000000012796408
• Never disassemble the chassis control module.

• The parts must not be reused if they are dropped.
• When using a free roller, never activate the active lane control function.
• Slight vibrations are felt on the brake pedal and the operation noises occur, when active trace control func-
tion operates. This is not a malfunction because it is caused by active trace control function that is normally
operated.

PRECAUTIONS
• Active trace control function, active lane control function, LDP function, LDW function, blind spot intervention
function, and digital motion control function are not always activated in any driving conditions. A
• User registration information is all reset when the display control unit is replaced.
• When a Log-in function related part is replaced, information about the replaced part is reset. Refer to DMS-
24, "Log-in Function".
B
• When starting the vehicle or stopping the engine during Log-in function change, the operation results may
not be reflected. Refer to DMS-24, "Log-in Function".
• After an Infiniti drive mode selector related part is replaced, operate the drive mode select switch to check
that the indication of the information display positioned in the combination meter changes. Refer to DMS-26, C
"Infiniti Drive Mode Selector : Work Flow".
• After replace the chassis control module, depress brake pedal and check that the stop lamp turns ON.
D
DAS

COMPONENT PARTS
< SYSTEM DESCRIPTION > [CHASSIS CONTROL]
SYSTEM DESCRIPTION
COMPONENT PARTS
JSOIA0860ZZ
inside of dash side finisher LH
No. Component parts Function

Chassis control module DAS-516, "Chassis Control Module"
Chassis Control Module INFOID:0000000012796410
Chassis control module controls the following systems based on the

signals from each sensor, switch, and control unit.
• Active trace control
• Active lane control
• Digital motion control
• Infiniti InTuition
- Infiniti drive mode selector
- Log-in function
JSOIA0875ZZ

SYSTEM
SYSTEM
A
• Chassis control to integrally control the driving system was adopted. B

• Chassis control module inputs the necessary information for control from CAN communication and each
switch and integrally controls each system. Refer to the following table for systems controlled and input/out-
put signals.
C
System Reference page
BRC-55, "ACTIVE TRACE CONTROL
Active trace control D
FUNCTION : System Description"
DAS-718, "ACTIVE LANE CONTROL :
Active lane control
System Description"
Digital motion control SCS-6, "System Description" E
DMS-13, "Infiniti Drive Mode Selector :
System Description (For 2.0L Turbo Gaso-
line Engine Models)" (2.0L turbo gasoline F
Infiniti drive mode selector function engine models), DMS-15, "Infiniti Drive
Infiniti InTuition Mode Selector : System Description (For
VR30DDTT Engine Models)" (VR30DDTT
engine models) G
DMS-17, "LOG-IN FUNCTION : System
Log-in function
Description"
H
SYSTEM DIAGRAM
Models With Digital Motion Control
I
DAS
P
JSOIA2393GB
Models Without Digital Motion Control

SYSTEM
JSOIA2394GB

SYSTEM
A
MODELS WITH DIGITAL MOTION CONTROL
DAS
P
JSOIA2504GB

SYSTEM
MODELS WITHOUT DIGITAL MOTION CONTROL
JSOIA2506GB

SYSTEM
DTC Vehicle condition A

• LDW function
C1B91-00 B
• LDP function
• Active trace control function C
C1B92-00
• LDW function
• LDP function
D
• LDW function E
The following functions are suspended. F
• LDW function
• Intelligent cruise control function G
• Active lane control function H
• LDW function
C1B99-00
• LDP function
• Infiniti InTuition function I
C1BA6-00
• Infiniti InTuition function J
C1BA7-00
C1BA9-00 The following functions are suspended. K
• LDW function
L
C1BAB-00
C1BAC-00
The following functions are suspended. M
C1BAE-00
C1BAF-00
C1BB2-00 The following functions are suspended. DAS
C1BB3-00
• LDP function P
C1BB6-00

SYSTEM
C1BB8-00
• LDP function
C1BBA-00
C1BBB-00
• LDW function
C1BBD-00
• LDP function
C1BBE-11
C1BBE-12
C1BBE-19
C1BBE-1D
C1BEE-39
C1BBF-12
C1BBF-19
C1BBF-1D
C1BBF-39
C1BBF-64
C1BC7-11
C1BC7-12
C1BC7-19
C1BC7-1D
C1BC7-39
C1BC8-12
C1BC8-19
C1BC8-1D
C1BC8-39
C1BC8-64
U1000-00
• LDW function
• LDP function

SYSTEM
A
The following functions are suspended. B
• LDP function
C
• Active lane control function D
U1A35-00
• LDW function
• LDP function
E
INFORMATION DISPLAY (COMBINATION METER)

F
INFORMATION DISPLAY (COMBINATION METER) : Chassis Control Display
INFOID:0000000012796414
G
DESIGN/PURPOSE
• The warning message is displayed on the vehicle information display when chassis control detected the sys-
tem malfunction.
• When the aiming of lane camera unit is incomplete, a warning message is displayed. H
• Each chassis control system information is displayed on the vehicle information display.
Warning Message
I
Design Warning Message
Chassis Control
— System Error
J
See Owner's Manual
System Information
K
DAS

SYSTEM
Active trace control
Design Description
Active trace control inactive
JSOIA0806ZZ
Active trace control is active. (Steering angle is less than the specified angle.)
JSOIA1052ZZ
Active trace control is active. (Steering angle is the specified angle or more in the
leftward direction.)
JSOIA0807ZZ
Active trace control is active. (Steering angle is the specified angle or more in the
rightward direction.)
JSOIA0808ZZ

SYSTEM
Active lane control
Design Description A
Active Lane Control is turned ON.

C
D
JSOIA0809ZZ
F
Active Lane Control is operational or is operating.
JSOIA0810ZZ
H
SYNCHRONIZATION WITH MASTER WARNING LAMP
Applicable
Refer to MWI-36, "WARNING LAMPS/INDICATOR LAMPS : Master Warning Lamp". I
WARNING/INDICATOR OPERATING CONDITION
Warning J
When all of the following conditions are satisfied
• Ignition switch is ON
• Chassis control system malfunction is detected. Refer to DAS-550, "DTC Index".
• Lane camera system malfunction is detected. Refer to DAS-746, "DTC Index". K
Indicator operating
• Active trace control: Refer to BRC-55, "ACTIVE TRACE CONTROL FUNCTION : System Description".
L
• Active lane control: Refer to DAS-718, "ACTIVE LANE CONTROL : System Description".
DAS

APPLICATION ITEM

*
• DTC
ECU IDENTIFICATION


A
Off / P / R / N / D (A)
1 –M 8 / A 1 – A 6
STD / SPORT /
PERSO C
D
E
Off / LEFT / RIGHT
F
G
N
FORCE*1 Steering. H
ADAS COND
Off / LOW / HIGH /
WIPER STATUS*1 MALF
I

J
Non detection / De-
Non detection / De-
L
tection

N
DAS
Active 4 /Not con-
test 2 / Other con-
munication /
Control unit

DATA MONITOR
NOTE:
Item
Description
[Unit]
INPOSSI]
[Off / P / R / N / D (A) / S / L / B
/ 1– 6 / M 1 –M 8 / A 1 – A 6]
DRV TRQ CTRL MODE

Item
Description
[Unit] A
NOT SET]
GUEST] D
selector function.
COMBI METER
H
I
J
L
ATC DISP [Off / On]
ALC DISP [Off / On]
DAS
P
ing.

Item
Description
[Unit]
control unit.
ADAS control unit.
[NO / 1 / 2 / 3 / 1, 2 / 2, 3 / 1, 3
/ 4]
control unit.
OF]
BSI BRAKE CANCEL
temperature (LDW).
temperature (LDP)
CEL
LANE DEPARTURE DISP
(RH)

Item
Description
[Unit] A
B
D
ACTIVE TEST E
CAUTION:
NOTE:
I
L
N
trol module. DAS
On
On
combination meter.
ALC DISP
Off

On
meter.
FL TIRE DISP
Off
tion meter.
On
meter.
FR TIRE DISP
Off
nation meter.
On
meter.
RL TIRE DISP
Off
tion meter.
On
meter.
RR TIRE DISP
Off
tion meter.
NO DISP
nation meter.
TURN DISP LH
meter.
RH
meter.
LEVEL 1
ALC LEVEL
LEVEL 4
On
combination meter.
ALC SETTING
Off
On
ATC 1 DISP
Off
On
ATC 2 DISP
Off
On
ATC 4 DISP
Off
Soft
Hard
Soft
Hard

A
Soft
Hard B
Soft
Hard C
Soft
D
Hard
E
WORK SUPPORT

F
following systems
H
NOTE:
I
J

L
M
DAS
Lateral offset ×
value


OPE VDC/ABS 2 ×
system control
BSI) OPE VDC/TCS/
ABS 1
BSI) Departure yaw
large
BSI) Steering angle
large
clear
control


A
C
dition
D
NO RECORD × × —
After replacing ECU
module by hand. H
CAUTION:
I
DAS

< ECU DIAGNOSIS INFORMATION > [CHASSIS CONTROL]

CONSULT DATA MONITOR STANDARD VALUE

NOTE:

IGN VOLT Ignition switch ON 10 − 16 V
CONTROL MODULE MALF

When chassis control module malfunction is
On
detected
Off
function is detected
CAN DIAG STATUS
On
mal
FR WHEEL SPEED
FL WHEEL SPEED
RR WHEEL SPEED
* Increases according to vehicle speed
Driving
RL WHEEL SPEED
STEERING ANG SENSOR When steering wheel is steered to RH by 90° Approx. +90 deg
Vehicle stopped Approx. 0 deg/s

A
When electric throttle control actuator is nor- B
NORMAL
mal
is inaccurate) C
THROTTLE CONTROL
vention) D
INPOSSI
SHIFT POSITION Selector lever in any position Indicates selected selector lever position E
BRAKE SWITCH 2
F
BRAKE SWITCH 1
When brake pedal is not depressed Approx. 0 bar G
PRESS SENSOR
ABS H
ABS MALF
When ABS function malfunction is detected ABNOR I
EBD
J
ABNOR
ed
K
TCS
When TCS function is normal NORMAL L
TCS MALF
VDC M
VDC MALF
When VDC function malfunction is detected ABNOR N
VDC OFF SWITCH
When parking brake is inactive Off DAS
PARKING BRAKE

STOP 1
possible)
DRV TRQ CTRL MODE
STOP 2
sible)
PERMIS
ment)
NO PER
quirement)
PERMIS
ment)
NO PER
quirement)
DRV TRQ CTRL STOP
When prohibition of correction is not requested NO REQ
STD
DARD” mode
SPORT
mode
SNOW
mode
SPORT+
mode
PERSO
AL” mode
When drive mode select switch is not use NOT
LOG-IN PERMIS
I-KEY LINK
When Intelligent Key is linked On
GUEST
user registration

A
SPORT
drive mode select switch is in “STANDARD” STD B
ECO
drive mode select switch is in “ECO” mode C
SNOW
When Active Lane Control setting with drive D
Off
ALC SETTING LOW
mode select switch is “LOW” E
HIGH
When active trace control function setting with F
Off
ATC SETTING
On
G
STD
DARD” mode
When drive mode select switch is “SNOW” H
SNOW
mode
PERSO
AL” mode
I
SPORT
mode
When drive mode select switch is “ECO” mode ECO J
ATC 1
When active trace control function is inactive Off K
ATC 2
ATC 4 L
DEF
information display in the combination meter M
FL TIRE DISP
1
When the front RH tire is not displayed on the N
DEF
FR TIRE DISP
1
DAS
DEF
RL TIRE DISP
When the rear LH tire is displayed on the infor- P
1
DEF
RR TIRE DISP
1

meter
TURN DISP LEFT
meter
1−4
operating.
ALC STATUS
ATC DISP
When the activation of Active Lane Control is
combination meter
ALC DISP
When the activation of Active Lane Control is
combination meter
ALC SYSTEM
LANE MARKER (LH)
when left side lane marker is detected. DETECT
LANE MARKER (RH)
TURN SIGNAL (LH)
TURN SIGNAL (RH)
When turn signal lamp LH is blinking LEFT
MALF
detected.
Off
DAST
On

A
Approx. 0 rad
the lane B
COMMAND ST ANG
Max 0.05 rad
Active Lane Control is active with yaw angle C
Max −0.05 rad
ST PINION ANG when steering wheel is steered to LH by 90° Approx. −1.6 rad D
ST WHL FORCE TORQUE E
0 N·m F
the lane
Approx. −6 N
vehicle is drifting to the left end of the lane G
Approx. 6 N
When LDW function is ON On H
LDW DISP
LDP DISP I
BSI DISP When blind spot intervention function malfunc- J
MALF
tion is detected
ADAS control unit sends malfunction informa- K
ADAS control unit sends malfunction informa- L
When BSW function is normal NORMAL M
BSW COND
ADAS COND
When ADAS control malfunction is detected ABNOR N
COLLISION WARN
DAS
ICC ACTTIVE
When forward emergency brake function is in- P
Off
active
IBA ACTIVE
On
tive
LDW COND

LDP COND
MALF
tion is detected
SNOW
mode
SNOW
mode
When Lane camera unit is normal NORMAL
ABNOR
ed.
NORMAL
unit is normal
CAMERA TEMP COND
ABNOR
unit is high
NORMAL
CAMERA COMM COND When communication between chassis control
detected
CAMERA AIMING
NORMAL
unit is normal. (LDW ON)
ABNOR
NORMAL
ABNOR
unit is high. (LDP ON)
NORMAL
ABNOR
SIDE RADAR BLOCK CANCEL Side radar is blocked and temporarily deacti-
BLOCK
vated.
Off
inactive
BSI LAMP REQ (LH)
On
active

A
Off
inactive
BSI LAMP REQ (RH)
On B
active
C
When not deviating the RH side lane NO DISP
When LDP function and blind spot intervention D
Off
LDP/BSI ACTIVE
On
function are active E
ABNOR
tion is detected F
ABNOR
detected G
H
LOW
WIPER STATUS tent)
I
Engine rpm
Engine running Almost sase reading as tachometer J
Approx. 0.38 A
When select the “Medium” “FR shock absorb- K
Approx. 1.15 A
of “ACTIVE TEST” L
Approx. 0.38 A
When select the “Medium” in “FL shock ab- M
Approx. 1.15 A
of “ACTIVE TEST” N
Approx. 0.38 A
RR shock ab drive current

Approx. 0.85 A
DAS
Approx. 1.15 A
P
Approx. 0.38 A
Approx. 1.15 A

On
celed
On
celed
On
celed
Approx. 0.38 A
FR shock ab command current Approx. 0.85 A
Approx. 1.15 A
Approx. 0.38 A
Approx. 1.15 A
Approx. 0.38 A
Approx. 1.15 A
Approx. 0.38 A
Approx. 1.15 A
*: Check tire pressure under normal conditions.
TERMINAL LAYOUT
JSOIA2397ZZ

A
JSOIA1076ZZ
D
PHYSICAL VALUES
Models with Digital Motion Control E
Terminal No.
Description
(Wire color) Value
Condition
(Approx.)
F
Input/
+ − Signal name
Output
1
— ACTUATOR (FL)-L — — — — G
(LG)
3
(BR)
H
4
(BG)
5
Ground CHASSIS COMM-L — — — — I
(W)
Ignition
6
(B)
ON J
8
(L)*1 K
6.4 − 16 V
(Y)*1 ON Down switch is pressed 0V L
10
(L)
12
M
(G)

(G) N
14
(L)
DAS
15
(Y)
17
— ACTUATOR (FL)-H — — — — P
(V)
19
(L)
21
(W)

Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ − Signal name
Output
22
ON
Ignition
23
(B)
ON
24
(P)*4
25
(G)
26
(V)
28
(R)
*3: With Gateway
*4: Without Gateway
Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ − Signal name
Output
3
(P)*2
4
(L)
(Y)*4
6.4 − 16 V
(G)*4 ON Down switch is pressed 0V
7
(W)
8
(W)
10
(G)*3 Ground IGNITION POWER SUPPLY Input Ignition switch ON 6.4 − 16 V
(BG)*4
11
(L)
12 Ignition
(B/W)*4 ON

Terminal No.
Description
(Wire color) Value A
Condition
Input/ (Approx.)
+ − Signal name
Output
19 B
(L)*4
C
23*5
(R)*4
D
*1: With Gateway
*2: Without Gateway
*4: 2.0L turbo gasoline engine models E
F
G
• LDW function
I
C1B92-00
• LDW function J
• LDP function
K
• LDW function
• Blind spot intervention function L
• LDW function
M
• Active trace control function N
• LDW function
C1B99-00
• LDP function
• Blind spot intervention function DAS
The following functions are suspended. P
C1BA6-00
C1BA7-00
• LDW function

C1BAB-00
C1BAC-00
C1BAE-00
C1BAF-00
C1BB3-00
• LDP function
C1BB6-00
C1BB8-00
• LDP function
C1BBA-00
C1BBB-00
• LDW function
C1BBD-00
• LDP function
C1BBE-11
C1BBE-12
C1BBE-19
C1BBE-1D
C1BEE-39
C1BBF-12
C1BBF-19
C1BBF-1D
C1BBF-39
C1BBF-64

A
C1BC7-11
C1BC7-12
C1BC7-19 B
C1BC7-1D
C1BC7-39
C1BC7-64 C
C1BC8-12
D
C1BC8-19
C1BC8-1D
C1BC8-39 E
C1BC8-64
• Active trace control function F
U1000-00
• LDW function
• LDP function
G
U1A31-00 • LDW function I
• LDP function
The following functions are suspended. J
U1A35-00
• LDW function
• LDP function K
L
list. M

• U1000-00 CAN COMM CIRCUIT N
1
2 • U1A35-00 BRAKE CONTROL COMM DAS
P

4
5
6
• C1BBB-00 CONTROL MODULE

C1B90-00 DAST SYSTEM DAS-580, "DTC Description"

A
C1B96-00 ADAS SYSTEM DAS-590, "DTC Description" B
C1BA7-00 ALC SYSTEM DAS-595, "DTC Description" C
C1BAA-00 GEAR POSITION DAS-599, "DTC Description"
D
C1BAD-00 ACCELERATER PEDAL DAS-605, "DTC Description" E
C1BAF-00 BSW SYSTEM DAS-609, "DTC Description"
F
C1BB3-00 CONTROL MODULE DAS-613, "DTC Description" G
H
C1BB8-00 CONTROL MODULE DAS-624, "DTC Description" I
J

K
C1BBE-19 Front right shock absorber circuit DAS-636, "DTC Description" L
M
C1BBF-12 Front left shock absorber circuit DAS-650, "DTC Description" N
DAS
C1BC0-00 FR WHEEL SENSOR DAS-664, "DTC Description" P


CHASSIS CONTROL (WITH DIGITAL MOTION CONTROL)
< WIRING DIAGRAM > [CHASSIS CONTROL]
WIRING DIAGRAM A
B
DAS
JROWC8799GB

JROWC8800GB

DAS
JROWC8801GB

JROWC8802GB

DAS
JROWC8803GB

JROWC8804GB

DAS
JROWC8805GB

JROWC8806GB

DAS
JROWC8807GB

JROWC8808GB

DAS
JROWC8809GB

CHASSIS CONTROL (WITHOUT DIGITAL MOTION CONTROL)
JROWC8810GB

DAS
JROWC8811GB

JROWC8812GB

DAS
JROWC8813GB

JROWC8814GB

DAS
JROWC8815GB

JROWC8816GB

DAS
JROWC8817GB

JROWC8818GB

DAS
JROWC8819GB

< BASIC INSPECTION > [CHASSIS CONTROL]
BASIC INSPECTION
DETAILED FLOW
1.INTERVIEW FROM THE CUSTOMER
Clarify customer complaints before inspection. First of all, perform an interview utilizing DAS-575, "Diagnostic
Work Sheet" and reproduce the symptom as well as fully understand it. Ask customer about his/her complaints
carefully. Check symptoms by driving vehicle with customer, if necessary.
CAUTION:
Customers are not professional. Never guess easily like “maybe the customer means that...,” or
“maybe the customer mentions this symptom”.
>> GO TO 2.
2.CHECK SYMPTOM
Reproduce the symptom that is indicated by the customer, based on the information from the customer
obtained by the interview. Also check that the symptom is not caused by fail-safe mode. Refer to DAS-547,
"Fail-Safe (Chassis Control Module)".
CAUTION:
When the symptom is caused by normal operation, fully inspect each portion and obtain the under-
standing of customer that the symptom is not caused by a malfunction.
>> GO TO 3.
With CONSULT
1. Perform self-diagnosis for “CHASSIS CONTROL”.
Is DTC detected?
YES >> Record or print self-diagnosis results and freeze frame data (FFD). GO TO 4.
4.RECHECK THE SYMPTOM
With CONSULT
Perform DTC confirmation procedures for the error-detected system.
NOTE:
If some DTCs are detected at the some time, determine the order for performing the diagnosis based on DAS-
549, "DTC Inspection Priority Chart".
Is DTC detected?
YES >> GO TO 5.
NO >> Check harness and connectors based on the information obtained by the interview. Refer to DAS-
514, "Precautions for Harness Repair".
5.REPAIR OR REPLACE ERROR-DETECTED PARTS
1. Repair or replace error-detected parts.
2. Reconnect part or connector after repairing or replacing.
3. When DTC is detected, erase self-diagnosis results for “CHASSIS CONTROL”.
>> GO TO 6.
6.FINAL CHECK
With CONSULT
1. Check the reference value for “CHASSIS CONTROL”.
2. Recheck the symptom and check that the symptom is not reproduced on the same conditions.

Is the symptom reproduced?
YES >> GO TO 3. A
Diagnostic Work Sheet INFOID:0000000012796422
B
Description
• In general, customers have their own criteria for a symptom. Therefore, it is important to understand the
symptom and status well enough by interviewing the customer about the symptom carefully. To systemize all C
the information for the diagnosis, prepare the interview sheet referring to the interview points.
• In some cases, multiple conditions that appear simultaneously may cause a DTC to be detected.
D
INTERVIEW SHEET SAMPLE
Interview sheet
E
Registration Initial year
Customer number registration
MR/MS
name
Vehicle type VIN
F
Engine, Trac-
Storage date Mileage km ( Mile)
tion motor
Does not operate ( ) function
G
Warning lamp for ( ) turns ON.
Symptom Noise Vibration
Other H
( )
First occurrence Recently Other ( )
Frequency of occurrence Always Under a certain conditions of Sometimes ( time(s)/day) I
Irrelevant
Climate con- Weather Fine Cloud Rain Snow Others ( )

J
ditions Temperature Hot Warm Cool Cold Temperature [Approx. °C ( °F)]
Relative humidity High Moderate Low
Urban area Suburb area Highway K
Road conditions
Mountainous road (uphill or downhill) Rough road
Irrelevant
When traction motor starts During idling L
During driving During acceleration At constant speed driving
Operating condition, etc.
During deceleration
During cornering (right curve or left curve)
When steering wheel is steered (to right or to left) M
Other conditions
N
DAS

Interview sheet
Registration Initial year
Customer number registration
MR/MS
name
Vehicle type VIN
Engine, Trac-
Storage date Mileage km ( Mile)
tion motor
Vehicle equipment
Memo

ADDITIONAL SERVICE WHEN REPLACING CHASSIS CONTROL MODULE
ADDITIONAL SERVICE WHEN REPLACING CHASSIS CONTROL MOD-
A
ULE
B
When replaced the chassis control module, configuration of the chassis control module is required. Refer to
DAS-578, "Work Procedure".
C
DAS

CONFIGURATION (CHASSIS CONTROL MODULE)
CAUTION:
• Use “Manual Configuration” only when “TYPE ID” of the chassis control module cannot be read.
• After configuration, turn the ignition switch from OFF to ON and check that the chassis control warn-
ing to information display of combination meter displays OFF after staying illuminated for approxi-
mately two seconds.
• If an error occurs during configuration, start over from the beginning.
1.CHECKING TYPE ID (1)
Use FAST (service parts catalogue) to search the chassis control module of the applicable vehicle and find
“Type ID”.
Is “Type ID” displayed?
YES >> Print out “Type ID” and GO TO 2.
NO >> “Configuration” is not required for the chassis control module. Replace in the usual manner. Refer
to DAS-713, "Removal and Installation".
2.CHECKING TYPE ID (2)
CONSULT Configuration
1. Select “Before Replace ECU” of “Read/Write Configuration”.
2. Check that “Type ID” is displayed on the CONSULT screen.
Is “Type ID” displayed?
YES >> GO TO 3.
NO >> GO TO 7.
3.VERIFYING TYPE ID (1)
Compare a “Type ID” displayed on the CONSULT screen with the one searched by using FAST (service parts
catalogue) to check that these “Type ID” agree with each other.
NOTE:
For the “Type ID” searched by using FAST (service parts catalog), use the last five digits of the “Type ID”.
>> GO TO 4.
4.SAVING TYPE ID
Save “Type ID” on CONSULT.
>> GO TO 5.
5.REPLACING CHASSIS CONTROL MODULE (1)
Replace the chassis control module. Refer to DAS-713, "Removal and Installation".
>> GO TO 6.
6.WRITING (AUTOMATIC WRITING)
1. Select “After Replace ECU” of “Re/programming, Configuration” or that of “Read / Write Configuration”.
2. Select the “Type ID” agreeing with the one stored on CONSULT and the one searched by using FAST
(service parts catalogue) to write the “Type ID” into the chassis control module.
NOTE:
>> GO TO 9.
7.REPLACING CHASSIS CONTROL MODULE (2)
Replace the chassis control module. Refer to DAS-713, "Removal and Installation".
A
>> GO TO 8.
8.WRITING (MANUAL WRITING) B
1. Select “Manual Configuration”.
2. Select the “Type ID” searched by using FAST (service parts catalogue) to write the “Type ID” into the C
NOTE:
D
>> GO TO 9.
9.VERIFYING TYPE ID (2) E
Compare “Type ID” written into the chassis control module with the one searched by using FAST (service parts
catalogue) to check that these “Type ID” agree with each other.
NOTE: F
>> GO TO 10. G
10.CHECKING CHASSIS CONTROL WARNING
H
2. Turn the ignition switch ON and check that the chassis control warning to information display of combina-
tion meter displays OFF after staying illuminated for approximately two seconds.
CAUTION:
Never start the engine. I
YES >> GO TO 11.
NO >> Perform the self-diagnosis of “CHASSIS CONTROL”. Refer to DAS-526, "CONSULT Function". J
11.PERFORMING SUPPLEMENTARY WORK
1. Perform the self-diagnosis of all systems. K
2. Erase self-diagnosis results.
>> End of work. L
DAS

C1B90-00 DIRECT ADAPTIVE STEERING SYSTEM
< DTC/CIRCUIT DIAGNOSIS > [CHASSIS CONTROL]
DTC/CIRCUIT DIAGNOSIS
DTC Description INFOID:0000000012796425
DTC DETECTION LOGIC
Display Item
DTC Malfunction detected condition
(Trouble diagnosis content)
DAST SYSTEM
C1B90-00 When a malfunction is detected in direct adaptive steering system.
(Direct adaptive steering system)
POSSIBLE CAUSE
• Direct adaptive steering system
FAIL-SAFE
• LDW function
• LDP function
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF
and wait at least 10 seconds before conducting the next test.
>> GO TO 2.
2.CHECK DTC DETECTION
With CONSULT
1. Turn the ignition switch OFF to ON.
CAUTION:
Be sure to wait of 10 seconds after turning ignition switch OFF or ON.
Is DTC “C1B90-00” detected?
YES >> Proceed to DAS-580, "Diagnosis Procedure".
1.CHECK DIRECT ADAPTIVE STEERING SYSTEM

With CONSULT
1. Perform self-diagnosis for “EPS/DAST 3”.
2. Perform self-diagnosis for “DAST 1”.
Is DTC detected?
YES >> Check the DTC.
• “EPS/DAST 3”: Refer to STC-156, "DTC Index".
• “DAST 1”: Refer to STC-169, "DTC Index".
• “DAST 2”: Refer to STC-182, "DTC Index".
NO >> GO TO 2.
With CONSULT

1. Erase self-diagnosis result for “CHASSIS CONTROL”.
2. Turn the ignition switch OFF and wait for 10 seconds or more. A
Is DTC “C1B90-00”, “U1000-00” or other DTC detected? B
YES (“C1B90-00”)>>Replace the chassis control module. Refer to DAS-713, "Removal and Installation".
YES (“U1000-00”)>>Refer to LAN-41, "Trouble Diagnosis Flow Chart".
YES (other DTC)>>Check the DTC.
C
DAS

C1B91-00 CAMERA SYSTEM
DTC DETECTION LOGIC
Display Item
CAMERA SYSTEM
C1B91-00 When a malfunction is detected in lane camera unit system.
(Camera system)
POSSIBLE CAUSE
• Lane camera unit system
FAIL-SAFE
• LDW function
• LDP function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
1.CHECK LANE CAMERA UNIT SYSTEM

With CONSULT
Perform self-diagnosis for “LANE CAMERA”.
Is DTC detected?
YES >> Check the DTC. Refer to DAS-746, "DTC Index".
NO >> GO TO 2.
With CONSULT
2. Turn the ignition switch OFF and wait for 10 seconds or more.
Is DTC “C1B91-00”, “U1000-00” or other DTC detected?

YES (other DTC)>>Check the DTC. A
DAS

C1B92-00 BRAKE CONTROL SYSTEM
DTC DETECTION LOGIC
Display Item
BRAKE CONTROL SYSTEM When a malfunction is detected in ABS actuator and electric unit (control unit) sys-
C1B92-00
(Brake control system) tem.
POSSIBLE CAUSE
• ABS actuator and electric unit (control unit) system
FAIL-SAFE
• LDW function
• LDP function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
1.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)

With CONSULT
Perform self-diagnosis for “ABS”.
Is DTC detected?
YES >> Check the DTC. Refer to BRC-72, "DTC Index".
NO >> GO TO 2.
With CONSULT

YES (“U1000-00”)>>Refer to LAN-41, "Trouble Diagnosis Flow Chart". A
B
DAS

C1B93-00 ENGINE/HEV SYSTEM
DTC DETECTION LOGIC
Display Item
ENGINE/HEV SYSTEM
C1B93-00 When a malfunction is detected in ECM system.
(Engine/HEV system)
POSSIBLE CAUSE
• Engine system
• ECM
FAIL-SAFE
• LDW function
• LDP function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
1.CHECK ECM SYSTEM

With CONSULT
Perform self-diagnosis for “ENGINE”.
Is DTC detected?
• VR30DDTT engine models for USA and Canada
Index".
Index".
• VR30DDTT engine models for Mexico: Refer to EC6-1139, "DTC Index".
• 2.0L turbo gasoline engine models: Refer to EC4-146, "DTC Index".
NO >> GO TO 2.
With CONSULT
1. Erase self-diagnosis result for “CHASSIS CONTROL”. A
4. Perform “All DTC Reading”. B
YES (“U1000-00”)>>Refer to LAN-41, "Trouble Diagnosis Flow Chart". C
D
DAS

C1B94-00 TRANSMISSION SYSTEM
DTC DETECTION LOGIC
Display Item
TM SYSTEM
C1B94-00 When a malfunction is detected in transmission system.
(Transmission system)
POSSIBLE CAUSE
• Transmission system
• TCM
• ECM
FAIL-SAFE
• LDW function
• LDP function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
1.CHECK VEHICLE SPECIFICATIONS

Check vehicle specifications.
VR30DDTT engine models>>GO TO 2.

2.0L turbo gasoline engine models>>GO TO 3.
2.CHECK TRANSMISSION SYSTEM (VR30DDTT ENGINE MODELS)
With CONSULT
Perform self-diagnosis for “TRANSMISSION”.
Is DTC detected?
YES >> Check the DTC. Refer to TM-111, "VR30DDTT : DTC Index".
NO >> GO TO 4.

3.CHECK TRANSMISSION SYSTEM (2.2L TURBO GASOLINE ENGINE MODELS) A

With CONSULT
Is DTC detected? B
YES >> Check the DTC. Refer to EC4-146, "DTC Index".
NO >> GO TO 4.
4.PERFORM SELF-DIAGNOSIS C
With CONSULT
2. Turn the ignition switch OFF and wait for 10 seconds or more. D
Is DTC “C1B94-00”, “U1000-00” or other DTC detected? E
YES (other DTC)>>Check the DTC. F
DAS

C1B96-00 ADAS SYSTEM
DTC DETECTION LOGIC
Display Item
ADAS SYSTEM
C1B96-00 (Advanced Driver Assistance sys- When a malfunction is detected in ADAS control unit system.
tem)
POSSIBLE CAUSE
FAIL-SAFE
• LDW function
• LDP function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
1.CHECK ADAS CONTROL UNIT SYSTEM

With CONSULT
Perform self-diagnosis for “ICC/ADAS”.
Is DTC detected?
NO >> GO TO 2.
With CONSULT

YES (“U1000-00”)>>Refer to LAN-41, "Trouble Diagnosis Flow Chart". A
B
DAS

C1B99-00 CONTROL MODULE
C1B99-00 CONTROL MODULE
DTC DETECTION LOGIC
Display Item
CONTROL MODULE
C1B99-00 When a malfunction is detected in chassis control module.
(Control module)
POSSIBLE CAUSE
FAIL-SAFE
• LDW function
• LDP function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
With CONSULT
YES >> Replace the chassis control module. Refer to DAS-713, "Removal and Installation".

C1BA6-00 AV SYSTEM
C1BA6-00 AV SYSTEM
A
Display Item
(Trouble diagnosis content) C
AV SYSTEM
C1BA6-00 When a malfunction is detected in AV system.
(AV system)
POSSIBLE CAUSE D
• Display control unit
• AV control unit
• NAVI control unit E
• Integral switch
FAIL-SAFE F
1.PRECONDITIONING
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn the ignition switch OFF H
>> GO TO 2. I
With CONSULT J
CAUTION:
2. Perform self-diagnosis for “CHASSIS CONTROL”. K
Is DTC “C1BA6-00” detected?
M
1.CHECK AV SYSTEM
With CONSULT N
1. Perform self-diagnosis for “MULTI AV”.
Is DTC detected?
YES >> Check the DTC. Refer to AV-107, "DTC Index". DAS
NO >> GO TO 2.
P
With CONSULT
Is DTC “C1BA6-00”, “U1000-00” or other DTC detected?
YES (“C1BA6-00”)>>Replace the chassis control module. Refer to DAS-713, "Removal and Installation".

C1BA6-00 AV SYSTEM

C1BA7-00 ACTIVE LANE CONTROL SYSTEM
A
Display Item
When receiving signal transmitted from the chassis control module to the steering
ALC SYSTEM
C1BA7-00 angle main control module is abnormal, from the steering angle main control mod-
(Active lane control system)
ule.
D
POSSIBLE CAUSE
• Direct adaptive steering system
• Chassis control module E
FAIL-SAFE
• Active lane control function F
1.PRECONDITIONING G
H
>> GO TO 2.
2.CHECK DTC DETECTION I
With CONSULT
CAUTION:
J
K
L
1.CHECK DIRECT ADAPTIVE STEERING SYSTEM M

With CONSULT
Perform self-diagnosis for “DAST 1”.
Is DTC detected? N
YES >> Check the DTC. Refer to STC-169, "DTC Index".
NO >> GO TO 2.
2.PERFORM SELF-DIAGNOSIS DAS
With CONSULT
P


C1BA9-00 NP RANGE
C1BA9-00 NP RANGE
A
Display Item
NP RANGE When a mismatch between a shift position signal transmitted from TCM and an
C1BA9-00
(NP range) current gear position signal continues for 60 seconds or more.
POSSIBLE CAUSE D
• TCM
• ECM E
FAIL-SAFE
• LDW function
• LDP function
• Blind spot intervention function G
1.PRECONDITIONING H
I
>> GO TO 2.
J
With CONSULT
CAUTION:
Be sure to wait of 10 seconds after turning ignition switch OFF or ON. K
YES >> Proceed to DAS-597, "Diagnosis Procedure". L
M
1.CHECK VEHICLE SPECIFICATION

N
Check vehicle specification.
VR30DDTT engine models>>GO TO 2. DAS

2.0L turbo gasoline engine models>>GO TO 3.
With CONSULT P
Is DTC detected?
NO >> GO TO 4.
3.CHECK TRANSMISSION SYSTEM (2.0L TURBO GASOLINE ENGINE MODELS)

C1BA9-00 NP RANGE
With CONSULT
Is DTC detected?
NO >> GO TO 4.
With CONSULT

C1BAA-00 GEAR POSITION
A
Display Item
GEAR POSITION When a mismatch between a current gear position signal and shift position signal
C1BAA-00
(Gear position) transmitted from TCM continues for approximately 60 seconds or more.
POSSIBLE CAUSE D
• TCM
• ECM E
FAIL-SAFE
• LDW function
• LDP function
• Blind spot intervention function G
1.PRECONDITIONING H
I
>> GO TO 2.
J
With CONSULT
CAUTION:
Be sure to wait of 10 seconds after turning ignition switch OFF or ON. K
Is DTC “C1BAA-00” detected?
YES >> Proceed to DAS-599, "Diagnosis Procedure". L
M
1.PERFORM SELF-DIAGNOSIS (CHASSIS CONTROL MODULE) (1)

N
2. LDP system is ON.
3. Select the selector lever “D” position and wait 1 minute or more.
CAUTION: DAS
Securely depress the brake pedal, and never move the vehicle.
Is DTC “C1BAA-00” detected? P
YES >> GO TO 3.
NO >> GO TO 2.
2.PERFORM SELF-DIAGNOSIS (CHASSIS CONTROL MODULE) (2)
1. Select the selector lever “R” position and wait 1 minute or more.
CAUTION:
Securely depress the brake pedal, and never move the vehicle.

Is DTC “C1BAA-00” detected?
YES (VR30DDTT engine models)>>GO TO 3.
YES (2.0L turbo gasoline engine models)>>GO TO 4.
NO >> GO TO 5.
With CONSULT
Is DTC detected?
NO >> GO TO 5.
4.CHECK TRANSMISSION SYSTEM (2.0L TURBO GASOLINE ENGINE MODELS)
With CONSULT
Is DTC detected?
NO >> GO TO 5.
With CONSULT
Is DTC “C1BAA-00”, “U1000-00” or other DTC detected?
YES (“C1BAA-00”)>>Replace the chassis control module. Refer to DAS-713, "Removal and Installation".

C1BAB-00 STOP LAMP SWITCH
A
Display Item
STOP LAMP SW
C1BAB-00 When a malfunction is detected in stop lamp switch system.
(Stop lamp switch)
POSSIBLE CAUSE D
• ABS actuator and electric unit (control unit) system
FAIL-SAFE
• Active trace control function F
1.PRECONDITIONING G
H
>> GO TO 2.
With CONSULT
CAUTION: J
Is DTC “C1BAB-00” detected?
K
L
1.CHECK STOP LAMP SWITCH SYSTEM M

With CONSULT
Is DTC detected? N
NO >> GO TO 2.
With CONSULT
1. Erase self-diagnosis result for “CHASSIS CONTROL”. P
Is DTC “C1BAB-00”, “U1000-00” or other DTC detected?
YES (“C1BAB-00”)>>Replace the chassis control module. Refer to DAS-713, "Removal and Installation".


C1BAC-00 OPERATION SWITCH SYSTEM
A
Display Item
OPERATION SW CIRC Any switch of the ICC steering switch is detected as “ON” continuously for 60 sec-
C1BAC-00
(Operation switch circuit) onds.
POSSIBLE CAUSE D
• ICC steering switch
E
FAIL-SAFE
• LDP function
• Blind spot intervention function F
1.PRECONDITIONING G
H
>> GO TO 2.
With CONSULT
CAUTION: J
Is DTC “C1BAC-00” detected?
K
L
1.CHECK STEERING SWITCH SYSTEM M

With CONSULT
Is DTC detected? N
NO >> GO TO 2.
With CONSULT
Is DTC “C1BAC-00”, “U1000-00” or other DTC detected?
YES (“C1BAC-00”)>>Replace the chassis control module. Refer to DAS-713, "Removal and Installation".


C1BAD-00 ACCELERATOR PEDAL SYSTEM
A
Display Item
ACCELERATER PEDAL
C1BAD-00 When a malfunction is detected in accelerator pedal system.
(Accelerator pedal system)
POSSIBLE CAUSE D
• Accelerator pedal position sensor
• ECM
FAIL-SAFE
• LDP function F
G
1.PRECONDITIONING
and wait at least 10 seconds before conducting the next test. H
>> GO TO 2.
With CONSULT
3. Depress the accelerator pedal for 1 second or more.
4. Stop the engine.
5. Turn the ignition switch OFF to ON. K
CAUTION:
6. Perform self-diagnosis for “CHASSIS CONTROL”. L
Is DTC “C1BAD-00” detected?
N
1.CHECK ACCELERATOR PEDAL SYSTEM (ECM)
With CONSULT
Perform self-diagnosis for “ENGINE”. DAS
Is DTC detected?
• VR30DDTT engine models for USA and Canada P
Index".
Index".
• VR30DDTT engine models for Mexico: Refer to EC6-1139, "DTC Index".
• 2.0L turbo gasoline engine models: Refer to EC4-146, "DTC Index".
NO >> GO TO 2.

With CONSULT
Is DTC “C1BAD-00”, “U1000-00” or other DTC detected?
YES (“C1BAD-00”)>>Replace the chassis control module. Refer to DAS-713, "Removal and Installation".

C1BAE-00 ACCELERATOR PEDAL SYSTEM
A
Display Item
ACCELERATER PEDAL
C1BAE-00 When a malfunction is detected in distance control assist system.
(Accelerator pedal system)
POSSIBLE CAUSE D
• Accelerator pedal assembly
• ECM
FAIL-SAFE
• LDP function F
G
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
3. Depress the accelerator pedal for 1 second or more.
4. Stop the engine.
5. Turn the ignition switch OFF to ON. K
CAUTION:
6. Perform self-diagnosis for “CHASSIS CONTROL”. L
Is DTC “C1BAE-00” detected?
N
1.CHECK DISTANCE CONTROL ASSIST SYSTEM
With CONSULT
Perform self-diagnosis for “ICC/ADAS”. DAS
Is DTC detected?
NO >> GO TO 2. P
With CONSULT

Is DTC “C1BAE-00”, “U1000-00” or other DTC detected?
YES (“C1BAE-00”)>>Replace the chassis control module. Refer to DAS-713, "Removal and Installation".

C1BAF-00 BLIND SPOT WARNING SYSTEM
A
Display Item
BSW SYSTEM
C1BAF-00 When a malfunction is detected in blind spot warning system.
(Blind Spot Warning system)
POSSIBLE CAUSE D
• Side radar
FAIL-SAFE
• Blind spot intervention function F
1.PRECONDITIONING G
H
>> GO TO 2.
With CONSULT
CAUTION: J
Is DTC “C1BAF-00” detected?
K
L
1.CHECK BLIND SPOT WARNING SYSTEM M

With CONSULT
Is DTC detected? N
NO >> GO TO 2.
With CONSULT
Is DTC “C1BAF-00”, “U1000-00” or other DTC detected?
YES (“C1BAF-00”)>>Replace the chassis control module. Refer to DAS-713, "Removal and Installation".


C1BB0-06 DRIVER ASSISTANCE BUZZER SYSTEM
C1BB0-06 DRIVER ASSISTANCE BUZZER SYSTEM
A
Display Item
DR BUZZER SYSTEM
C1BB0-06 When a malfunction is detected in driver assistance buzzer system.
(Driver assistance buzzer system)
POSSIBLE CAUSE D
• Driver assistance buzzer control module
1.PRECONDITIONING F
G
>> GO TO 2.
H
With CONSULT
CAUTION:
Be sure to wait of 10 seconds after turning ignition switch OFF or ON. I
Is DTC “C1BB0-06” detected?
J
K
1.CHECK DRIVER ASSISTANCE BUZZER SYSTEM L

With CONSULT
Is DTC detected? M
NO >> GO TO 2.
2.PERFORM SELF-DIAGNOSIS N
With CONSULT
2. Turn the ignition switch OFF and wait for 10 seconds or more. DAS
4. Perform “ALL DTC Reading”.
Is DTC “C1BB0-06”, “U1000-00” or other DTC detected? P
YES (“C1BB0-06”)>>Replace the chassis control module. Refer to DAS-713, "Removal and Installation".

C1BB2-00 CONTROL MODULE
DTC DETECTION LOGIC
Display Item
CONTROL MODULE
C1BB2-00 When a malfunction is detected in chassis control module.
(Control module)
POSSIBLE CAUSE
FAIL-SAFE
• LDW function
• LDP function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
With CONSULT

A
Display Item
CONTROL MODULE
(Control module)
POSSIBLE CAUSE D
FAIL-SAFE
E
• LDW function F
• LDP function
• Infiniti InTuition function G
1.PRECONDITIONING H
I
>> GO TO 2.
2.CHECK DTC DETECTION J
With CONSULT
CAUTION: K
Is DTC “C1BB3-00” detected? L
With CONSULT
Is DTC “C1BB3-00” detected? P

DTC DETECTION LOGIC
Display Item
CONTROL MODULE
(Control module)
POSSIBLE CAUSE
FAIL-SAFE
• LDW function
• LDP function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
With CONSULT

C1BB5-00 IGNITION POWER SUPPLY
A
Display Item
IGN POWER SUPPLY Ignition power supply voltage of chassis control module is as shown below.
C1BB5-00
(Ignition power supply) • Ignition power supply voltage: 6.4 V ≥ Ignition power supply voltage
POSSIBLE CAUSE D
• Harness or connector
• Fuse
• Ignition power supply system E
• Battery
FAIL-SAFE F
• Active lane control function G
• LDW function
• LDP function
• Infiniti InTuition function H
I
1.PRECONDITIONING
and wait at least 10 seconds before conducting the next test. J
>> GO TO 2.
2.CHECK DTC DETECTION K
With CONSULT
1. Turn the ignition switch OFF to ON. L
CAUTION:
M
YES (Models with digital motion control)>>Proceed to DAS-615, "Diagnosis Procedure (Models with Digital
Motion Control)".
YES (Models without digital motion control)>>Proceed to DAS-617, "Diagnosis Procedure (Models without N
Digital Motion Control)".
NO-2 >> Confirmation after repair: INSPECTION END DAS
Diagnosis Procedure (Models with Digital Motion Control) INFOID:0000000012796476
1.CHECK CONNECTOR P

2. Disconnect chassis control module harness connector
3. Check the connector for disconnection or looseness.
4. Check the pin terminals for damage or loose connection with harness connector.
YES >> GO TO 2.

NO >> Repair or replace error-detected parts, securely lock the harness connector, and GO TO 2.
2.PERFORM SELF-DIAGNOSIS (1)
1. Connect chassis control module harness connector.
YES >> GO TO 3.
3.CHECK CHASSIS CONTROL MODULE IGNITION POWER SUPPLY
2. Disconnect chassis control module harness connector.
3. Check the voltage between chassis control module harness connector and ground.
Chassis control module Voltage

—
Connector Terminal (Approx.)
4
E219 Ground 0V
25
CAUTION:
Never start engine.

—
4
E219 Ground 6.4 − 16 V
25
YES >> GO TO 6.
NO >> GO TO 4.
4.CHECK BATTERY
Check the battery. Refer to PG-245, "VR30DDTT : Work Flow".
YES >> GO TO 5.
NO >> Charge or replace the battery.
• Charge the battery: Refer to PG-245, "VR30DDTT : Work Flow".
• Replace the battery: Refer to PG-259, "VR30DDTT : Removal and Installation".
5.CHECK CHASSIS CONTROL MODULE IGNITION POWER SUPPLY CIRCUIT
2. Check the 5A fuse (#21).
4. Disconnect fuse block (J/B) harness connector.
5. Check the continuity between chassis control module harness connector and fuse block (J/B) harness
connector.
Chassis control module Fuse block (J/B)

Continuity
4 E64 7E
E219 Existed
25 M132 14B
6. Check the continuity between chassis control module harness connector and the ground.

Chassis control module A

— Continuity
Connector Terminal
4
E219 Ground Not existed B
25
YES >> Perform trouble diagnosis for ignition power supply. C
NO >> Repair or replace error-detected parts.
6.CHECK CHASSIS CONTROL MODULE GROUND CIRCUIT
D
2. Check the continuity between chassis control module harness connector and ground.
E
— Continuity
Connector Terminal
6 F
E219 Ground Existed
23
YES >> GO TO 7. G
7.PERFORM SELF-DIAGNOSIS (2) H
Is DTC “C1BB5-00” detected? I
Diagnosis Procedure (Models without Digital Motion Control) INFOID:0000000013498281
J
1.CHECK CONNECTOR
K
4. Check the pin terminals for damage or loose connection with harness connector. L
YES >> GO TO 2.
NO >> Repair or replace error-detected parts, securely lock the harness connector, and GO TO 2. M
1. Connect chassis control module harness connector. N
YES >> GO TO 3. DAS
1. Turn the ignition switch OFF. P

—
E22 10 Ground 0V

CAUTION:
Never start engine.

—
E22 10 Ground 6.4 − 16 V

YES >> GO TO 7.
NO >> GO TO 4.
4.CHECK BATTERY
Check the battery.
• VR30DDTT engine models: Refer to PG-245, "VR30DDTT : Work Flow".
• 2.0L turbo gasoline engine models: Refer to PG-249, "2.0L TURBO GASOLINE ENGINE : Work Flow".
YES (VR30DDTT engine models)>>GO TO 5.
YES (2.0L turbo gasoline engine models)>>GO TO 6.
• VR30DDTT engine models
- Charge the battery: Refer to PG-245, "VR30DDTT : Work Flow".
- Replace the battery: Refer to PG-259, "VR30DDTT : Removal and Installation".
• 2.0L turbo gasoline engine models
- Charge the battery: Refer to PG-249, "2.0L TURBO GASOLINE ENGINE : Work Flow".
- Replace the battery: Refer to PG-261, "2.0L TURBO GASOLINE ENGINE : Removal and Instal-
lation".
5.CHECK CHASSIS CONTROL MODULE IGNITION POWER SUPPLY CIRCUIT (VR30DDTT ENGINE
MODELS)
connector.

Continuity
E22 10 E65 11F Existed

— Continuity
Connector Terminal
E22 10 Ground Not existed
YES >> Perform trouble diagnosis for ignition power supply.
6.CHECK CHASSIS CONTROL MODULE IGNITION POWER SUPPLY CIRCUIT (2.0L TURBO GASOLINE
ENGINE MODELS)
3. Check the continuity and for short circuit between chassis control module harness connector terminal (10)
and 10A fuse (#77).


— Continuity
Connector Terminal
B
NO >> Repair or replace error-detected parts. C
2. Check the continuity between chassis control module harness connector and ground. D

— Continuity E
Connector Terminal
E22 12 Ground Existed
Is the inspection result normal? F
YES >> GO TO 8.
8.PERFORM SELF-DIAGNOSIS (2) G
H
I
DAS

DTC DETECTION LOGIC
Display Item
IGN POWER SUPPLY Ignition power supply voltage of chassis control module is as shown below.
C1BB6-00
(Ignition power supply) • Ignition power supply voltage: 17 V ≤ Ignition power supply voltage
POSSIBLE CAUSE
• Fuse
• Ignition power supply system
• Battery
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
1. Erase self-diagnosis results for “CHASSIS CONTROL”.
CAUTION:
3. Repeat step 2 two or more times.
1.CHECK CONNECTOR
4. Check the pin terminals for damage or loose connection with harness connector.
YES >> GO TO 2.
NO >> Repair or replace error-detected parts, securely lock the harness connector, and GO TO 2.
YES >> GO TO 3.

3.CHECK CHASSIS CONTROL MODULE IGNITION POWER SUPPLY A

B

— C
4
E219 Ground 0V
25 D
CAUTION:
Never start engine. E
Chassis control module Voltage F

—
4
E219 Ground 6.4 − 16 V G
25
YES >> GO TO 6. H
NO >> GO TO 4.
4.CHECK BATTERY
Check the battery. Refer to PG-245, "VR30DDTT : Work Flow". I
YES >> GO TO 5.
J
• Charge the battery: Refer to PG-245, "VR30DDTT : Work Flow".
• Replace the battery: Refer to PG-259, "VR30DDTT : Removal and Installation".
5.CHECK CHASSIS CONTROL MODULE IGNITION POWER SUPPLY CIRCUIT K

2. Check the 5A fuse (#21). L
connector. M

Continuity N
4 E64 7E
E219 Existed
25 M132 14B DAS
Chassis control module P

— Continuity
Connector Terminal
4
E219 Ground Not existed
25


— Continuity
Connector Terminal
6
E219 Ground Existed
23
YES >> GO TO 7.

A
Display Item
CONTROL MODULE
(Control module)
POSSIBLE CAUSE D
FAIL-SAFE
E
• LDW function F
• LDP function
• Digital motion control
1.PRECONDITIONING H
I
>> GO TO 2.
With CONSULT
CAUTION: K
With CONSULT

DTC DETECTION LOGIC
Display Item
CONTROL MODULE
(Control module)
POSSIBLE CAUSE
FAIL-SAFE
• LDW function
• LDP function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
With CONSULT

A
Display Item
CONTROL MODULE
(Control module)
POSSIBLE CAUSE D
FAIL-SAFE
E
• LDW function F
• LDP function
1.PRECONDITIONING H
I
>> GO TO 2.
With CONSULT
CAUTION: K
With CONSULT

C1BBA-00 CONTROL MODULE
C1BBA-00 CONTROL MODULE
DTC DETECTION LOGIC
Display Item
CONTROL MODULE
C1BBA-00 When a malfunction is detected in chassis control module.
(Control module)
POSSIBLE CAUSE
FAIL-SAFE
• LDW function
• LDP function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
Is DTC “C1BBA-00” detected?
With CONSULT
Is DTC “C1BBA-00” detected?

C1BBB-00 CONTROL MODULE
C1BBB-00 CONTROL MODULE
A
Display Item
CONTROL MODULE
C1BBB-00 When a malfunction is detected in chassis control module.
(Control module)
POSSIBLE CAUSE D
FAIL-SAFE
E
• LDW function F
• LDP function
1.PRECONDITIONING H
I
>> GO TO 2.
With CONSULT
CAUTION: K
Is DTC “C1BBB-00” detected? L
With CONSULT
Is DTC “C1BBB-00” detected? P

C1BBC-00 CONTROL MODULE
C1BBC-00 CONTROL MODULE
DTC DETECTION LOGIC
Display Item
CONTROL MODULE
C1BBC-00 When a malfunction is detected in chassis control module.
(Control module)
POSSIBLE CAUSE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
Is DTC “C1BBC-00” detected?
With CONSULT
Is DTC “C1BBC-00” detected?

C1BBD-00 VARIANT CODING
C1BBD-00 VARIANT CODING
A
Display Item
VARIANT CODING
C1BBD-00 When variant coding is incomplete.
(Variant coding)
POSSIBLE CAUSE D
FAIL-SAFE
E
• LDW function F
• LDP function
1.PRECONDITIONING H
I
>> GO TO 2.
With CONSULT
CAUTION: K
Is DTC “C1BBD-00” detected? L
With CONSULT
Is DTC “C1BBD-00” detected? P
YES >> Perform configuration. Refer to DAS-578, "Work Procedure".

C1BBE-11 DYNAMIC DIGITAL SUSPENSION (FR)
DTC DETECTION LOGIC
Display Item
Front right shock absorber circuit
C1BBE-11 Dynamic digital suspension (FR) circuit is short-circuited to ground circuit.
(Front right shock absorber circuit)
POSSIBLE CAUSE
• Dynamic digital suspension (FR)
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
Is DTC “C1BBE-11” detected?
1.CHECK CONNECTOR AND TERMINAL

2. Disconnect dynamic digital suspension (FR) harness connector.
3. Check the dynamic digital suspension (FR) harness connector for disconnection or looseness.
4. Check the dynamic digital suspension (FR) pin terminals for damage or loose connection with harness
connector.
6. Check the chassis control module harness connector for disconnection or looseness.
7. Check the chassis control module pin terminals for damage or loose connection with harness connector.
YES >> GO TO 2.
NO >> Repair/replace harness or connector.
2.CHECK DYNAMIC DIGITAL SUSPENSION (FR) CIRCUIT (1)
Check the continuity between chassis control module harness connector and dynamic digital suspension (FR)
harness connector.

Chassis control module Dynamic digital suspension (FR) A

Continuity
28 1
E219 E174 Existed B
12 2
YES >> GO TO 3. C
D
Check the continuity between chassis control module harness connector and ground.

— Continuity E
Connector Terminal
28
E219 Ground No existed
12 F
YES >> GO TO 4.
NO >> Repair/replace harness or connector. G

Check the continuity between chassis control module harness connector terminals. H

Continuity
Connector Terminal I
28 − 4
28 − 25
E219 No existed J
12 − 4
12 − 25
YES >> GO TO 5.
L
Check the resistance between dynamic digital suspension (FR) connector terminals.
M
Dynamic digital suspension (FR)
Resistance
Connector Terminal
E174 1−2 3.473 − 7.740 Ω N

YES >> GO TO 6. DAS
NO >> Replace the dynamic digital suspension (FR).
• 2WD models: Refer to FSU-32, "Disassembly and Assembly".
• AWD models: Refer to FSU-59, "Disassembly and Assembly".
P
With CONSULT
1. Connect dynamic digital suspension (FR) harness connector.


A
Display Item
C1BBE-12 Dynamic digital suspension (FR) circuit is short-circuited to power source circuit.
POSSIBLE CAUSE D
FAIL-SAFE
• Digital motion control function F
1.PRECONDITIONING G
H
>> GO TO 2.
With CONSULT
CAUTION: J
K
L
1.CHECK CONNECTOR AND TERMINAL M

3. Check the dynamic digital suspension (FR) harness connector for disconnection or looseness. N
connector.
6. Check the chassis control module harness connector for disconnection or looseness. DAS
YES >> GO TO 2. P
harness connector.

Chassis control module Dynamic digital suspension (FR)

Continuity
1
4
2
E219 E174 No existed
1
25
2
YES >> GO TO 3.
NO >> Repair/replace harness, connector or fuse.
harness connector.

Continuity
28 1
E219 E174 Existed
12 2
YES >> GO TO 4.

— Continuity
Connector Terminal
28
12
YES >> GO TO 5.
Check the continuity between chassis control module harness connector terminals.

Continuity
Connector Terminal
28 − 4
28 − 25
E219 No existed
12 − 4
12 − 25
YES >> GO TO 6.

Dynamic digital suspension (FR) A

Resistance
Connector Terminal
E174 1−2 3.473 − 7.440 Ω
B
YES >> GO TO 7.
NO >> Replace the dynamic digital suspension (FR). C
7.PERFORM SELF-DIAGNOSIS D
With CONSULT
2. Connect chassis control module harness connector. E
6. Perform “All DTC Reading”. F
G
DAS

DTC DETECTION LOGIC
Display Item
C1BBE-19 Over current flows in dynamic digital suspension (FR) circuit.
POSSIBLE CAUSE
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:

connector.
YES >> GO TO 2.
harness connector.


Continuity
28 1
E219 E174 Existed B
12 2
YES >> GO TO 3. C
D

— Continuity E
Connector Terminal
28
12 F
YES >> GO TO 4.


Continuity
28 − 4
28 − 25
E219 No existed J
12 − 4
12 − 25
YES >> GO TO 5.
L
M
Resistance
Connector Terminal
E174 1−2 3.473 − 7.440 Ω N

YES >> GO TO 6. DAS
P
With CONSULT


C1BBE-1D DYNAMIC DIGITAL SUSPENSION (FR)
A
Display Item
Front right shock absorber circuit Current in dynamic digital suspension (FR) circuit is outside the range for 2 con-
C1BBE-1D
(Front right shock absorber circuit) secutive seconds or more.
POSSIBLE CAUSE D
FAIL-SAFE
1.PRECONDITIONING G
H
>> GO TO 2.
With CONSULT
CAUTION: J
Is DTC “C1BBE-1D” detected?
K
L

3. Check the dynamic digital suspension (FR) harness connector for disconnection or looseness. N
connector.
YES >> GO TO 2. P
harness connector.


Continuity
28 1
E219 E174 Existed
12 2
YES >> GO TO 3.

— Continuity
Connector Terminal
28
12
YES >> GO TO 4.

Continuity
Connector Terminal
28 − 4
28 − 25
E219 No existed
12 − 4
12 − 25
YES >> GO TO 5.

Resistance
Connector Terminal
E174 1−2 3.473 − 7.440 Ω
YES >> GO TO 6.
With CONSULT

Is DTC “C1BBE-1D” detected? A
B
DAS

DTC DETECTION LOGIC
Display Item
Front right shock absorber circuit Current in dynamic digital suspension (FR) circuit is too low for 0.8 consecutive
C1BBE-39
(Front right shock absorber circuit) seconds.
POSSIBLE CAUSE
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:

connector.
YES >> GO TO 2.
harness connector.


Continuity
28 1
E219 E174 Existed B
12 2
YES >> GO TO 3. C
D

— Continuity E
Connector Terminal
28
12 F
YES >> GO TO 4.


Continuity
28 − 4
28 − 25
E219 No existed J
12 − 4
12 − 25
YES >> GO TO 5.
L
With CONSULT
1. Connect dynamic digital suspension (FR) harness connector. M
5. Turn the ignition switch ON. N
YES >> Replace the chassis control module. Refer to DAS-713, "Removal and Installation". DAS

DTC DETECTION LOGIC
Display Item
Difference exists for 2 consecutive seconds or more between current applied to dy-
C1BBE-64 namic digital suspension (FR) and command current to dynamic digital suspension
(FR).
POSSIBLE CAUSE
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:

connector.
YES >> GO TO 2.
harness connector.


Continuity
28 1
E219 E174 Existed B
12 2
YES >> GO TO 3. C
D

— Continuity E
Connector Terminal
28
12 F
YES >> GO TO 4.


Continuity
28 − 4
28 − 25
E219 No existed J
12 − 4
12 − 25
YES >> GO TO 5.
L
1. Check the resistance between dynamic digital suspension (FR) connector terminals.
M
Resistance
Connector Terminal
E174 1−2 3.473 − 7.440 Ω N

YES >> GO TO 6. DAS
P
With CONSULT


C1BBF-11 DYNAMIC DIGITAL SUSPENSION (FL)
A
Display Item
Front left shock absorber circuit
C1BBF-11 Dynamic digital suspension (FL) circuit is short-circuited to ground circuit.
(Front left shock absorber circuit)
POSSIBLE CAUSE D
• Dynamic digital suspension (FL)
FAIL-SAFE
1.PRECONDITIONING G
H
>> GO TO 2.
With CONSULT
CAUTION: J
Is DTC “C1BBF-11” detected?
K
L

2. Disconnect dynamic digital suspension (FL) harness connector.
3. Check the dynamic digital suspension (FL) harness connector for disconnection or looseness. N
4. Check the dynamic digital suspension (FL) pin terminals for damage or loose connection with harness
connector.
YES >> GO TO 2. P
2.CHECK DYNAMIC DIGITAL SUSPENSION (FL) CIRCUIT (1)
Check the continuity between chassis control module harness connector and dynamic digital suspension (FL)
harness connector.

Chassis control module Dynamic digital suspension (FL)

Continuity
1 1
E219 E175 Existed
17 2
YES >> GO TO 3.

— Continuity
Connector Terminal
1
17
YES >> GO TO 4.

Continuity
Connector Terminal
1−4
1 − 25
E219 No existed
17 − 4
17 − 25
YES >> GO TO 5.
Check the resistance between dynamic digital suspension (FL) connector terminals.
Dynamic digital suspension (FL)

Resistance
Connector Terminal
E175 1−2 3.473 − 7.740 Ω
YES >> GO TO 6.
NO >> Replace the dynamic digital suspension (FL).
With CONSULT
1. Connect dynamic digital suspension (FL) harness connector.

Is DTC “C1BBF-11” detected? A
B
DAS

DTC DETECTION LOGIC
Display Item
C1BBF-12 Dynamic digital suspension (FL) circuit is short-circuited to power source circuit.
POSSIBLE CAUSE
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:

3. Check the dynamic digital suspension (FL) harness connector for disconnection or looseness.
connector.
YES >> GO TO 2.
harness connector.

Chassis control module Dynamic digital suspension (FL) A

Continuity
1
4 B
2
E219 E175 No existed
1
25
2 C
YES >> GO TO 3.
NO >> Repair/replace harness, connector or fuse. D
Check the continuity between chassis control module harness connector and dynamic digital suspension (FL) E
harness connector.
Chassis control module Dynamic digital suspension (FL) F

Continuity
1 1
E219 E175 Existed G
17 2
YES >> GO TO 4. H
Check the continuity between chassis control module harness connector and ground. I

— Continuity J
Connector Terminal
1
17 K
YES >> GO TO 5.
NO >> Repair/replace harness or connector. L
Check the continuity between chassis control module harness connector terminals. M

Continuity
Connector Terminal N
1−4
1 − 25
E219 No existed DAS
17 − 4
17 − 25
YES >> GO TO 6.


Resistance
Connector Terminal
E175 1−2 3.473 − 7.440 Ω
YES >> GO TO 7.
With CONSULT

A
Display Item
C1BBF-19 Over current flows in dynamic digital suspension (FL) circuit.
POSSIBLE CAUSE D
FAIL-SAFE
1.PRECONDITIONING G
H
>> GO TO 2.
With CONSULT
CAUTION: J
K
L

connector.
YES >> GO TO 2. P
harness connector.


Continuity
1 1
E219 E175 Existed
17 2
YES >> GO TO 3.

— Continuity
Connector Terminal
1
17
YES >> GO TO 4.

Continuity
Connector Terminal
1−4
1 − 25
E219 No existed
17 − 4
17 − 25
YES >> GO TO 5.

Resistance
Connector Terminal
E175 1−2 3.473 − 7.440 Ω
YES >> GO TO 6.
With CONSULT

B
DAS

C1BBF-1D DYNAMIC DIGITAL SUSPENSION (FL)
DTC DETECTION LOGIC
Display Item
Front left shock absorber circuit Current in dynamic digital suspension (FL) circuit is outside the range for 2 con-
C1BBF-1D
(Front left shock absorber circuit) secutive seconds or more.
POSSIBLE CAUSE
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
Is DTC “C1BBF-1D” detected?

connector.
YES >> GO TO 2.
harness connector.

Chassis control module Dynamic digital suspension (FL) A

Continuity
1 1
E219 E175 Existed B
17 2
YES >> GO TO 3. C
D

— Continuity E
Connector Terminal
1
17 F
YES >> GO TO 4.


Continuity
1−4
1 − 25
E219 No existed J
17 − 4
17 − 25
YES >> GO TO 5.
L
M
Resistance
Connector Terminal
E175 1−2 3.473 − 7.440 Ω N

YES >> GO TO 6. DAS
P
With CONSULT

Is DTC “C1BBF-1D” detected?

A
Display Item
Front left shock absorber circuit Current in dynamic digital suspension (FL) circuit is too low for 0.8 consecutive
C1BBF-39
(Front left shock absorber circuit) seconds.
POSSIBLE CAUSE D
FAIL-SAFE
1.PRECONDITIONING G
H
>> GO TO 2.
With CONSULT
CAUTION: J
K
L

connector.
YES >> GO TO 2. P
harness connector.


Continuity
1 1
E219 E175 Existed
17 2
YES >> GO TO 3.

— Continuity
Connector Terminal
1
17
YES >> GO TO 4.

Continuity
Connector Terminal
1−4
1 − 25
E219 No existed
17 − 4
17 − 25
YES >> GO TO 5.
With CONSULT

A
Display Item
C1BBF-64 namic digital suspension (FL) and command current to dynamic digital suspension
(FL).
D
POSSIBLE CAUSE
• Dynamic digital suspension (FL) E
FAIL-SAFE
G
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
J
CAUTION:
Is DTC “C1BBF-64” detected? K
M
2. Disconnect dynamic digital suspension (FL) harness connector. N
connector.
5. Disconnect chassis control module harness connector. DAS
YES >> GO TO 2.
harness connector.


Continuity
1 1
E219 E175 Existed
17 2
YES >> GO TO 3.

— Continuity
Connector Terminal
1
17
YES >> GO TO 4.

Continuity
Connector Terminal
1−4
1 − 25
E219 No existed
17 − 4
17 − 25
YES >> GO TO 5.
1. Check the resistance between dynamic digital suspension (FL) connector terminals.

Resistance
Connector Terminal
E175 1−2 3.473 − 7.440 Ω
YES >> GO TO 6.
With CONSULT

B
DAS

C1BC0-00 FRONT RIGHT WHEEL SENSOR
DTC DETECTION LOGIC
Display Item
FR WHEEL SENSOR
C1BC0-00 When a malfunction is detected in front right wheel sensor system.
(Front right wheel sensor)
POSSIBLE CAUSE
• Front right wheel sensor
• Front right sensor rotor
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
2. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
CAUTION:
Is DTC “C1BC0-00” detected?
1.CHECK FRONT RH WHEEL SENSOR SYSTEM

With CONSULT
Is DTC detected?
NO >> GO TO 2.
With CONSULT

Is DTC “C1BC0-00”, “U1000-00” or other DTC detected?
YES (“C1BC0-00”)>>Replace the chassis control module. Refer to DAS-713, "Removal and Installation". A
NO >> INSPECTION END B
DAS

C1BC1-00 FRONT LEFT WHEEL SENSOR
DTC DETECTION LOGIC
Display Item
FL WHEEL SENSOR
C1BC1-00 When a malfunction is detected in front left wheel sensor system.
(Front left wheel sensor)
POSSIBLE CAUSE
• Front left wheel sensor
• Front left sensor rotor
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
2. Drive the vehicle at approx. 30 km/h (19 MPH) or more for approx. 1 minute.
CAUTION:
1.CHECK FRONT LH WHEEL SENSOR SYSTEM

With CONSULT
Is DTC detected?
NO >> GO TO 2.
With CONSULT

Is DTC “C1BC1-00”, “U1000-00” or other DTC detected?
YES (“C1BC1-00”)>>Replace the chassis control module. Refer to DAS-713, "Removal and Installation". A
NO >> INSPECTION END B
DAS

C1BC7-11 DYNAMIC DIGITAL SUSPENSION (RR)
DTC DETECTION LOGIC
Display Item
Rear right shock absorber circuit
C1BC7-11 Dynamic digital suspension (RR) circuit is short-circuited to ground circuit.
(Rear right shock absorber circuit)
POSSIBLE CAUSE
• Dynamic digital suspension (RR)
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:

2. Disconnect dynamic digital suspension (RR) harness connector.
3. Check the dynamic digital suspension (RR) harness connector for disconnection or looseness.
4. Check the dynamic digital suspension (RR) pin terminals for damage or loose connection with harness
connector.
YES >> GO TO 2.
2.CHECK DYNAMIC DIGITAL SUSPENSION (RR) CIRCUIT (1)
Check the continuity between chassis control module harness connector and dynamic digital suspension (RR)
harness connector.

Chassis control module Dynamic digital suspension (RR) A

Continuity
15 1
E219 B119 Existed B
3 2
YES >> GO TO 3. C
D

— Continuity E
Connector Terminal
15
3 F
YES >> GO TO 4.


Continuity
15 − 4
15 − 25
E219 No existed J
3−4
3 − 25
YES >> GO TO 5.
L
Check the resistance between dynamic digital suspension (RR) connector terminals.
M
Dynamic digital suspension (RR)
Resistance
Connector Terminal
B119 1−2 3.477 − 7.448 Ω N

YES >> GO TO 6. DAS
NO >> Replace the dynamic digital suspension (RR). Refer to RSU-9, "Disassembly and Assembly".
With CONSULT P
1. Connect dynamic digital suspension (RR) harness connector.


A
Display Item
C1BC7-12 Dynamic digital suspension (RR) circuit is short-circuited to power source circuit.
POSSIBLE CAUSE D
FAIL-SAFE
1.PRECONDITIONING G
H
>> GO TO 2.
With CONSULT
CAUTION: J
K
L

3. Check the dynamic digital suspension (RR) harness connector for disconnection or looseness. N
connector.
YES >> GO TO 2. P
harness connector.

Chassis control module Dynamic digital suspension (RR)

Continuity
1
4
2
E219 B119 No existed
1
25
2
YES >> GO TO 3.
NO >> Repair/replace harness, connector or fuse.
harness connector.

Continuity
15 1
E219 B119 Existed
3 2
YES >> GO TO 4.

— Continuity
Connector Terminal
15
3
YES >> GO TO 5.

Continuity
Connector Terminal
15 − 4
15 − 25
E219 No existed
3−4
3 − 25
YES >> GO TO 6.

Dynamic digital suspension (RR) A

Resistance
Connector Terminal
B119 1−2 3.477 − 7.448 Ω
B
YES >> GO TO 7.
NO >> Replace the dynamic digital suspension (RR). Refer to RSU-9, "Disassembly and Assembly" C
With CONSULT
1. Connect dynamic digital suspension (RR) harness connector. D
4. Turn the ignition switch OFF and wait for 10 seconds or more. E
Is DTC “C1BC7-12” detected? F
G
DAS

DTC DETECTION LOGIC
Display Item
C1BC7-19 Over current flows in dynamic digital suspension (RR) circuit.
POSSIBLE CAUSE
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:

connector.
YES >> GO TO 2.
harness connector.


Continuity
15 1
E219 B119 Existed B
3 2
YES >> GO TO 3. C
D

— Continuity E
Connector Terminal
15
3 F
YES >> GO TO 4.


Continuity
15 − 4
15 − 25
E219 No existed J
3−4
3 − 25
YES >> GO TO 5.
L
M
Resistance
Connector Terminal
B119 1−2 3.477 − 7.448 Ω N

YES >> GO TO 6. DAS
With CONSULT P


C1BC7-1D DYNAMIC DIGITAL SUSPENSION (RR)
A
Display Item
Rear right shock absorber circuit Current in dynamic digital suspension (RR) circuit is outside the range for 2 con-
C1BC7-1D
(Rear right shock absorber circuit) secutive seconds or more.
POSSIBLE CAUSE D
FAIL-SAFE
1.PRECONDITIONING G
H
>> GO TO 2.
With CONSULT
CAUTION: J
Is DTC “C1BC7-1D” detected?
K
L

3. Check the dynamic digital suspension (RR) harness connector for disconnection or looseness. N
connector.
YES >> GO TO 2. P
harness connector.


Continuity
15 1
E219 B119 Existed
3 2
YES >> GO TO 3.

— Continuity
Connector Terminal
15
3
YES >> GO TO 4.

Continuity
Connector Terminal
15 − 4
15 − 25
E219 No existed
3−4
3 − 25
YES >> GO TO 5.

Resistance
Connector Terminal
B119 1−2 3.477 − 7.448 Ω
YES >> GO TO 6.
With CONSULT

NO >> INSPECTION END A
DAS

DTC DETECTION LOGIC
Display Item
Rear right shock absorber circuit Current in dynamic digital suspension (RR) circuit is too low for 0.8 consecutive
C1BC7-39
(Rear right shock absorber circuit) seconds.
POSSIBLE CAUSE
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:

connector.
YES >> GO TO 2.
harness connector.


Continuity
15 1
E219 B119 Existed B
3 2
YES >> GO TO 3. C
D

— Continuity E
Connector Terminal
15
3 F
YES >> GO TO 4.


Continuity
15 − 4
15 − 25
E219 No existed J
3−4
3 − 25
YES >> GO TO 5.
L
With CONSULT
1. Connect dynamic digital suspension (RR) harness connector. M
5. Turn the ignition switch ON. N
YES >> Replace the chassis control module. Refer to DAS-713, "Removal and Installation". DAS

DTC DETECTION LOGIC
Display Item
C1BC7-64 namic digital suspension (RR) and command current to dynamic digital suspen-
sion (RR).
POSSIBLE CAUSE
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:

connector.
YES >> GO TO 2.
harness connector.


Continuity
15 1
E219 B119 Existed B
3 2
YES >> GO TO 3. C
D

— Continuity E
Connector Terminal
15
3 F
YES >> GO TO 4.


Continuity
15 − 4
15 − 25
E219 No existed J
3−4
3 − 25
YES >> GO TO 5.
L
1. Check the resistance between dynamic digital suspension (RR) connector terminals.
M
Resistance
Connector Terminal
B119 1−2 3.477 − 7.448 Ω N

YES >> GO TO 6. DAS
With CONSULT P


C1BC8-11 DYNAMIC DIGITAL SUSPENSION (RL)
A
Display Item
Rear left shock absorber circuit
C1BC8-11 Dynamic digital suspension (RL) circuit is short-circuited to ground circuit.
(Rear Left shock absorber circuit)
POSSIBLE CAUSE D
• Dynamic digital suspension (RL)
FAIL-SAFE
1.PRECONDITIONING G
H
>> GO TO 2.
With CONSULT
CAUTION: J
K
L

2. Disconnect dynamic digital suspension (RL) harness connector.
3. Check the dynamic digital suspension (RL) harness connector for disconnection or looseness. N
4. Check the dynamic digital suspension (RL) pin terminals for damage or loose connection with harness
connector.
YES >> GO TO 2. P
2.CHECK DYNAMIC DIGITAL SUSPENSION (RL) CIRCUIT (1)
Check the continuity between chassis control module harness connector and dynamic digital suspension (RL)
harness connector.

Chassis control module Dynamic digital suspension (RL)

Continuity
14 1
E219 C9 Existed
26 2
YES >> GO TO 3.

— Continuity
Connector Terminal
14
26
YES >> GO TO 4.

Continuity
Connector Terminal
14 − 4
14 − 25
E219 No existed
26 − 4
26 − 25
YES >> GO TO 5.
Check the resistance between dynamic digital suspension (RL) connector terminals.
Dynamic digital suspension (RL)

Resistance
Connector Terminal
C9 1−2 3.477 − 7.448 Ω
YES >> GO TO 6.
NO >> Replace the dynamic digital suspension (RL). Refer to RSU-9, "Disassembly and Assembly".
With CONSULT
1. Connect dynamic digital suspension (RL) harness connector.

DAS

DTC DETECTION LOGIC
Display Item
C1BC8-12 Dynamic digital suspension (RL) circuit is short-circuited to power source circuit.
(Rear left shock absorber circuit)
POSSIBLE CAUSE
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:

3. Check the dynamic digital suspension (RL) harness connector for disconnection or looseness.
connector.
YES >> GO TO 2.
harness connector.

Chassis control module Dynamic digital suspension (RL) A

Continuity
1
4 B
2
E219 C9 No existed
1
25
2 C
YES >> GO TO 3.
NO >> Repair/replace harness, connector or fuse. D
Check the continuity between chassis control module harness connector and dynamic digital suspension (RL) E
harness connector.
Chassis control module Dynamic digital suspension (RL) F

Continuity
14 1
E219 C9 Existed G
26 2
YES >> GO TO 4. H
Check the continuity between chassis control module harness connector and ground. I

— Continuity J
Connector Terminal
14
26 K
YES >> GO TO 5.
NO >> Repair/replace harness or connector. L
Check the continuity between chassis control module harness connector terminals. M

Continuity
Connector Terminal N
14 − 4
14 − 25
E219 No existed DAS
26 − 4
26 − 25
YES >> GO TO 6.


Resistance
Connector Terminal
C9 1−2 3.477 − 7.448 Ω
YES >> GO TO 7.
With CONSULT

A
Display Item
C1BC8-19 Over current flows in dynamic digital suspension (RL) circuit.
POSSIBLE CAUSE D
FAIL-SAFE
1.PRECONDITIONING G
H
>> GO TO 2.
With CONSULT
CAUTION: J
K
L

connector.
YES >> GO TO 2. P
harness connector.


Continuity
14 1
E219 C9 Existed
26 2
YES >> GO TO 3.

— Continuity
Connector Terminal
14
26
YES >> GO TO 4.

Continuity
Connector Terminal
14 − 4
14 − 25
E219 No existed
26 − 4
26 − 25
YES >> GO TO 5.

Resistance
Connector Terminal
C9 1−2 3.477 − 7.448 Ω
YES >> GO TO 6.
With CONSULT

DAS

C1BC8-1D DYNAMIC DIGITAL SUSPENSION (RL)
DTC DETECTION LOGIC
Display Item
Rear left shock absorber circuit Current in dynamic digital suspension (RL) circuit is outside the range for 2 con-
C1BC8-1D
(Rear left shock absorber circuit) secutive seconds or more.
POSSIBLE CAUSE
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:

connector.
YES >> GO TO 2.
harness connector.

Chassis control module Dynamic digital suspension (RL) A

Continuity
14 1
E219 C9 Existed B
26 2
YES >> GO TO 3. C
D

— Continuity E
Connector Terminal
14
26 F
YES >> GO TO 4.


Continuity
14 − 4
14 − 25
E219 No existed J
26 − 4
26 − 25
YES >> GO TO 5.
L
M
Resistance
Connector Terminal
C9 1−2 3.477 − 7.448 Ω N

YES >> GO TO 6. DAS
With CONSULT P


A
Display Item
Rear left shock absorber circuit Current in dynamic digital suspension (RL) circuit is too low for 0.8 consecutive
C1BC8-39
(Rear left shock absorber circuit) seconds.
POSSIBLE CAUSE D
FAIL-SAFE
1.PRECONDITIONING G
H
>> GO TO 2.
With CONSULT
CAUTION: J
K
L

connector.
YES >> GO TO 2. P
harness connector.


Continuity
14 1
E219 C9 Existed
26 2
YES >> GO TO 3.

— Continuity
Connector Terminal
14
26
YES >> GO TO 4.

Continuity
Connector Terminal
14 − 4
14 − 25
E219 No existed
26 − 4
26 − 25
YES >> GO TO 5.
With CONSULT

A
Display Item
C1BC8-64 namic digital suspension (RL) and command current to dynamic digital suspension
(RL).
D
POSSIBLE CAUSE
• Dynamic digital suspension (RL) E
FAIL-SAFE
G
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
J
CAUTION:
Is DTC “C1BC8-64” detected? K
M
2. Disconnect dynamic digital suspension (RL) harness connector. N
connector.
5. Disconnect chassis control module harness connector. DAS
YES >> GO TO 2.
harness connector.


Continuity
14 1
E219 C9 Existed
26 2
YES >> GO TO 3.

— Continuity
Connector Terminal
14
26
YES >> GO TO 4.

Continuity
Connector Terminal
14 − 4
14 − 25
E219 No existed
26 − 4
26 − 25
YES >> GO TO 5.
1. Check the resistance between dynamic digital suspension (RL) connector terminals.

Resistance
Connector Terminal
C9 1−2 3.477 − 7.448 Ω
YES >> GO TO 6.
With CONSULT

DAS

U1000-00 CAN COMM CIRCUIT
U1000-00 CAN COMM CIRCUIT
DTC DETECTION LOGIC
Display Item
CAN COMM CIRCUIT When CAN communication signal is not continuously transmitted or received for 2
U1000-00
(CAN communication circuit) seconds or more.
POSSIBLE CAUSE
• CAN communication system
FAIL-SAFE
• LDW function
• LDP function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
Is DTC “U1000-00” detected?
Proceed to LAN-41, "Trouble Diagnosis Flow Chart".

U1010-49 CONTROL MODULE (CAN)
U1010-49 CONTROL MODULE (CAN)
A
Display Item
CONTROL UNIT (CAN) When detecting error during the initial diagnosis of CAN controller of chassis con-
U1010-49
[Control unit (CAN)] trol module.
POSSIBLE CAUSE D
• CAN communication line
E
FAIL-SAFE
• Active lane control function F
1.PRECONDITIONING G
H
>> GO TO 2.
With CONSULT
CAUTION: J
Is DTC “U1010-49” detected?
K
Y1ES >> Proceed to DAS-703, "Diagnosis Procedure".
L
1.CHECK CHASSIS CONTROL MODULE M

Check chassis control module harness connector for disconnection and deformation.
YES >> Replace chassis control module. Refer to DAS-713, "Removal and Installation". N
DAS

U1A31-00 DIRECT ADAPTIVE STEERING COMMUNICATION
DTC DETECTION LOGIC
Display Item
DAST COMM A calculated signal value differs between a signal transmitted from the steering
U1A31-00 (Direct adaptive steering commu- force control module and a signal received from chassis control module via CAN
nication) communication.
POSSIBLE CAUSE
• Steering angle main control module
• Chassis communication line
FAIL-SAFE
• LDW function
• LDP function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
Is DTC “U1A31-00” detected?
1.CHECK CAN DIAGNOSIS SUPPORT MONITOR

With CONSULT
1. Select “CAN Diagnosis Support Monitor” of “CHASSIS CONTROL”.
2. Check malfunction history between each control unit connected to chassis control module.
Check the result of “PAST”?
All items are “OK”>>Refer to GI-45, "Intermittent Incident".
“TRANSMIT DIAG” is other than “OK” (Models with digital motion control)>>GO TO 2.
“TRANSMIT DIAG” is other than “OK” (Models without digital motion control)>>GO TO 3.
“DAST 1” other than “OK”>>GO TO 4.
2.CHECK TRANSMITTING SIDE UNIT (MODELS WITH DIGITAL MOTION CONTROL)

3. Check the chassis control module harness connector terminals No. 5, 19, 21 and 8 for damage or loose
connection. (Chassis communication line) A
YES >> GO TO 6.
NO >> Recheck terminals for damage or loose connection. Refer to LAN-31, "Precautions for Harness B
Repair", and GO TO 6.
3.CHECK TRANSMITTING SIDE UNIT (MODELS WITHOUT DIGITAL MOTION CONTROL)
C
connection. (Chassis communication line) D
YES >> GO TO 6.
NO >> Recheck terminals for damage or loose connection. Refer to LAN-31, "Precautions for Harness E
4.CHECK STEERING ANGLE MAIN CONTROL MODULE
F
2. Disconnect steering angle main control module harness connector.
3. Check steering angle main control module harness connector terminals (chassis communication line) or
damage or loose connection. G
YES >> GO TO 5.
NO >> Recheck terminals for damage or loose connection. Refer to LAN-31, "Precautions for Harness H
5.PERFORM SELF-DIAGNOSIS (STEERING ANGLE MAIN CONTROL MODULE) I
With CONSULT
1. Connect steering angle main control module harness connector.
2. Erase self-diagnosis result for “DAST 1”.
J
Is DTC detected? K
NO >> GO TO 6.
L
With CONSULT
1. Connect chassis control module harness connector. M
Is DTC “U1000-00”, “U1A31-00” or other DTC detected?
YES (“U1A31-00”)>>Replace the chassis control module. Refer to DAS-713, "Removal and Installation". DAS
P

U1A35-00 BRAKE CONTROL COMMUNICATION
DTC DETECTION LOGIC
Display Item
A calculated signal value differs between a signal transmitted from the ABS actu-
BRAKE CONTROL COMM
U1A35-00 ator and electric unit (control unit) and a signal received from chassis control mod-
(Brake control communication)
ule via CAN communication.
POSSIBLE CAUSE
FAIL-SAFE
• LDW function
• LDP function
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
Is DTC “U1A35-00” detected?

With CONSULT
“ABS” other than “OK”>>GO TO 4.

3. Check the chassis control module harness connector terminals No. 24 and 10 for damage or loose con-
nection. A
YES >> GO TO 6.
NO >> Recheck terminals for damage or loose connection. Refer to LAN-31, "Precautions for Harness B
3.CHECK TRANSMITTING SIDE UNIT (MODELS WITHOUT DIGITAL MOTION CONTROL)
C
3. Check the chassis control module harness connector terminals No. 3 and 4 for damage or loose connec-
tion. D
YES >> GO TO 6.
4.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
F
2. Disconnect ABS actuator and electric unit (control unit) harness connector.
3. Check ABS actuator and electric unit (control unit) harness connector terminals (CAN communication
line) or damage or loose connection. G
YES >> GO TO 5.
5.PERFORM SELF-DIAGNOSIS [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)] I
With CONSULT
1. Connect ABS actuator and electric unit (control unit) harness connector.
2. Erase self-diagnosis result for “ABS”.
J
5. Perform self-diagnosis for “ABS”.
Is DTC detected? K
NO >> GO TO 6.
L
With CONSULT
1. Connect chassis control module harness connector. M
Is DTC “U1000-00”, “U1A35-00” or other DTC detected?
YES (“U1A35-00”)>>Replace the chassis control module. Refer to DAS-713, "Removal and Installation". DAS
P

U1A3E-00 ADAS COMMUNICATION
DTC DETECTION LOGIC
Display Item
• A calculated signal value differs between a signal transmitted from the ADAS
control unit and a signal received from chassis control module via CAN commu-
ADAS COMM
nication.
U1A3E-00 (Advanced Driver Assistance sys-
• A calculated signal value differs between a signal transmitted from the ADAS
tem communication)
control unit and a signal received from chassis control module via chassis com-
munication.
POSSIBLE CAUSE
• Chassis communication line
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
Is DTC “U1A3E-00” detected?

With CONSULT
“ICC/ADAS” other than “OK”>>GO TO 4.
3. Check the chassis control module harness connector terminals No. 24 and 10 for damage or loose con-
nection. (CAN communication line)
connection. (Chassis communication line)

YES >> GO TO 6. A
NO >> Recheck terminals for damage or loose connection. Refer to LAN-31, "Precautions for Harness
3.CHECK TRANSMITTING SIDE UNIT (MODELS WITHOUT DIGITAL MOTION CONTROL) B
3. Check the chassis control module harness connector terminals No. 3 and 4 for damage or loose connec- C
tion. (CAN communication line)
connection. (Chassis communication line) D
YES >> GO TO 6.
4.CHECK ADAS CONTROL UNIT
1. Turn the ignition switch OFF. F
2. Disconnect ADAS control unit harness connector.
3. Check ADAS control unit harness connector terminals (CAN communication line) or damage or loose con-
nection. G
YES >> GO TO 5.
5.PERFORM SELF-DIAGNOSIS (ADAS CONTROL UNIT)
I
With CONSULT
1. Connect ADAS control unit harness connector.
2. Erase self-diagnosis result for “ICC/ADAS”.
3. Turn the ignition switch OFF and wait for 10 seconds or more. J
5. Perform self-diagnosis for “ICC/ADAS”.
Is DTC detected? K
NO >> GO TO 6.
6.PERFORM SELF-DIAGNOSIS L
With CONSULT
M
Is DTC “U1000-00”, “U1A3E-00” or other DTC detected?
YES (“U1A3E-00”)>>Replace the chassis control module. Refer to DAS-713, "Removal and Installation". DAS
P

Diagnosis Procedure (Models with Digital Motion Control) INFOID:0000000012796549


—
4
E219 Ground 0V
25
CAUTION:
Never start engine.

—
4
E219 Ground 6.4 − 16 V
25
YES >> GO TO 3.
NO >> GO TO 2.
2.CHECK CHASSIS CONTROL MODULE IGNITION POWER SUPPLY CIRCUIT
connector.

Continuity
4 E64 7E
E219 Existed
25 M132 14B

— Continuity
Connector Terminal
4
E219 Ground Not existed
25


— Continuity
Connector Terminal
6
E219 Ground Existed B
23
YES >> GO TO 4. C
4.CHECK TERMINAL
D
Check the chassis control module pin terminals for damage or loose connection with harness connector.
YES >> INSPECTION END E
Diagnosis Procedure (Models without Digital Motion Control) INFOID:0000000013498284
F
2. Disconnect chassis control module harness connector. G

H
—
E22 10 Ground 0V
I
CAUTION:
Never start engine.
5. Check the voltage between chassis control module harness connector and ground. J

— K
E22 10 Ground 6.4 − 16 V

Is the inspection result normal? L
YES >> GO TO 4.
NO (VR30DDTT engine models)>>GO TO 2.
NO (2.0L turbo gasoline engine models)>>GO TO 3. M
2.CHECK CHASSIS CONTROL MODULE IGNITION POWER SUPPLY CIRCUIT (VR30DDTT ENGINE
MODELS)
N
4. Check the continuity between chassis control module harness connector and fuse block (J/B) harness DAS
connector.
Chassis control module Fuse block (J/B) P

Continuity
E22 10 E65 11F Existed


— Continuity
Connector Terminal
3.CHECK CHASSIS CONTROL MODULE IGNITION POWER SUPPLY CIRCUIT (2.0L TURBO GASOLINE
ENGINE MODELS)
3. Check the continuity and for short circuit between chassis control module harness connector terminal (10)
and 10A fuse (#77).

— Continuity
Connector Terminal

— Continuity
Connector Terminal
E22 12 Ground Existed
YES >> GO TO 5.
5.CHECK TERMINAL
Check the chassis control module pin terminals for damage or loose connection with harness connector.

< REMOVAL AND INSTALLATION > [CHASSIS CONTROL]
REMOVAL AND INSTALLATION A

B
JSOIA0946GB
H
Chassis control module Bracket
: N·m (kg-m, ft-lb)

I
REMOVAL J
CAUTION:
When replacing chassis control module, configuration of chassis control module is required. Refer to
DAS-578, "Work Procedure". K
NOTE:
If the chassis control module is replaced, user registration information is erased, and all setting items for Infiniti
InTuition related parts are erased. L
1. Remove the parking brake pedal assembly. Refer to PB-9, "Removal and Installation".
2. Separate the harness connector .
3. Remove the chassis control module. M
CAUTION:
Never drop the chassis control module.
N
DAS
JSOIA0883ZZ
INSTALLATION P
Note the following, install in the reverse order of removal.
• When replacing the chassis control module, be sure to perform the configuration of chassis control module.
Refer to DAS-578, "Work Procedure".
• After replace the chassis control module, depress brake pedal and check that the stop lamp turns ON.

PRECAUTIONS
< PRECAUTION > [ACTIVE LANE CONTROL]
PRECAUTION
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted.
Service Manual.
WARNING:
see “SRS AIR BAG”.
connectors.
WARNING:
a hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly causing
serious injury.


SEF289H
NOTE:
NOTE:

PRECAUTIONS
< PRECAUTION > [ACTIVE LANE CONTROL]
• Example of high-load driving A
B
NOTE:
nected, then DTC may be detected. C
NOTE:
The removal of 12V battery may cause a DTC detection error. D
Twisted pair line is used for communication lines. Be careful when repairing communication lines. E
NOTE:
F
H
SKIB8766E
• Bypass connection is never allowed at the repaired area. I

NOTE:
Bypass connection may cause communication error. The spliced
wire becomes separated and the characteristics of twisted line are
lost. J
SKIB8767E L
Precaution for Active Lane Control Service INFOID:0000000012796555
M
WARNING:
CAUTION: N
• Never use the Active Lane Control when driving with free rollers or a chassis dynamometer.
• Do not use the lane camera unit that is removed from the vehicle. DAS

COMPONENT PARTS
< SYSTEM DESCRIPTION > [ACTIVE LANE CONTROL]
SYSTEM DESCRIPTION
COMPONENT PARTS
ACTIVE LANE CONTROL
ACTIVE LANE CONTROL : Component Parts Location INFOID:0000000012796556
JSOIA1033ZZ
No. Component Function

Lane camera unit Refer to DAS-717, "Lane Camera Unit".
• Direct Adaptive Steering is controlled by three control modules of steering force con-
trol module, steering angle main control module and steering angle sub control mod-
ule.
Steering force control module
• Receives steering reaction force request signal and controls the steering reaction
force.
• For the details of the location, refer to STC-113, "Component Parts Location".
• Transmits turn indicator signal and front wiper request signal to chassis control mod-
ule via CAN communication.
BCM
• For the details of the location, refer to BCS-5, "BODY CONTROL SYSTEM : Compo-
nent Parts Location".
Transmits the signal related to A/T control to chassis control module via CAN communi-
TCM
cation.
Steering angle sub control module ule.
• Receives steering angle request signal and controls the steering angle.
Steering angle main control module ule.
• Receives steering angle request signal and controls the steering angle.
Steering gear assembly
Drives steering gear depending on the control signal from Direct Adaptive Steering.
(Steering angle actuator)
• Transmits the vehicle speed signal (wheel speed) to chassis control module via CAN
communication.
ABS actuator and electric unit (con-
• Transmits the yaw rate signal and side G sensor signal to chassis control module via
trol unit)
CAN communication.
• For the details of the location, refer to BRC-10, "Component Parts Location".
• Performs Active Lane Control based on the detected lane condition signal received
Chassis control module from lane camera unit and each signal received from each unit.
• For the details of the location, refer to DAS-516, "Component Parts Location".

COMPONENT PARTS
No. Component Function
A
Steering column assembly
Drives reaction force depending on the control signal from Direct Adaptive Steering.
(Steering force actuator)
• Transmits LDP ON signal to chassis control module via chassis communication.
ADAS control unit B
• For the details of the location, refer to DAS-219, "Component Parts Location".
• Receives master warning signal and ALC system display signal to chassis control
Combination meter
module via CAN communication to display the system on the information display.
Drive mode select switch Inputs drive mode select switch signal to chassis control module.
C
• Transmits ambient temperature signal to chassis control module via CAN communi-
cation.
A/C auto amp. D
• For the details of the location, refer to HAC-6, "AUTOMATIC AIR CONDITIONING
SYSTEM : Component Parts Location".
Changes setting of Active Lane Control and transmits the setting information to the dis-
Integral switch
play control unit. E
• Transmits the setting state of Active Lane Control to chassis control module via CAN
Display control unit communication.
• For the details of the location, refer to AV-14, "Component Parts Location". F
Lane Camera Unit INFOID:0000000012796557
• Lane camera unit is located above the inside mirror and detects G
the lane marker in travel lane.
• Transmits lane marker signal to chassis control module via chassis
communication. H
JSOIA0828ZZ
J
DAS

SYSTEM
SYSTEM
ACTIVE LANE CONTROL
ACTIVE LANE CONTROL : System Description INFOID:0000000012796558
OUTLINE
• Active Lane Control enables the driver to make fewer steering corrections on freeways.
• Active Lane Control slightly corrects front tire angles and steering wheel torque to reduce the difference
between the vehicle′s direction and the lane direction which is detected by using the lane camera unit
located above the inside mirror.
JSOIA1068GB
NOTE:
• For the details of “Direct Adaptive Steering”, Refer to STC-118, "DIRECT ADAPTIVE STEERING : System
Description".
• Active Lane Control can be set to ON (enabled) or OFF (disabled). Refer to DAS-727, "ACTIVE LANE CON-
TROL : Menu Displayed by Pressing Each Switch".
• Active Lane Control is controlled by chassis control module.
• Lane camera unit monitors lane markers of the traveling lane. It transmits the detected lane condition signal
to chassis control module via chassis communication.
• Chassis control module calculates the difference between the vehicle′s direction and the lane direction
based on lane condition signal. And transmits steering angle request signal and steering reaction force
request signal to steering angle main control module via chassis communication. In addition, transmits ALC
system display signal to combination meter via CAN communication.
• Direct Adaptive Steering* corrects the control of steering angle and steering reaction force depending on
received steering angle request signal and steering reaction force request signal.
angle main control module and steering angle sub control module.
• Combination meter displays operating conditions in information display depending on received ALC system
display signal.

SYSTEM
Active Lane Control is turned ON Active Lane Control is operational or is operating A
JSOIA0809ZZ JSOIA0810ZZ
E
OPERATION AND CANCELLATION CONDITION
Operating condition Cancellation condition

Item F
(When all of the following conditions are satisfied) (When any of the following conditions is satisfied)
LDP system setting ON OFF
Active Lane Control setting ON OFF
G
Vehicle speed Approx. 70 km/h (45 MPH) or more Less than approx. 70 km/h (45 MPH)
Direct Adaptive Steering The control is admitted. The control is prohibited.
• Both side lane markers are being detected. H
Lane marker detection Both side lane markers are lost.
• Driving in lane
Road curvature Approx. R200 m (656 ft) or more Less than approx. R200 m (656 ft)
VDC, EBD, ABS Not operating Operating I
Lane camera temperature Normal High
VDC OFF switch OFF ON
J
Turn signal After 2 seconds or more from turned OFF Turned ON
NOTE:
• The effort of Active Lane Control gradually functions on approximately 80 km/h (50 MPH) from approxi- K
mately 70 km/h (45 MPH).
• When all of the above conditions are satisfied after cancellation again, the system will resume operation
automatically.
• Active Lane Control may not function properly, depending on the situation. Refer to DAS-728, "Precautions L
for Active Lane Control".
DAS

SYSTEM
SYSTEM DIAGRAM
JSOIA1036GB

SYSTEM

Lane camera
communi-
cation
B
nal
nal tuator.
D
ABS actuator F
and electric unit
(control unit)
Chassis control Vehicle speed signal (ABS) Receives wheel speeds of front wheels G
module Yaw rate signal Receives yaw rate acting on the vehicle
H
BCM I
Front wiper request signal
wiper
CAN com-
TCM Shift position signal Receives a selector lever position J
munication
CAN com-
munication
K
Display control CAN com- Receives a selection state of each item in
System selection signal
unit munication “Driver Assistance”
Chassis
ADAS control L
communi- LDP ON signal Receives an ON/OFF state of LDP
unit
cation
Drive mode se-
lect switch M
Steering angle Chassis Steering angle request signal Transmits steering angle request signal
main control communi- Steering reaction force request sig- Transmits steering reaction force request
module cation nal signal N
Receives a vehicle speed calculated by the
chassis control module
Chassis DAS
Lane camera Receives a snow mode signal selected in
Chassis control communi- Snow mode signal
unit the drive mode select switch.
module cation
Receives a turn indicator signal received
from BCM P
Transmits master warning signal to indi-
Master warning signal
Combination CAN com- cate.
meter munication Transmits a signal to display a state of the
ALC system display signal
system on the information display

SYSTEM
ACTIVE LANE CONTROL : Circuit Diagram INFOID:0000000012796559
MODELS WITH DIGITAL MOTION CONTROL
JSOIA2505GB

SYSTEM
MODELS WITHOUT DIGITAL MOTION CONTROL
A
DAS
JSOIA2507GB
P
ACTIVE LANE CONTROL : Fail-safe (Lane Camera Unit with DAST) INFOID:0000000013376196

Active Lane Control

SYSTEM
turned ON.
turned ON.
ACTIVE LANE CONTROL : Fail-Safe (Chassis Control Module) INFOID:0000000013508446

• LDW function
C1B92-00
• LDW function
• LDP function
• LDW function
• LDW function

SYSTEM
A
• LDW function B
C1B99-00
• LDP function
• Digital motion control function C
C1BA6-00
The following functions are suspended. D
C1BA7-00
• LDW function E
C1BAB-00
F
C1BAC-00
C1BAD-00 • LDP function G
C1BAE-00
C1BAF-00
• Blind spot intervention function H
C1BB3-00
• Active trace control function I
• LDP function
• Blind spot intervention function J
C1BB6-00
The following functions are suspended. K
• Active trace control function L
C1BB8-00
• LDP function
C1BBA-00
• Blind spot intervention function M
C1BBB-00
N
• LDW function DAS
C1BBD-00
• LDP function
• Digital motion control function P

SYSTEM
C1BBE-11
C1BBE-12
C1BBE-19
C1BBE-1D
C1BEE-39
C1BBF-12
C1BBF-19
C1BBF-1D
C1BBF-39
C1BBF-64
C1BC7-11
C1BC7-12
C1BC7-19
C1BC7-1D
C1BC7-39
C1BC8-12
C1BC8-19
C1BC8-1D
C1BC8-39
C1BC8-64
U1000-00
• LDW function
• LDP function
• LDP function
U1A35-00
• LDW function
• LDP function

OPERATION
OPERATION
A
ACTIVE LANE CONTROL
ACTIVE LANE CONTROL : Menu Displayed by Pressing Each Switch INFOID:0000000012796561
B
DESCRIPTION
Active Lane Control can be set to ON (enabled) or OFF (disabled) on the integral switch screen. in addition,
function level (low / high) can be set and it functions in “PERSONAL” with “Infiniti Drive Mode Selector”. C
• Low: Small steering feedback to aid lane tracking
• High: Additional steering feedback to aid lane tracking
D
Active Lane Control Infiniti Drive Mode Selector
Active Lane Control operation
(System setting) (Mode selection)
PERSONAL Low / High
ON E
Other than “PERSONAL” Low
OFF ALL OFF
NOTE: F
• When Lane departure prevention (LDP) is turned OFF, Active Lane Control is turned OFF automatically.
• Also, when Lane departure prevention (LDP) is canceled by the following conditions, Active Lane Control is
turned OFF automatically. G
- Camera high temperature
- Snow mode selection
- VDC/ABS operation
- VDC OFF H
On the integral switch screen
1. Push the MENU button and touch “Infiniti Drive Mode Selector” on the lower display.
I
2. Touch “Edit personal mode”.
3. Touch “Active Lane Control” and select “Low” or “High” to change the setting of Active Lane Control.
NOTE:
When “Lane Departure Prevention” is turned OFF, Active Lane Control is turned OFF automatically. J
DAS

HANDLING PRECAUTION
HANDLING PRECAUTION
Precautions for Active Lane Control INFOID:0000000012796562
LANE CAMERA UNIT HANDLING

To keep the proper operation of Active Lane Control and prevent a system malfunction, be sure to observe the
following:
• Do not attach a sticker (including transparent material) or install an accessory near the lane camera unit.
sunlight may adversely affect the lane camera unit capability of detecting the lane markers.
• Do not strike or damage the areas around the lane camera unit.
• Do not touch the camera lens.
• Do not remove the screw located on the lane camera unit.
ACTIVE LANE CONTROL
• If Active Lane Control malfunctions, it will cancel automatically. The chassis control warning will appear in
• Active Lane Control will not always steer the vehicle to keep it in the lane. It is not designed to prevent loss
of control. It is the driver’s responsibility to stay alert, drive safely, keep the vehicle in the traveling lane, and
be in control of vehicle at all times.
• Active Lane Control is primarily intended for use on well-developed freeways or highways. It may not detect
the lane markers for certain roads, weather or driving conditions.
• Using Active Lane Control under some conditions of road, lane marker or weather, or if driver attempt to
change lanes without using the lane change signal could lead to an unexpected system operation. In such
conditions, driver needs to correct the vehicle’s direction with driver’s steering operation to avoid accidents.
• Active Lane Control will not operate at speeds below approximately 70 km/h (45 MPH) or if it cannot detect
lane markers.
• Active Lane Control may not operate properly under the following conditions, and do not use Active Lane
Control:
- When driving in a makeshift or a temporary lane.
- When the vehicle is equipped with non-original steering parts or suspension parts.
• The functions of Active Lane Control may or may not operate properly under the following conditions:
etc.
lines remaining after road repairs (Active Lane Control could detect these items as lane markers.).
under a bridge.)
- When entering or exiting tollgates.
- When driving on roads with a widening or narrowing lane width.

A
CONSULT Function (LANE CAMERA) INFOID:0000000012796563
APPLICATION ITEMS B
Diagnosis mode Description C

Data Monitor Displays lane camera unit input/output data in real time D
CAN Diag Support Monitor Displays a reception/transmission state of chassis communication
E
WORK SUPPORT
Work support items Description F

SELF DIAGNOSTIC RESULT G

FREEZE FRAME DATA (FFD)
Lane camera unit records the following vehicle condition at the time a particular DTC is detected, and displays H
on CONSULT.
CONSULT screen item Indication/Unit Description I

NOTE:
Detailed Code —
Vehicle Speed km/h Vehicle speed of the moment a particular DTC is detected. J
Steering Pinion Angle deg Steering pinion angle of the moment a particular DTC is detected.
Market Information & Camera NOTE:
— K
Height The item is indicated, but not used.
Ambient Temperature & Snow NOTE:
—
Mode The item is indicated, but not used.
L
Image Processing Time m/s Image processing time of the moment a particular DTC is detected
Shutter Speed — Camera shutter speed of the moment a particular DTC is detected
DATA MONITOR M
NOTE:
to this vehicle, refer to CONSULT display items. N
Monitored item
Description
[Unit]
DAS
NOTE:
LDW SW PORT [On/Off]
NOTE:
LDP ON IND [On/Off] P
NOTE:
LANE DPRT W/L [On/Off]
CAM HIGH TEMP [NORMAL/HIGH] Displays status of lane camera unit high temperature judgment
Displays vehicle speed received from chassis control module via chas-
VHCL SPD SE [km/h] or [mph]
sis communication

Monitored item
Description
[Unit]
Displays status of “Turn signal” determined from chassis control module
TURN SIGNAL [Off, LH, RH, LH/RH]
via chassis communication
LANE DETCT LH [On/Off] Displays left side lane marker detection
LANE DETCT RH [On/Off] Displays right side lane marker detection
CROSS LANE LH [On/Off] Displays condition that the vehicle is crossing left lane marker
CROSS LANE RH [On/Off] Displays condition that the vehicle is crossing right lane marker
WARN LANE LH [On/Off] Displays warning for left lane marker
WARN LANE RH [On/Off] Displays warning for right lane marker
VALID POS LH [VLD/INVLD] Displays lateral position for left lane marker is valid
VALID POS RH [VLD/INVLD] Displays lateral position for right lane marker is valid
LATERL POS LH [m] Displays the distance from a lane camera to the left lane marker.
LATERL POS RH [m] Displays the distance from a lane camera to the right lane marker.
CURVATURE [1/m] Displays the road curvature that a lane camera detected.
LATERAL SPEED [m/s] Displays lateral speed for the lane of the vehicle.
YAW ANGLE [deg] Displays yaw angle for the lane of the vehicle.
NOTE:
CAM DTC CODE [—]
AIMING DONE [OK/NG] Displays status that camera aiming is done
AIMING RESULT [OK/NOK] Displays result of camera aiming
[TARGET / YAW / ROLL /
AIM NG REASON PITCH / IMAGE / LIGHT / Displays the reason that can not complete the camera aiming.
1-SIDE / OTHERS]
NOTE:
RUNTIME AIM [On/Off]
INITIALIZE [On/Off] Displays an initialization state of lane camera.
NOTE:
RUNTIME AIM OFFSET (YAW) [deg]
NOTE:
RUNTIME AIM WORK COND [NO-WRK/ GOOD]
NOTE:
RUNTIME AIM MEMORIZING [NO-WRIT/ WRITING]
NOTE:
XOFFSET [mm]
RUNTIME AIM OFF- NOTE:
[deg]
SET(PITCH) The item is indicated, but not used.
NOTE:
AIM CHECK YAW [deg]
NOTE:
AIM CHECK ROLL [deg]
NOTE:
AIM CHECK PITCH [deg]
NOTE:
FOE X [deg]
NOTE:
FOE Y [deg]
NOTE:
RUNTIME FOE X [deg]
NOTE:
RUNTIME FOE Y [deg]

Monitored item
Description
[Unit] A
FCTRY AIM YAW [deg] Displays check result of camera aiming
FCTRY AIM ROL [deg] Displays check result of camera aiming
B
FCTRY AIM PIT [deg] Displays check result of camera aiming
NOTE:
RUNTIME AIM COUNT [—]
C
NOTE:
ROM WRITING COUNT [—]
CAMERA START [START/COMP] Displays a start state of the lane camera.
D
GIVE UP [OK/NG] Displays a detection state of the lane marker.
READY [NOT/ COMP] Displays a controllable state.
[NONE / SOLID / E
DASHED /
MARK TYPE LH Displays the type of left side lane marker.
TAR / IRGLTY]
F
[NONE / SOLID /
DASHED /
MARK TYPE RH Displays the type of right side lane marker.
TAR / IRGLTY] G
CAMERA OFFSET HEIGHT
[mm] Displays camera height correction value (Dh).
(Dh)
TARGET HEIGHT (Ht) [mm] Displays height (Ht) of the aiming target. H
TARGET DISTANCE (Dt) [mm] Displays the distance (Dt) from front axle to a target.
DAS

APPLICATION ITEM

*
• DTC
ECU IDENTIFICATION


A
Off / P / R / N / D (A)
1 –M 8 / A 1 – A 6
STD / SPORT /
PERSO C
D
E
Off / LEFT / RIGHT
F
G
N
FORCE*1 Steering. H
ADAS COND
Off / LOW / HIGH /
WIPER STATUS*1 MALF
I

J
Non detection / De-
Non detection / De-
L
tection

N
DAS
Active 4 /Not con-
test 2 / Other con-
munication /
Control unit

DATA MONITOR
NOTE:
Item
Description
[Unit]
INPOSSI]
[Off / P / R / N / D (A) / S / L / B
/ 1– 6 / M 1 –M 8 / A 1 – A 6]
DRV TRQ CTRL MODE

Item
Description
[Unit] A
NOT SET]
GUEST] D
selector function.
COMBI METER
H
I
J
L
ATC DISP [Off / On]
ALC DISP [Off / On]
DAS
P
ing.

Item
Description
[Unit]
control unit.
ADAS control unit.
[NO / 1 / 2 / 3 / 1, 2 / 2, 3 / 1, 3
/ 4]
control unit.
OF]
BSI BRAKE CANCEL
temperature (LDW).
temperature (LDP)
CEL
LANE DEPARTURE DISP
(RH)

Item
Description
[Unit] A
B
D
ACTIVE TEST E
CAUTION:
NOTE:
I
L
N
trol module. DAS
On
On
combination meter.
ALC DISP
Off

On
meter.
FL TIRE DISP
Off
tion meter.
On
meter.
FR TIRE DISP
Off
nation meter.
On
meter.
RL TIRE DISP
Off
tion meter.
On
meter.
RR TIRE DISP
Off
tion meter.
NO DISP
nation meter.
TURN DISP LH
meter.
RH
meter.
LEVEL 1
ALC LEVEL
LEVEL 4
On
combination meter.
ALC SETTING
Off
On
ATC 1 DISP
Off
On
ATC 2 DISP
Off
On
ATC 4 DISP
Off
Soft
Hard
Soft
Hard

A
Soft
Hard B
Soft
Hard C
Soft
D
Hard
E
WORK SUPPORT

F
following systems
H
NOTE:
I
J

L
M
DAS
Lateral offset ×
value


OPE VDC/ABS 2 ×
system control
BSI) OPE VDC/TCS/
ABS 1
BSI) Departure yaw
large
BSI) Steering angle
large
clear
control


A
C
dition
D
NO RECORD × × —
After replacing ECU
module by hand. H
CAUTION:
I
DAS

LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [ACTIVE LANE CONTROL]

LANE CAMERA UNIT

NOTE:

NOTE:
LDW SW PORT —
NOTE:
LDP ON IND —
NOTE:
LANE DPRT W/L —
When the temperature around lane camera unit is adequate. NORMAL
CAM HIGH TEMP
When the temperature around the lane camera unit is high. High
Approximately equivalent to
speedometer reading
TURN SIGNAL
Left side lane marker is detected. On
LANE DETCT LH
Left side lane marker is not detected. Off
Right side lane marker is detected. On
LANE DETCT RH
Right side lane marker is not detected. Off
The vehicle is crossing left side lane marker. On
CROSS LANE LH
The vehicle is not crossing left side lane marker. Off
The vehicle is crossing right side lane marker. On
CROSS LANE RH
The vehicle is not crossing right side lane marker. Off
The vehicle is traveling on the left side lane marker. On
WARN LANE LH
The vehicle is traveling on the right side lane marker. On
WARN LANE RH
Lateral position for left side lane marker is valid VLD
VALID POS LH
Lateral position for left side lane marker is invalid. INVLD
Lateral position for right side lane marker is valid. VLD
VALID POS RH
Lateral position for right side lane marker is invalid. INVLD
LATERL POS LH Left side lane marker is detecting. lane camera to the left lane
marker.
LATERL POS RH Right side lane marker is detecting. lane camera to the right lane
marker.
Displays the road curvature
CURVATURE Lane marker is detecting.
that a lane camera detected.

LANE CAMERA UNIT
A
Displays lateral speed for the
LATERAL SPEED Lane marker is detecting.
Displays yaw angle for the
YAW ANGLE Lane marker is detecting. B
NOTE:
CAM DTC CODE
Camera aiming is completed. OK C
AIMING DONE
Camera aiming is not adjusted. NG
AIMING RESULT D
Camera aiming is not completed. NOK
No target is detected. TARGET
Yaw angle beyond the allowable range is detected. YAW E
Roll angle beyond the allowable range is detected. ROLL
Pitch angle beyond the allowable range is detected. PITCH
AIM NG REASON F
The target is unclear. IMAGE
Lighting is insufficient. LIGHT
One side target is not detected. 1-SIDE G
Other NG is detected. OTHERS
NOTE:
RUNTIME AIM — H
NOTE:
INITIALIZE —
NOTE: I
RUNTIME AIM OFFSET (YAW) —
NOTE:
RUNTIME AIM WORK COND —
The item is indicated, but not used. J
NOTE:
RUNTIME AIM MEMORIZING —
NOTE: K
XOFFSET —
NOTE:
RUNTIME AIM OFFSET(PITCH) —
The item is indicated, but not used. L
NOTE:
AIM CHECK YAW —
NOTE: M
AIM CHECK ROLL —
NOTE:
AIM CHECK PITCH —
The item is indicated, but not used. N
NOTE:
FOE X —
FOE Y
NOTE:
—
DAS
NOTE:
RUNTIME FOE X —
P
NOTE:
RUNTIME FOE Y —
FCTRY AIM YAW Camera aiming is completed. 0 ± 2.0 deg
FCTRY AIM ROL Camera aiming is completed. 0 ± 2.0 deg
FCTRY AIM PIT Camera aiming is completed. 0 ± 2.0 deg

LANE CAMERA UNIT
NOTE:
RUNTIME AIM COUNT —
NOTE:
ROM WRITING COUNT —
Lane camera unit is starting. START
CAMERA START
Lane camera unit starting is completed. COMP
Lane marker can be detected. OK
GIVE UP
Lane marker can not be detected. NG
Operating conditions are not satisfied. NOT
READY
Operating conditions are satisfied. COMP
Lane marker is not detected. NONE
Bott′s dots is detected. BOTT′s
MARK TYPE LH
Lane marker is not detected NONE
Bott′s dots is detected. BOTT′s
MARK TYPE RH
CAMERA OFFSET HEIGHT Displays camera height cor-
Camera aiming is completed.
(Dh) rection value (Dh).
Displays height (Ht) of the aim-
TARGET HEIGHT (Ht) Camera aiming is completed.
ing target.
Displays the distance (Dt) from
TARGET DISTANCE (Dt) Camera aiming is completed.
front axle to a target.
TERMINAL LAYOUT
JSOIA0232ZZ
PHYSICAL VALUES

LANE CAMERA UNIT
Terminal No. A
Description
(Wire color)
Input/
+ – Signal name
Output
B
1
(B)
4 C
CAN-H — — — —
(L)
5
(B)
D
7
(V)
8
CAN-L — — — — E
(W)
Fail-safe (Lane Camera Unit with DAST) INFOID:0000000012796566
F
Active Lane Control
If a malfunction occurs in the lane camera unit, chassis control module cancels control, and turns ON the G
H
I
Blind Spot Intervention J
TEMPORARY DISABLED STATUS AT HIGH TEMPERATURE K
automatically. And the LDW malfunction in information display. L
Lane Departure Prevention (LDP) M
• When interior temperature is reduced, the system will resume when dynamic driver assistance switch is N
turned ON.
• If the vehicle is parked in direct sunlight under high temperature conditions, the system may be deactivated DAS
turned ON.
P

LANE CAMERA UNIT

1
• C1B01: CAM AIMING INCMP
2
×: Applicable
Warning display Fail-safe

LDW system warning
LDP system warning
Active Lane Control

warning message
system warning
Chassis control
LDW/LDP
DTC
Reference
C1B00 CAMERA UNIT MALF ON ON ON ON × × × DAS-801

C1B01 CAM AIMING INCMP ON ON ON ON × × × DAS-802
Message Message Message
C1B03 ABNRML TEMP DETECT — ↓ ↓ ↓ × × × DAS-803
Blink OFF OFF
U1000 CAN COMM CIRCUIT ON ON ON ON × × × DAS-799
U1010 CONTROL UNIT (CAN) ON ON ON ON × × × DAS-800

A
CONSULT DATA MONITOR STANDARD VALUE B

NOTE:

IGN VOLT Ignition switch ON 10 − 16 V D
CONTROL MODULE MALF

When chassis control module malfunction is E
On
detected
Off
function is detected F
CAN DIAG STATUS
On
mal
STP LAMP OFF RELAY 1 Displayed but not used. — G
H
I
FR WHEEL SPEED
Vehicle stopped 0 rpm J
FL WHEEL SPEED
Vehicle stopped 0 rpm K
RR WHEEL SPEED
RL WHEEL SPEED L
STEERING ANG SENSOR When steering wheel is steered to RH by 90° Approx. +90 deg M
N
Vehicle stopped Approx. 0 G DAS
Vehicle stopped Approx. 0 deg/s P

When electric throttle control actuator is nor-
NORMAL
mal
is inaccurate)
THROTTLE CONTROL
vention)
INPOSSI
SHIFT POSITION Selector lever in any position Indicates selected selector lever position
BRAKE SWITCH 2
BRAKE SWITCH 1
When brake pedal is not depressed Approx. 0 bar
PRESS SENSOR
ABS
ABS MALF
EBD
ABNOR
ed
TCS
TCS MALF
VDC
VDC MALF
VDC OFF SWITCH
When parking brake is inactive Off
PARKING BRAKE
STOP 1
possible)
DRV TRQ CTRL MODE
STOP 2
sible)

A
PERMIS
ment)
NO PER B
quirement)
PERMIS
ment)
DRV TRQ CTRL PERMIS 2 C
NO PER
quirement)
DRV TRQ CTRL STOP D
When prohibition of correction is not requested NO REQ E
STD
DARD” mode
When drive mode select switch is “SPORT” F
SPORT
mode
SNOW
mode
G
SPORT+
mode H
PERSO
AL” mode
When drive mode select switch is not use NOT I
LOG-IN PERMIS J
I-KEY LINK
When Intelligent Key is linked On K
L
GUEST
user registration
M
SPORT
drive mode select switch is in “STANDARD” STD N
ECO
drive mode select switch is in “ECO” mode DAS
SNOW
When Active Lane Control setting with drive P
Off
ALC SETTING LOW
mode select switch is “LOW”
HIGH

Off
ATC SETTING
On
STD
DARD” mode
SNOW
mode
PERSO
AL” mode
SPORT
mode
When drive mode select switch is “ECO” mode ECO
ATC 1
ATC 2
ATC 4
DEF
FL TIRE DISP
1
When the front RH tire is not displayed on the
DEF
FR TIRE DISP
1
DEF
RL TIRE DISP
When the rear LH tire is displayed on the infor-
1
DEF
RR TIRE DISP
1
meter
TURN DISP LEFT
meter
1−4
operating.
ALC STATUS

A
ATC DISP
When the activation of active trace control B
When the activation of Active Lane Control is C
combination meter
ALC DISP
When the activation of Active Lane Control is D
combination meter
ALC SYSTEM E
LANE MARKER (LH)
when left side lane marker is detected. DETECT F
LANE MARKER (RH)
G
TURN SIGNAL (LH)
When turn signal lamps is OFF Off H
TURN SIGNAL (RH)
When turn signal lamp LH is blinking LEFT I
MALF J
detected.
Off
DAST K
On
L
Approx. 0 rad
the lane M
COMMAND ST ANG
Max 0.05 rad
Active Lane Control is active with yaw angle N
Max −0.05 rad
ST PINION ANG when steering wheel is steered to LH by 90° Approx. −1.6 rad
DAS

ST WHL FORCE TORQUE P

0 N·m
the lane
Approx. −6 N
vehicle is drifting to the left end of the lane
Approx. 6 N
LDW DISP
LDP DISP
BSI DISP When blind spot intervention function malfunc-
MALF
tion is detected
When BSW function is normal NORMAL
BSW COND
ADAS COND
When ADAS control malfunction is detected ABNOR
COLLISION WARN
ICC ACTTIVE
When forward emergency brake function is in-
Off
active
IBA ACTIVE
On
tive
LDW COND
LDP COND
MALF
tion is detected
SNOW
mode

A
SNOW B
mode
When Lane camera unit is normal NORMAL C
ABNOR
ed.
When the temperature around lane camera D
NORMAL
unit is normal
CAMERA TEMP COND
ABNOR
unit is high E
NORMAL
CAMERA COMM COND When communication between chassis control F
detected
CAMERA AIMING G
NORMAL
unit is normal. (LDW ON) H
ABNOR
When the temperature around lane camera I
NORMAL
ABNOR
unit is high. (LDP ON) J
NORMAL
When the temperature around the lane camera K
ABNOR
SIDE RADAR BLOCK CANCEL Side radar is blocked and temporarily deacti- L
BLOCK
vated.
Off
inactive M
BSI LAMP REQ (LH)
On
active
When blind spot intervention function (RH) is N
Off
inactive
BSI LAMP REQ (RH)
On
active
DAS
When not deviating the RH side lane NO DISP P
When LDP function and blind spot intervention
Off
LDP/BSI ACTIVE
On
function are active

ABNOR
tion is detected
ABNOR
detected
LOW
WIPER STATUS tent)
Engine rpm
Engine running Almost sase reading as tachometer
Approx. 0.38 A
When select the “Medium” “FR shock absorb-
Approx. 1.15 A
Approx. 0.38 A
Approx. 1.15 A
Approx. 0.38 A
RR shock ab drive current Approx. 0.85 A
Approx. 1.15 A
Approx. 0.38 A
Approx. 1.15 A
On
celed
On
celed
On
celed

A
Approx. 0.38 A
FR shock ab command current Approx. 0.85 A B
Approx. 1.15 A
When select the “Soft” in “FL shock absorber” C
Approx. 0.38 A
sorber” of “ACTIVE TEST” D
Approx. 1.15 A
When select the “Soft” in “RR shock absorber” E
Approx. 0.38 A
sorber” of “ACTIVE TEST” F
Approx. 1.15 A
When select the “Soft” in “RL shock absorber” G
Approx. 0.38 A
sorber” of “ACTIVE TEST” H
Approx. 1.15 A
*: Check tire pressure under normal conditions. I
TERMINAL LAYOUT
Models with Digital Motion Control J
JSOIA2397ZZ M

N
DAS
JSOIA1076ZZ
PHYSICAL VALUES

Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ − Signal name
Output
1
— ACTUATOR (FL)-L — — — —
(LG)
3
(BR)
4
(BG)
5
(W)
Ignition
6
(B)
ON
8
(L)*1
6.4 − 16 V
(Y)*1 ON Down switch is pressed 0V
10
(L)
12
(G)

(G)
14
(L)
15
(Y)
17
— ACTUATOR (FL)-H — — — —
(V)
19
(L)
21
(W)
22
ON
Ignition
23
(B)
ON
24
(P)*4
25
(G)
26
(V)
28
(R)

*3: With Gateway A
*4: Without Gateway
B
Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.) C
+ − Signal name
Output
3
(R)*1 Ground CAN-L — — — — D
(P)*2
4
(L) E
(Y)*4 F
6.4 − 16 V
(G)*4 ON Down switch is pressed 0V G
7
(W)
8 H
(W)
10
(G)*3 Ground IGNITION POWER SUPPLY Input Ignition switch ON 6.4 − 16 V I
(BG)*4
11
(L) J
12 Ignition
(B/W)*4 ON K
19
(L)*4 L
23*5
M
(R)*4
*1: With Gateway
*2: Without Gateway
N
*4: 2.0L turbo gasoline engine models
DAS
is displayed on the information display of the combination meter. P

• LDW function

C1B92-00
• LDW function
• LDP function
• LDW function
• LDW function
• LDW function
C1B99-00
• LDP function
C1BA6-00
C1BA7-00
• LDW function
C1BAB-00
C1BAC-00
C1BAE-00
C1BAF-00
C1BB3-00
• LDP function
C1BB6-00
C1BB8-00
• LDP function
C1BBA-00
C1BBB-00

A
• Active lane control function B
• LDW function
C1BBD-00
• LDP function
C
C1BBE-11
D
C1BBE-12
C1BBE-19
C1BBE-1D E
C1BEE-39
C1BBF-11 • Digital motion control function F
C1BBF-12
C1BBF-19
G
C1BBF-1D
C1BBF-39
C1BBF-64 H
C1BC1-00 • Active lane control function I
C1BC7-11
C1BC7-12
J
C1BC7-19
C1BC7-1D
C1BC7-39 K
C1BC8-12
L
C1BC8-19
C1BC8-1D
M
C1BC8-39
C1BC8-64
U1000-00
• LDW function
• LDP function
DAS
U1010-49 • Active trace control function P
• LDP function

U1A35-00
• LDW function
• LDP function
list.

• U1000-00 CAN COMM CIRCUIT
1
2 • U1A35-00 BRAKE CONTROL COMM
4

A
5
• C1BB2-00 CONTROL MODULE B
6
C
• C1BBB-00 CONTROL MODULE D

E

C1B90-00 DAST SYSTEM DAS-580, "DTC Description" F
G
C1B96-00 ADAS SYSTEM DAS-590, "DTC Description" H
I
C1BA7-00 ALC SYSTEM DAS-595, "DTC Description"
C1BAA-00 GEAR POSITION DAS-599, "DTC Description" J
C1BAD-00 ACCELERATER PEDAL DAS-605, "DTC Description" K
C1BAF-00 BSW SYSTEM DAS-609, "DTC Description" L
C1BB3-00 CONTROL MODULE DAS-613, "DTC Description" M
N
C1BB8-00 CONTROL MODULE DAS-624, "DTC Description" DAS
P

C1BC0-00 FR WHEEL SENSOR DAS-664, "DTC Description"

ACTIVE LANE CONTROL WITH DIGITAL MOTION CONTROL
< WIRING DIAGRAM > [ACTIVE LANE CONTROL]
WIRING DIAGRAM A
B
DAS
JROWC8820GB

JROWC8821GB

DAS
JROWC8822GB

JROWC8823GB

DAS
JROWC8824GB

JROWC8825GB

DAS
JROWC8826GB

JROWC8827GB

DAS
JROWC8828GB

JROWC8829GB

ACTIVE LANE CONTROL WITHOUT DIGITAL MOTION CONTROL
A
DAS
P
JROWC8830GB

JROWC8831GB

DAS
JROWC8832GB

JROWC8833GB

DAS
JROWC8834GB

JROWC8835GB

DAS
JROWC8836GB

JROWC8837GB

DAS
JROWC8838GB

JROWC8839GB

< BASIC INSPECTION > [ACTIVE LANE CONTROL]
BASIC INSPECTION A
B
OVERALL SEQUENCE
C
DAS
P
JSOIA0499GB
DETAILED FLOW
1.INTERVIEW FOR MALFUNCTION
Interview the customer to obtain information about symptoms using “Diagnostic Work Sheet”. (Refer to DAS-
785, "Diagnostic Work Sheet".)
NOTE:

The customers are not professionals. Never assume that “maybe the customer means···” or “maybe the cus-
tomer mentioned this symptom”.
>> GO TO 2.
2.SELF-DIAGNOSIS WITH CONSULT
2. Check if the DTC is detected on the self-diagnosis results of following.
- “LANE CAMERA”
YES >> GO TO 5.
NO >> GO TO 3.
3.PRE-INSPECTION FOR DIAGNOSIS
Perform pre-inspection for diagnosis. Refer to DAS-787, "Inspection Procedure".
>> GO TO 4.
4.ACTION TEST
Perform Active Lane Control action test to check the operation status. Refer to DAS-788, "Description".
>> GO TO 6.
5.TROUBLE DIAGNOSIS BY DTC
1. Check the DTC in the self-diagnosis results.
2. Perform trouble diagnosis for the detected DTC following.
- “CHASSIS CONTROL”: Refer to DAS-746, "DTC Index".
- “LANE CAMERA”: Refer to DAS-746, "DTC Index".
NOTE:
If “DTC: U1000” is detected, first diagnose the CAN communication system, chassis communication system or
ITS communication system.
>> GO TO 7.
6.SYMPTOM DIAGNOSIS
Perform symptom diagnosis. Specify malfunctioning part. Refer to DAS-804, "Symptom Table".
>> GO TO 7.
7.MALFUNCTION PART REPAIR
Repair or replace the identified malfunctioning parts.
>> GO TO 8.
8.REPAIR CHECK (SELF-DIAGNOSIS WITH CONSULT)
1. Erases self-diagnosis results.
2. Perform “All DTC Reading” again after repairing or replacing the specific items.
3. Check if any DTC is detected in self-diagnosis results of following.
- “LANE CAMERA”
YES >> GO TO 5.
NO >> GO TO 9.
9.REPAIR CHECK (ACTION TEST)
1. Perform the action test. Refer to DAS-788, "Description".

2. Check that the malfunction symptom is solved or no other symptoms occur.
Is there a malfunction symptom? A
YES >> GO TO 4.
B
Diagnostic Work Sheet INFOID:0000000012796575
DESCRIPTION
C
In general, each customer feels differently about an incident. It is important to fully understand the symptoms
or conditions for a customer complaint.
There are many operating conditions that lead to the malfunction. A good grasp of such conditions can make
troubleshooting faster and more accurate. D
Some conditions may cause the lane departure warning lamp to stay ON.
Utilize a work sheet sample to organize all of the information for troubleshooting.
E
KEY POINTS
• WHAT..... System and functions
• WHEN..... Date, Frequencies
• WHERE..... Road conditions F
• HOW..... Operating conditions, Symptoms
DAS

WORK SHEET SAMPLE
JSOIA2444GB

A
Inspection Procedure INFOID:0000000012796576
1.CHECK WINDSHIELD B
Is windshield contaminated with foreign materials?

C
YES >> Clean windshield.
NO >> GO TO 2.
2.CHECK VEHICLE HEIGHT D
Check vehicle height. Refer to FSU-47, "Wheelarch Height" (2WD) or FSU-74, "Wheelarch Height" (AWD).
Is vehicle height appropriate?
YES >> INSPECTION END E
NO >> Repair vehicle to appropriate height.
DAS

ACTION TEST
ACTION TEST
• Perform action test to verify the customer's concern.

• Perform action test and check the system operation after system diagnosis.
WARNING:
CAUTION:
- System description for Active Lane Control: Refer to DAS-718, "ACTIVE LANE CONTROL : System
Description".
- Handling precaution: Refer to DAS-728, "Precautions for Active Lane Control".
Inspection Procedure INFOID:0000000012796578
WARNING:
CAUTION:
- System description for Active Lane Control: Refer to DAS-718, "ACTIVE LANE CONTROL : System
Description".
- Handling precaution: Refer to DAS-728, "Precautions for Active Lane Control".
1.CHECK ACTIVE LANE CONTROL SETTING
2. Check that the Active Lane Control setting can be enabled/disabled on the integral switch screen.
>> GO TO 2.
2.ACTION TEST FOR ACTIVE LANE CONTROL
1. Enable the setting of the Active Lane Control on the integral switch screen.
2. Enable the setting of the “Chassis Control” display in the vehicle information display on the integral switch
screen.
3. Select the “Chassis Control” display on the vehicle information display.
4. Turn dynamic driver assistance switch ON (LDP system is ON).
5. Check that the Active Lane Control operating according to the following table.
NOTE:
For the operating conditions, refer to DAS-718, "ACTIVE LANE CONTROL : System Description".

ACTION TEST
Vehicle condition Active Lane Control Indication on the combination meter A
— OFF
C
D
JSOIA0806ZZ
F
Operating conditions are not
Active Lane Control is turned ON
satisfied
JSOIA0809ZZ
H
Operating conditions are satis- Active Lane Control is operational

fied or is operating J
K
JSOIA0810ZZ
Does it operate normally?

L
NO >> Perform symptom diagnosis. Specify malfunctioning part. Refer to DAS-804, "Symptom Table".
DAS

Always adjust the camera aiming after removing and installing or replacing the lane camera unit.
CAUTION:
The system does not operate normally unless the camera aiming adjustment is performed. Always
perform it.

Perform the camera aiming adjustment with CONSULT. Refer to DAS-791, "Description".
>> GO TO 2.
Perform the self-diagnosis of lane camera unit with CONSULT. Check if any DTC is detected.
YES >> Perform the trouble diagnosis for the detected DTC. Refer to DAS-746, "DTC Index".
NO >> GO TO 3.
3.ACTIVE LANE CONTROL ACTION TEST
1. Perform the Active Lane Control action test. Refer to DAS-788, "Description".
2. Check that the Active Lane Control operates normally.
>> WORK END

A
Always adjust the camera aiming after removing and installing or replacing the lane camera unit. B
CAUTION:
• Place the vehicle on level ground when the camera aiming adjustment is operated.
• Be sure to place the target correctly according to work procedures because the system may not
operate normally. C
• Follow the CONSULT when performing the camera aiming. (Camera aiming adjustment cannot be
operated without CONSULT.)
D
Work Procedure (Preparation) INFOID:0000000012796582
E
Perform self-diagnosis of chassis control module and lane camera unit.
Except “C1B01”>>Perform diagnosis on the detected DTC and repair or replace the applicable item. Refer to F
DAS-746, "DTC Index" (LANE CAMERA).
“C1B01” or no DTC>>GO TO 2.
2.PREPARATION BEFORE CAMERA AIMING ADJUSTMENT G
1. Perform pre-inspection for diagnosis. Refer to DAS-787, "Inspection Procedure".
2. Adjust the tire pressure to the specified pressure value.
3. Maintain no-load in vehicle. H
4. Check if coolant and engine oil are filled up to correct level and fuel tank is full.
5. Shift the selector lever to “P” position and release the parking brake.
6. Clean the windshield.
7. Completely clear off the instrument panel. I
NOTE:
If any fixed object is put on instrument panel, cover the upper of the instrument panel with black cloth to
prevent an object from reflecting in the windshield. J
>> GO TO 3.
3. PREPARATION OF AIMING ADJUSTMENT JIG K
Prepare the aiming adjustment jig according to the following procedure and the figure.
1. Print out the target mark attached in this service manual. Refer to DAS-796, "Work Procedure (Target L
Mark Sample)".
2. Stick a printed target mark on the board with a scotch tape or a piece of double-sided tape.
CAUTION:
• Be sure to measure dimensions correctly and make adjustment jig because the system may not M
operate normally.
• Use the board that peripheral area of the target is monochrome such as a white-board.
• Notice that the cross of the target is horizontal and vertical. N
• Notice that the target board is vertical on the ground.
DAS

JPOIA0011ZZ
1. Board 2. String 3. Cone

: Target mark
Diameter of a target (D) : 200 mm (7.87 in)

Height of a target center (H) : 1450 mm (57.09 in)
Width between a right target cen- : 600 mm (23.62 in)
ter from a left target center (W)
>> Proceed to DAS-792, "Work Procedure (Target Setting)".

Work Procedure (Target Setting) INFOID:0000000012796583
CAUTION:
• Be sure to place the target correctly according to work procedures because the system may not
operate normally.
• Perform this operation in a horizontal position where there is a clear view for 5 m (16.4 ft) forward
and 3 m (9.84 ft) wide.
• Place the target in a well-lighted location. (Poor lighting may make it hard to adjust.)
• The target may not be detected when there is a light source within 1.5 m (4.92 ft) from either side and
within 1 m (3.28 ft) upward/downward from the target.
• Check the location of the sun. (Sunlight should not shine directly on the front of the vehicle.)
• The target may not be detected when there is the same pattern of black and white as the target when
the pattern is within 1 m (3.28 ft) from either side and upward/downward position from the target. (It
is desirable that the vehicle is positioned on the opposite side of a single-color wall.)
1.TARGET SETTING

JSOIA1042GB F
– ( – ) : 3850 mm (151.57 in)

G
1. Lengthen straight a measuring tape as follows. And then fix it with tapes.
- A measuring tape contacts with the side of the front left side tire from rear left side tire.
- A measuring tape lengthens approximately 4 m (13.12 ft) or more from the front end of vehicle.
H
NOTE:
Use the steel tape measure which can measure 10m (32.81 ft) or more
2. Mark point on a measuring tape. Hang a string with a cone
from the fender so as to pass through the center of wheel, and I
then mark a point at the center of the lateral surface of the
wheel.
3. Mark point on a measuring tape at the positions 3850 mm J
(151.57 in) from point .
4. Remove a measuring tape.
CAUTION:
Be careful so that a marking point is not changed. K
JSOIA1043GB
L
5. Lengthen straight a measuring tape as follows. And then fix it with tapes.
- A measuring tape contacts with the side of the front right side tire from rear right side tire.
- A measuring tape lengthens approximately 4 m (13.12 ft) or more from the front end of vehicle. M
NOTE:
Use the steel tape measure which can measure 10m (32.81 ft) or more
6. Mark point on a measuring tape. Hang a string with a cone N
from the fender so as to pass through the center of wheel, and
then mark a point at the center of the lateral surface of the
wheel.
7. Mark point on a measuring tape at the positions 3850 mm DAS
(151.57 in) from point .
CAUTION: P
Be careful so that a marking point is not changed.
JSOIA1044GB
9. Lengthen straight a measuring tape passing through the points and on the front side of vehicle. And
then fix it with tapes.
10. Mark point at the center of point and on a measuring tape.

CAUTION:
Make sure that to is equal to to .
CAUTION:
Be careful so that a marking point is not changed.
12. Position the center of the right target to point of .
CAUTION:
• Be sure to place the board that the cross of the target is
horizontal and vertical.
• Fix point with a cone that hung down from the right
side target.
>> Proceed to DAS-794, "Work Procedure (Camera Aiming

Adjustment)".
JSOIA1045GB
Work Procedure (Camera Aiming Adjustment) INFOID:0000000012796584
CAUTION:
Perform the adjustment under unloaded vehicle condition.
1.CHECK VEHICLE HEIGHT
Measure both side of front wheelarch height (Hf). Then calculate
“Dh”.
• 2.0L turbo gasoline engine models and VR30DDTT (turbo high
pressure) engine models
Dh [mm] = (Hfl + Hfr) ÷ 2 − 710

where,
Hfr: Front right wheelarch height [mm]
• VR30DDTT (turbo low pressure) engine models JSOIA1046GB
Dh [mm] = (Hfl + Hfr) ÷ 2 − 711

where,
Hfr: Front right wheelarch height [mm]
CAUTION:
Be sure to measure wheelarch height correctly.
NOTE:
“Dh” may be calculated as a minus value.
>> GO TO 2.
With CONSULT
CAUTION:
Operate CONSULT outside the vehicle, and close all the doors. (To retain vehicle attitude appropri-
ately)
1. Select “Work Support” on “LANE CAMERA” with CONSULT.
2. Select “AUTO AIM”.
3. Confirm the following items;
- The target should be accurately placed.
- The vehicle should be stopped.
4. Select “Start” to perform camera aiming.
CAUTION:

• Never select “Start” when the target is not accurately placed.
• Wait 5 seconds or more after selecting “Start”. A
5. Input “Dh”, and then select “Start”.
CAUTION:
Never change “Ht” and “Dt”.
B
6. Confirm the displayed item.
Is “Normally Completed” displayed?
YES >> Select “End” to close the aiming adjustment procedure. Then GO TO 4.
C
NO >> GO TO 3.
3.INCOMPLETE CAUSE CONFIRMATION
Perform the following services according to the displayed message. D
Displayed message Possible cause Service procedure

• Temporary malfunction in internal E
Aiming was not able to be performed normally. Position the target appropriately again.
processing of the lane camera unit.
Perform the aiming again. Then perform the aiming again.
• Lane camera unit malfunction.
• Temporary malfunction in internal F
Position the target appropriately again.
00H Routine not activated processing of the lane camera unit.
Then perform the aiming again.
• Temporary malfunction in internal
Writing error is detected.
processing of the lane camera unit.
Position the target appropriately again. G
Perform the aiming again. Then perform the aiming again.
Perform diagnosis on the detected DTC
DTC is detected. Any DTC is detected. H
and repair or replace the applicable
Perform self diagnosis. (Except C1B01)
item. Refer to DAS-746, "DTC Index".
Lane camera unit cannot detect the tar-
No target is detected.
get. Position the target appropriately again. I
• The target is not placed correctly. Then perform the aiming again.
Perform the aiming again.
• The target is not placed yet.
Aiming yaw angle is out of range.
J
Yaw angle beyond the allowable range is detected. • The target is not placed correctly.
Check the possible cause and correct it.
Correct the possible cause. • The position of the lane camera unit is
Then perform the aiming again
Perform the aiming again. not correct.
• Inappropriate vehicle condition. K
Aiming roll angle is out of range.
Roll angle beyond the allowable range is detected. • The target is not placed correctly.
Then perform the aiming again L
Aiming pitch angle is out of range.
Pitch angle beyond the allowable range is detected. • The target is not placed correctly. M
N
The target image is not clear.
• The windshield is not clean.
The target is unclear. • The camera lens is not clean.
Correct the possible cause. • The target is not clean. DAS
Perform the aiming again. • Reflective materials, such as white
paper or a mirror are placed on the in-
strument panel.
P
Lighting is insufficient. Light the target up.
Lighting around the target is insufficient.
Light the target up.Perform the aiming again. Then perform the aiming again.
One side target is not detected. Lane camera unit cannot detect the
Position the target appropriately again. both side target.
Then perform the aiming again.
Perform the aiming again. • The target is not placed correctly.
Other NG is detected. Temporary malfunction in internal pro-
Perform the aiming again.
Perform the aiming again. cessing of the lane camera unit.

NOTE:
Replace camera unit if “00H Routine not activated” or “Writing error is detected.” are repeatedly indicated dur-
ing the above two services are performed.
>> Correct the displayed possible cause. Then perform the aiming again. Refer to DAS-792, "Work
Procedure (Target Setting)". or GO TO 2.
With CONSULT
Perform self-diagnosis of lane camera unit with CONSULT.
YES >> Perform diagnosis on the detected DTC and repair or replace the applicable item. Refer to DAS-
746, "DTC Index".
NO >> WORK END
Work Procedure (Target Mark Sample) INFOID:0000000012796585
NOTE:

Print this illustration so that the diameter of the circle is 200 mm (7.87 in).
A
DAS
PGIA0105J

< DTC/CIRCUIT DIAGNOSIS > [ACTIVE LANE CONTROL]
DTC/CIRCUIT DIAGNOSIS
LANE CAMERA UNIT
1.CHECK FUSES

YES >> GO TO 2.
2.CHECK LANE CAMERA UNIT POWER SUPPLY CIRCUIT
Check voltage between lane camera unit harness connector and ground.
Terminal
Condition
(+) (–) Voltage
Lane camera unit (Approx.)
Ignition
Ground
OFF 0V
R13 7
ON Battery voltage
YES >> GO TO 3.
NO >> Repair the lane camera unit power supply circuit.
3.CHECK LANE CAMERA UNIT GROUND CIRCUIT
2. Disconnect the lane camera unit connector.
3. Check for continuity between lane camera unit harness connector and ground.
Lane camera unit

Continuity
Connector Terminal
Ground
1
R13 Existed
5
NO >> Repair the lane camera unit ground circuit.

A
Display Item
CAN COMM CIRCUIT When chassis communication signal is not continuously transmitted or received for 2
U1000
(CAN communication circuit) seconds or more.
POSSIBLE CAUSE D
• Chassis communication system
FAIL-SAFE
E
• Active Lane Control
• Lane Departure Prevention (LDP) F
G
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
1. Turn the ignition switch OFF to ON. J
CAUTION:
2. Perform self-diagnosis for “LANE CAMERA”.
Is DTC “U1000” detected? K
Perform the Chassis communication (CAN communication) system trouble diagnosis. Then repair or replace M
the malfunctioning parts.
N
DAS

DTC DETECTION LOGIC
Display Item
CONTROL UNIT (CAN)
U1010 When detecting error during the initial diagnosis of CAN controller of lane camera unit.
POSSIBLE CAUSE
• Lane camera unit
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
CAUTION:
2. Perform self-diagnosis for “LANE CAMERA”.
Is DTC “U1010” detected?

ERA”.

A
Display Item
CAMERA UNIT MALF
C1B00 If lane camera unit is malfunctioning
(Lane camera unit malfunction)
D
POSSIBLE CAUSE
• Lane camera unit
FAIL-SAFE E
With CONSULT
1. Start the engine. H
ERA”. I
NO >> INSPECTION END J
1.CHECK SELF-DIAGNOSIS RESULTS K
Check if any DTC other than “C1B00” is detected in “Self Diagnostic Result” of “LANE CAMERA”.
Is any DTC detected? L
M
DAS

DTC DETECTION LOGIC
Display Item
CAM AIMING INCMP
C1B01 Camera aiming is not completed
(Camera aiming incomplete)
POSSIBLE CAUSE
• Lane camera aiming is not completed
• Lane camera aiming adjustment has been interrupted
FAIL-SAFE
ERA”.

1. Perform the camera aiming. Refer to DAS-791, "Description".

A
Display Item
ABNRML TEMP DETECT
C1B03 Temperature around lane camera unit is excessively high
(Abnormal temperature detected)
D
POSSIBLE CAUSE
• Interior room temperature is excessively high
FAIL-SAFE E
G
1.COOLING LANE CAMERA UNIT

1. Wait for 10 minutes or more to cool the lane camera unit. H
2. Erase All self-diagnosis results with CONSULT.
I
NO >> INSPECTION END J
DAS

ACTIVE LANE CONTROL
< SYMPTOM DIAGNOSIS > [ACTIVE LANE CONTROL]
SYMPTOM DIAGNOSIS
ACTIVE LANE CONTROL
Symptom Table INFOID:0000000012796597
NOTE:
• For the operational conditions of Active Lane Control, refer to DAS-718, "ACTIVE LANE CONTROL : Sys-
tem Description".
• Perform the self-diagnosis with CONSULT before the symptom diagnosis. Perform the trouble diagnosis if
any DTC is detected.
Symptom Possible cause Inspection item

Lane marker detecting condi- System is normally. Confirm the
tion using situation of the customer.
(Certain roads, weather or Refer to DAS-728, "Precautions
driving conditions.) for Active Lane Control".
The vehicle wanders.
• Road wheel tire condition
is abnormal
Check the road wheel tire.
• Road wheel tire size is ab-
normal.
• Wheel alignment
Hard to drive along a Symptom diagnosis
• Direct Adaptive Steering
traffic lane during the “THE VEHICLE PULLS TO ONE
Continuously malfunction
use of Active Lane Con- SIDE”
• Lane camera unit installa-
trol. The vehicle pulls to Refer to DAS-806, "Description".
tion condition
one direction.
Temporarily
Function is not smooth
When changing the Confirm the operating condition.
traveling lane. Refer to DAS-718, "ACTIVE
Operation condition
(Turn signal is not LANE CONTROL : System De-
used.) scription".
Confirm the operating condition.
Increase in steer- After the use of turn Refer to DAS-718, "ACTIVE
Operation condition
ing effort signal LANE CONTROL : System De-
scription".
Steering effort fluctu-
ates during Active Lane Other than above
Control.
Steering effort fluctuates abruptly.
Steering effort is not smooth.

ACTIVE LANE CONTROL
Symptom Possible cause Inspection item
A
Turn on Active Lane Control.
Check the settings of Active Lane
Control.
Active Lane Control is not turned on. Active Lane Control settings. Refer to DAS-727, "ACTIVE B
LANE CONTROL : Menu Dis-
played by Pressing Each
Switch".
Show Active Lane Control indica-
C
tion on the vehicle information
display.
Active Lane Control indication is not dis- Vehicle information display
Refer to DAS-523, "INFORMA- D
played on the vehicle information display. (combination meter) settings.
TION DISPLAY (COMBINATION
METER) : Chassis Control Dis-
play".
System is normal. Ask the cus- E
Lane marker detecting condi- tomer for the status of use.
tion. Refer to DAS-807, "ACTIVE
Not sure if Active Lane
LANE CONTROL : Description".
Control is functioning or F
not. Check the operating conditions.
Refer to DAS-718, "ACTIVE
Low vehicle speed.
LANE CONTROL : System De-
Not functioning adequately. scription". G
Change the operation level of Ac-
tive Lane Control to “HIGH”, and
change the drive mode to “PER- H
Active Lane Control settings. SONAL”. Refer to DAS-727,
"ACTIVE LANE CONTROL :
Menu Displayed by Pressing
Each Switch". I
Check the operating conditions.
Operating conditions are not Refer to DAS-718, "ACTIVE
Active Lane Control indication does not satisfied. LANE CONTROL : System De- J
change to ON state for a long time. scription".
Lane camera unit is not cor- Adjust camera aiming. Refer to
rectly adjusted. DAS-791, "Description".
K
DAS

THE VEHICLE PULLS TO ONE SIDE
THE VEHICLE PULLS TO ONE SIDE
The vehicle pulls to one side continuously during traveling straight

NOTE:
• For the operational conditions of Active Lane Control, refer to DAS-718, "ACTIVE LANE CONTROL : Sys-
tem Description".
• For the handling precautions of Active Lane Control, refer to DAS-728, "Precautions for Active Lane Con-
trol".
1.DIRECT ADAPTIVE STEERING INSPECTION

1. Turn Active Lane Control OFF.
2. Perform symptom diagnosis for “the vehicle does not pull to one direction” and/or “steering wheel is off-
center” based on Direct Adaptive Steering symptom table. Refer to STC-473, "Symptom Table".
>> INSPECTION END

A
ACTIVE LANE CONTROL
ACTIVE LANE CONTROL : Description INFOID:0000000012796600
B
• If Active Lane Control malfunctions, it will cancel automatically. The chassis control warning will appear in
• Active Lane Control will not always steer the vehicle to keep it in the lane. It is not designed to prevent loss C
of control. It is the driver’s responsibility to stay alert, drive safely, keep the vehicle in the traveling lane, and
be in control of vehicle at all times.
• Active Lane Control is primarily intended for use on well-developed freeways or highways. It may not detect
the lane markers for certain roads, weather or driving conditions. D
• Using Active Lane Control under some conditions of road, lane marker or weather, or if driver attempt to
change lanes without using the lane change signal could lead to an unexpected system operation. In such
conditions, driver needs to correct the vehicle’s direction with driver’s steering operation to avoid accidents. E
• Active Lane Control will not operate at speeds below approximately 70 km/h (45 MPH) or if it cannot detect
lane markers.
• Active Lane Control may not operate properly under the following conditions, and do not use Active Lane
Control: F
- When driving on winding or uneven roads. G
- When driving in a makeshift or a temporary lane.
H
- When the vehicle is equipped with non-original steering parts or suspension parts.
• The functions of Active Lane Control may or may not operate properly under the following conditions: I
etc. J
lines remaining after road repairs (Active Lane Control could detect these items as lane markers.). K
- When traveling close to the vehicle in front of driver, which obstructs the lane camera unit detection range. L
cle at sunrise or sunset.) M
under a bridge.)
- When entering or exiting tollgates. N
- When driving on roads with a widening or narrowing lane width.
DAS

LANE CAMERA UNIT
< REMOVAL AND INSTALLATION > [ACTIVE LANE CONTROL]

LANE CAMERA UNIT
JSOIA0841GB
Lane camera unit Lane camera unit harness connector
REMOVAL
1. Remove headlining assembly. Refer to INT-46, "Removal and Installation".
2. Remove the bolts.
3. Remove lane camera unit.
INSTALLATION
CAUTION:
• Remove the camera lens cap for replacement.
• Never give an impact to the lane camera unit.
• Perform the camera aiming every time the lane camera unit is removed and installed. Refer to DAS-
791, "Work Procedure (Preparation)".

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CRUISE CONTROL & DRIVER ASSISTANCE

Revision: November 2016 DAS-1 2016 Q50

Revision: November 2016 DAS-2 2016 Q50

U150B ECM CAN 3 .......................................... 178 Diagnosis Procedure ............................................. 194

Revision: November 2016 DAS-3 2016 Q50

U1523 SONAR CAN 3 ..................................... 203 COMPONENT PARTS ...................................... 219

Revision: November 2016 DAS-4 2016 Q50

Revision: November 2016 DAS-5 2016 Q50

BASIC INSPECTION .................................. 423 DTC/CIRCUIT DIAGNOSIS ....................... 443

ADDITIONAL SERVICE WHEN REPLACING LANE CAMERA UNIT ............................................. 444

Revision: November 2016 DAS-6 2016 Q50

Revision: November 2016 DAS-7 2016 Q50

Revision: November 2016 DAS-8 2016 Q50

C1BA9-00 NP RANGE .................................... 597 C1BB8-00 CONTROL MODULE ...................... 624

C1BAD-00 ACCELERATOR PEDAL SYS- C1BBC-00 CONTROL MODULE ..................... 628

Revision: November 2016 DAS-10 2016 Q50

Revision: November 2016 DAS-11 2016 Q50

Revision: November 2016 DAS-12 2016 Q50

Revision: November 2016 DAS-13 2016 Q50

When disconnecting the battery terminal, pay attention to the following.

BR08DE : 4 minutes V9X engine : 4 minutes

Revision: November 2016 DAS-14 2016 Q50

• Bypass connection is never allowed at the repaired area. I

Revision: November 2016 DAS-15 2016 Q50

Trunk side of rear parcel shelf

No. Component Description

ADAS Control Unit INFOID:0000000012796053

• ADAS control unit is installed at trunk side of the parcel shelf.

Revision: November 2016 DAS-16 2016 Q50

Revision: November 2016 DAS-17 2016 Q50

Revision: November 2016 DAS-18 2016 Q50

Transmit unit Signal name Description A

Receives an operable/inoperable state of the ICC sys-

Revision: November 2016 DAS-19 2016 Q50

Reception unit Signal name Description

Revision: November 2016 DAS-20 2016 Q50

Revision: November 2016 DAS-21 2016 Q50

Revision: November 2016 DAS-22 2016 Q50

Revision: November 2016 DAS-23 2016 Q50

Fail-safe (ADAS Control Unit) INFOID:0000000013399250

Revision: November 2016 DAS-24 2016 Q50

Warning lamp/Warning dis- A

Revision: November 2016 DAS-25 2016 Q50

On Board Self-diagnosis System Diagram (2.0 TURBO GASOLINE ENGINE)

Revision: November 2016 DAS-26 2016 Q50

Assumed abnormal part Inspection item

HOW TO ERASE ON BOARD SELF-DIAGNOSIS

5. Turn ignition switch OFF, and finish the diagnosis.

Revision: November 2016 DAS-27 2016 Q50

Diagnosis mode Description

Work support items Description

Revision: November 2016 DAS-28 2016 Q50

•Conventional (fixed speed) cruise control mode

•Automatic Speed Control Device (ASCD)

Forward Emergency Braking

Distance Control Assist

OPERATING ABS × × × ABS function was operated

Revision: November 2016 DAS-29 2016 Q50

Display Items for The Cause of Automatic Cancellation 2

Blind spot intervention

Cause of cancellation Description

Revision: November 2016 DAS-30 2016 Q50