Driver Assistance System: Section

CRUISE CONTROL & DRIVER ASSISTANCE
DAS
A
B
SECTION
DRIVER ASSISTANCE SYSTEM C
E
CONTENTS
ADAS CONTROL UNIT Work Procedure .......................................................65 F
PRECAUTION .............................................. 10 CONFIGURATION (ADAS CONTROL UNIT) ... 66

Description ...............................................................66
G
PRECAUTIONS ..................................................10 Work Procedure .......................................................66
Precaution for Supplemental Restraint System
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN- DTC/CIRCUIT DIAGNOSIS ......................... 68
SIONER" ................................................................. 10 H
Precautions For Harness Repair ............................. 10
C1A0A CONFIG UNFINISHED ......................... 68
DTC Logic ................................................................68
SYSTEM DESCRIPTION ............................. 11 Diagnosis Procedure ...............................................68
I
COMPONENT PARTS .......................................11 C1A00 CONTROL UNIT ................................... 69
Component Parts Location ...................................... 11 DTC Logic ................................................................69
ADAS Control Unit .................................................. 11 Diagnosis Procedure ...............................................69 J
SYSTEM .............................................................12 C1A01 POWER SUPPLY CIRCUIT 1, C1A02

System Description ................................................. 12 POWER SUPPLY CIRCUIT 2 ........................... 70
K
Fail-safe (ADAS Control Unit) ................................. 16 DTC Logic ................................................................70
Diagnosis Procedure ...............................................70
DIAGNOSIS SYSTEM (ADAS CONTROL
UNIT) ..................................................................18 C1A03 VEHICLE SPEED SENSOR .................. 71 L
On Board Diagnosis Function ................................. 18 DTC Logic ................................................................71
CONSULT Function (ICC/ADAS) ............................ 19 Diagnosis Procedure ...............................................72
C1A04 ABS/TCS/VDC SYSTEM ...................... 73 M

ECU DIAGNOSIS INFORMATION .............. 32
DTC Logic ................................................................73
ADAS CONTROL UNIT ......................................32 Diagnosis Procedure ...............................................73
Reference Value ..................................................... 32 N
Fail-safe (ADAS Control Unit) ................................. 38 C1A05 BRAKE SW/STOP LAMP SW .............. 75
DTC Inspection Priority Chart ................................. 39 DTC Logic ................................................................75
DTC Index ............................................................... 40 Diagnosis Procedure ...............................................75
DAS
Component Inspection (Brake Pedal Position
WIRING DIAGRAM ...................................... 43 Switch) .....................................................................79
Component Inspection (Stop Lamp Switch) ............79
DRIVER ASSISTANCE SYSTEMS ....................43 P
Wiring Diagram ....................................................... 43 C1A06 OPERATION SW .................................. 80
DTC Logic ................................................................80
BASIC INSPECTION ................................... 65 Diagnosis Procedure ...............................................80
Component Inspection .............................................81
ADDITIONAL SERVICE WHEN REPLACING
ADAS CONTROL UNIT ......................................65 C1A13 STOP LAMP RELAY ............................ 82
Description .............................................................. 65 DTC Logic ................................................................82
Revision: April 2016 DAS-1 2016 QX60

Diagnosis Procedure .............................................. 83 C1B00 CAMERA UNIT MALF .......................... 108
Component Inspection ............................................ 87 DTC Logic ............................................................. 108
Diagnosis Procedure ............................................. 108
C1A14 ECM ....................................................... 89
DTC Logic ............................................................... 89 C1B01 CAM AIMING INCMP ........................... 109
Diagnosis Procedure .............................................. 89 DTC Logic ............................................................. 109
C1A15 GEAR POSITION ................................... 91
Description .............................................................. 91 C1B03 ABNRML TEMP DETECT .................... 110
DTC Logic ............................................................... 91 DTC Logic ............................................................. 110
Diagnosis Procedure .............................................. 92 Diagnosis Procedure ............................................. 110
C1A24 NP RANGE ............................................ 93 C1B53 SIDE RADAR RIGHT MALFUNCTION.. 111
C1A26 ECD MODE MALFUNCTION ................ 95 C1B54 SIDE RADAR LEFT MALFUNCTION .. 112
C1A27 ECD POWER SUPPLY CIRCUIT .......... 97 C1B56 SONAR CIRCUIT ................................. 113
C1A33 CAN TRANSMISSION ERROR ............. 99 C1B57 AVM CIRCUIT ...................................... 114
C1A34 COMMAND ERROR ............................ 100 C1B58 DRIVER ASSISTANCE BUZZER ......... 115
DTC Logic ..............................................................100 DTC Logic ............................................................. 115
Diagnosis Procedure .............................................100 Diagnosis Procedure ............................................. 115
C1A35 ACCELERATOR PEDAL ACTUATOR. 101 C1B82 DISTANCE SENSOR OFF-CENTER .. 116
DTC Logic ..............................................................101 DTC Logic ............................................................. 116
Diagnosis Procedure .............................................101 Diagnosis Procedure ............................................. 116
C1A36 ACCELERATOR PEDAL ACTUATOR C1B83 DISTANCE SENSOR BLOCKED ......... 117
CAN COMM ..................................................... 102 DTC Logic ............................................................. 117
DTC Logic ..............................................................102 Diagnosis Procedure ............................................. 117
Diagnosis Procedure .............................................102
C1B84 DISTANCE SENSOR ........................... 118
C1A37 ACCELERATOR PEDAL ACTUATOR DTC Logic ............................................................. 118
CAN 2 ............................................................... 103 Diagnosis Procedure ............................................. 118
DTC Logic ..............................................................103
Diagnosis Procedure .............................................103 C1B85 DISTANCE SENSOR ABNORMAL
TEMP ................................................................ 119
C1A38 ACCELERATOR PEDAL ACTUATOR DTC Logic ............................................................. 119
CAN 1 ............................................................... 104 Diagnosis Procedure ............................................. 119
DTC Logic ..............................................................104
Diagnosis Procedure .............................................104 C1B86 DISTANCE SENSOR POWER SUP-
PLY CIRCUIT .................................................... 120
C1A39 STEERING ANGLE SENSOR ............. 105 DTC Logic ............................................................. 120
C1F01 ACCELERATOR PEDAL ACTUATOR.. 122
C1A40 SYSTEM SWITCH CIRCUIT ................ 106 DTC Logic ............................................................. 122
Component Inspection Meter Control Switch (BCI C1F02 ACCELERATOR PEDAL ACTUATOR.. 123
OFF Switch) ...........................................................107 DTC Logic ............................................................. 123

C1F05 ACCELERATOR PEDAL ACTUATOR Diagnosis Procedure ............................................. 144
POWER SUPPLY CIRCUIT ............................. 124 A
DTC Logic ............................................................. 124
U1500 CAM CAN 2 ......................................... 145
DTC Logic .............................................................. 145
B
U0121 VDC CAN 2 ........................................... 125
DTC Logic ............................................................. 125
U1501 CAM CAN 1 ......................................... 146
DTC Logic .............................................................. 146
Diagnosis Procedure ............................................. 146 C
U0126 STRG SEN CAN 1 ................................ 126
DTC Logic ............................................................. 126
U1502 ICC SENSOR CAN COMM CIRC ........ 147
DTC Logic .............................................................. 147
Diagnosis Procedure ............................................. 126 D
U0235 ICC SENSOR CAN 1 ............................ 127
DTC Logic ............................................................. 127
U1503 SIDE RDR L CAN 2 ............................. 148
DTC Logic .............................................................. 148 E
U0401 ECM CAN 1 ........................................... 128
DTC Logic ............................................................. 128
U1504 SIDE RDR L CAN 1 ............................. 149
DTC Logic .............................................................. 149 F
U0402 TCM CAN 1 ........................................... 129
DTC Logic ............................................................. 129
U1505 SIDE RDR R CAN 2 ............................. 150
G
Diagnosis Procedure ............................................. 129 DTC Logic .............................................................. 150
U0415 VDC CAN 1 ........................................... 131
DTC Logic ............................................................. 131
U1506 SIDE RDR R CAN 1 ............................. 151 H
U0424 HVAC CAN CIRCUIT 1 ......................... 133 I
Description ............................................................ 133
U1507 LOST COMM(SIDE RDR R) ................ 152
DTC Logic ............................................................. 133 DTC Logic .............................................................. 152
Diagnosis Procedure ............................................. 133 Diagnosis Procedure ............................................. 152
J
U0428 STRG SEN CAN 2 ................................ 134 U1508 LOST COMM(SIDE RDR L) ................ 153
DTC Logic ............................................................. 134 DTC Logic .............................................................. 153
Diagnosis Procedure ............................................. 134 Diagnosis Procedure ............................................. 153 K
U1000 CAN COMM CIRCUIT ........................... 135 U1512 HVAC CAN 3 ....................................... 154
Description ............................................................ 135 DTC Logic .............................................................. 154
Diagnosis Procedure ............................................. 154 L
DTC Logic ............................................................. 135
Diagnosis Procedure ............................................. 136 U1513 METER CAN 3 ..................................... 155
U1010 CONTROL UNIT (CAN) ........................ 137 DTC Logic .............................................................. 155
M
Description ............................................................ 137
DTC Logic ............................................................. 137 U1514 STRG SEN CAN 3 ............................... 156
Diagnosis Procedure ............................................. 137 DTC Logic .............................................................. 156 N
U150B ECM CAN 3 .......................................... 138 Diagnosis Procedure ............................................. 156
DTC Logic ............................................................. 138 U1515 ICC SENSOR CAN 3 ........................... 157
Diagnosis Procedure ............................................. 138 DTC Logic .............................................................. 157 DAS
U150C VDC CAN 3 .......................................... 140 Diagnosis Procedure ............................................. 157

DTC Logic ............................................................. 140 U1516 CAM CAN 3 ......................................... 158 P
U150D TCM CAN 3 .......................................... 142 Diagnosis Procedure ............................................. 158
DTC Logic ............................................................. 142 U1517 ACCELERATOR PEDAL ACTUATOR
Diagnosis Procedure ............................................. 142 CAN 3 .............................................................. 159
U150E BCM CAN 3 .......................................... 144 DTC Logic .............................................................. 159
DTC Logic ............................................................. 144 Diagnosis Procedure ............................................. 159

U1518 SIDE RDR L CAN 3 .............................. 160 SYSTEM DESCRIPTION .......................... 176
DTC Logic ..............................................................160
Diagnosis Procedure .............................................160 COMPONENT PARTS ...................................... 176
Component Parts Location ................................... 176
U1519 SIDE RDR R CAN 3 ............................. 161 ICC Sensor ........................................................... 178
DTC Logic ..............................................................161 ICC Steering Switch .............................................. 178
Diagnosis Procedure .............................................161 Brake Pedal Position Switch / Stop Lamp Switch . 178
ICC Brake Hold Relay ........................................... 179
U1521 SONAR CAN 2 ..................................... 163 Combination Meter ................................................ 179
DTC Logic ..............................................................163 Accelerator Pedal Actuator ................................... 179
Diagnosis Procedure .............................................163 Lane Camera Unit ................................................. 179
U1522 SONAR CAN 1 ..................................... 164 Driver Assistance Buzzer Control Module ............ 180
Warning Buzzer .................................................... 180
DTC Logic ..............................................................164
Side Radar LH/RH ................................................ 180
Blind Spot Warning/Blind Spot Intervention Indica-
U1523 SONAR CAN 3 ..................................... 165 tor LH/RH .............................................................. 180
DTC Logic ..............................................................165 Dynamic Driver Assistance Switch ....................... 180
Diagnosis Procedure .............................................165 Warning Systems Switch / Warning Systems ON
indicator ................................................................ 181
U1524 AVM CAN 1 .......................................... 166 BCI Switch ............................................................ 181
DTC Logic ..............................................................166
Diagnosis Procedure .............................................166 SYSTEM ........................................................... 182
U1525 AVM CAN 3 .......................................... 167 DCA ......................................................................... 182

DTC Logic ..............................................................167 DCA : System Description .................................... 182
PFCW ...................................................................... 186
U1530 DR ASSIST BUZZER CAN 1 ............... 168 PFCW : System Description ................................. 186
DTC Logic ..............................................................168 LDW ......................................................................... 187
Diagnosis Procedure .............................................168 LDW : System Description .................................... 187
POWER SUPPLY AND GROUND CIRCUIT ... 169 LDP .......................................................................... 189
Diagnosis Procedure .............................................169 LDP : System Description ..................................... 190
REMOVAL AND INSTALLATION .............. 170 BSW ......................................................................... 193
BSW : System Description .................................... 193
ADAS CONTROL UNIT ................................... 170
Removal and Installation .......................................170 RCTA ....................................................................... 196
DRIVER ASSISTANCE SYSTEM RCTA : System Description .................................. 196
PRECAUTION ............................................ 171 BLIND SPOT INTERVENTION ............................... 198

BLIND SPOT INTERVENTION : System Descrip-
PRECAUTIONS ............................................... 171 tion ........................................................................ 199
Precaution for Supplemental Restraint System
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN- BCI ........................................................................... 203
SIONER" ................................................................171 BCI : System Description ...................................... 203
Fail-safe (ADAS Control Unit) ............................... 207
Precaution for DCA System Service ......................171
Fail-safe (ICC Sensor) .......................................... 208
Precaution for PFCW System Service ...................171
Precaution for LDW/LDP System Service .............171 Fail-safe (Side Radar) ........................................... 208
Precaution for Blind Spot Warning/Blind Spot In- Fail-safe (Lane Camera Unit) ................................ 208
tervention System Service .....................................172 OPERATION ..................................................... 210
Precaution for Backup Collision Intervention .........172
Precaution for FEB System Service ......................173 DCA ......................................................................... 210
Precaution for ICC System Service .......................173 DCA : Switch Name and Function ........................ 210
Precaution for Work ...............................................174 DCA : Menu Displayed by Pressing Each Switch . 210
Precautions For Harness Repair ...........................174
PFCW ...................................................................... 212
PREPARATION .......................................... 175 PFCW : Switch Name and Function ..................... 212
PFCW : Menu Displayed by Pressing Each Switch
PREPARATION ............................................... 175 . 213
Special Service Tool ..............................................175

LDP .......................................................................... 213 ADAS CONTROL UNIT .................................. 253
LDP : Switch Name and Function ......................... 213 Reference Value .................................................... 253 A
LDP : Menu Displayed by Pressing Each Switch .. 214 Fail-safe (ADAS Control Unit) ................................ 259
DTC Inspection Priority Chart ................................ 260
LDW ......................................................................... 215 DTC Index ............................................................. 261
LDW : Switch Name and Function ........................ 215 B
LDW : Menu Displayed by Pressing Each Switch.. 216 ICC SENSOR .................................................. 264
Reference Value .................................................... 264
BSW/RCTA .............................................................. 216 C
Fail-safe (ICC Sensor) ........................................... 265
BSW/RCTA : Switch Name and Function ............. 216
BSW/RCTA : System Display and Warning .......... 217
DTC Index ............................................................. 266
BLIND SPOT INTERVENTION (BSI) SYSTEM ....... 218 D
BLIND SPOT INTERVENTION (BSI) SYSTEM :
ACCELERATOR PEDAL ACTUATOR ........... 270
Switch Name and Function ................................... 218 Reference Value .................................................... 270
BLIND SPOT INTERVENTION (BSI) SYSTEM : DTC Inspection Priority Chart ................................ 271
DTC Index ............................................................. 271 E
System Display and Warning ................................ 218
BCI ........................................................................... 219 SIDE RADAR LH ............................................. 272

BCI : Switch Name and Function .......................... 219 Reference Value .................................................... 272 F
BCI : System Display and Warning ....................... 219 Fail-safe (Side Radar) ........................................... 272
HANDLING PRECAUTION .............................. 221 DTC Index ............................................................. 273
G
Precautions for Distance Control Assist ................ 221
Precautions for Predictive Forward Collision SIDE RADAR RH ............................................ 275
Warning ................................................................. 223 Reference Value .................................................... 275
Precautions for Lane Departure Warning/Lane Fail-safe (Side Radar) ........................................... 275 H
Departure Prevention ............................................ 223 DTC Inspection Priority Chart ................................ 276
Precautions for Blind Spot Warning/Blind Spot In- DTC Index ............................................................. 276
tervention .............................................................. 224 DRIVER ASSISTANCE BUZZER CONTROL I
Precautions for Rear Cross Traffic Alert ............... 226
MODULE ......................................................... 278
Precautions for Back-up Collision Intervention ..... 226
Reference Value .................................................... 278
DIAGNOSIS SYSTEM (ADAS CONTROL DTC Inspection Priority Chart ................................ 280 J
UNIT) ................................................................ 228 DTC Index ............................................................. 280
On Board Diagnosis Function ............................... 228 LANE CAMERA UNIT ..................................... 281
CONSULT Function (ICC/ADAS) .......................... 229 K
Reference Value .................................................... 281
DIAGNOSIS SYSTEM (ICC SENSOR) ............ 242 Fail-safe (Lane Camera Unit) ................................ 282
CONSULT Function (LASER/RADAR) ................. 242 DTC Inspection Priority Chart ................................ 283
DTC Index ............................................................. 283 L
DIAGNOSIS SYSTEM (ACCELERATOR
PEDAL ACTUATOR) ....................................... 244 WIRING DIAGRAM .................................... 284
CONSULT Function (ACCELERATOR PEDAL M
DRIVER ASSISTANCE SYSTEMS ................. 284
ACT) ...................................................................... 244
Wiring Diagram ...................................................... 284
DIAGNOSIS SYSTEM (SIDE RADAR LH) ...... 246
BASIC INSPECTION ................................. 306 N
CONSULT Function (SIDE RADAR LEFT) ........... 246
DIAGNOSIS AND REPAIR WORK FLOW ..... 306
DIAGNOSIS SYSTEM (SIDE RADAR RH) ...... 247
Work Flow .............................................................. 306
CONSULT Function (SIDE RADAR RIGHT) ......... 247 DAS
DIAGNOSIS SYSTEM (DRIVER ASSIS-
ICC SENSOR .................................................. 309
TANCE BUZZER CONTROL MODULE) ......... 248
Description ............................................................. 309 P
CONSULT Function (BSW/BUZZER) ................... 248
Work Procedure ..................................................... 309
DIAGNOSIS SYSTEM (LANE CAMERA
UNIT) ................................................................ 251
ACCELERATOR PEDAL ASSEMBLY ........... 310
CONSULT Function (LANE CAMERA) ................. 251
Description ............................................................. 310
ECU DIAGNOSIS INFORMATION ............ 253 Work Procedure ..................................................... 310

ADDITIONAL SERVICE WHEN REPLACING DRIVER ASSISTANCE BUZZER CONTROL MOD-
LANE CAMERA UNIT ..................................... 311 ULE .......................................................................... 332
Description .............................................................311 DRIVER ASSISTANCE BUZZER CONTROL
Work Procedure .....................................................311 MODULE : DTC Logic ........................................... 332
DRIVER ASSISTANCE BUZZER CONTROL
PRE-INSPECTION FOR DIAGNOSIS ............. 312 MODULE : Diagnosis Procedure .......................... 332
LANE CAMERA UNIT ..............................................312
MODULE : Component Inspection ........................ 333
LANE CAMERA UNIT : Inspection Procedure .......312
C1B50 SIDE RADAR MALFUNCTION ............ 334
CAMERA AIMING ADJUSTMENT .................. 313
Description .............................................................313 SIDE RADAR ........................................................... 334
Work Procedure (Preparation) ...............................313 SIDE RADAR : DTC LOGIC ................................. 334
Work Procedure (Target Setting) ...........................314 SIDE RADAR : Diagnosis Procedure .................... 334
Work Procedure (Camera Aiming Adjustment) ......315
Work Procedure (Target Mark Sample) .................316 C1B51 BLIND SPOT WARNING/BLIND
SPOT INTERVENTION INDICATOR SHORT
ACTION TEST ................................................. 318 CIRCUIT ............................................................ 335
DCA ..........................................................................318 SIDE RADAR ........................................................... 335
DCA : Description ..................................................318 SIDE RADAR : DTC Logic .................................... 335
DCA : Work Procedure ..........................................318 SIDE RADAR : Diagnosis Procedure .................... 335
LDW/LDP .................................................................318 C1B52 BLIND SPOT WARNING/BLIND
LDW/LDP : Description ..........................................319 SPOT INTERVENTION INDICATOR OPEN
LDW/LDP : Inspection Procedure ..........................319
CIRCUIT ............................................................ 337
BSW/RCTA ..............................................................321
SIDE RADAR ........................................................... 337
BSW/RCTA : Description .......................................321
SIDE RADAR : DTC Logic .................................... 337
BSW/RCTA : Work Procedure ...............................322
SIDE RADAR : Diagnosis Procedure .................... 337
BCI ............................................................................324
BCI : Description ....................................................324
C1B55 RADAR BLOCKAGE ........................... 339
BCI : Work Procedure ............................................324 SIDE RADAR ........................................................... 339
SIDE RADAR : DTC Logic .................................... 339
DTC/CIRCUIT DIAGNOSIS ........................ 327 SIDE RADAR : Diagnosis Procedure .................... 339
C1A07 CVT ...................................................... 327 C1F01 ACCELERATOR PEDAL ACTUATOR.. 341
DTC Logic ..............................................................327
Diagnosis Procedure .............................................327 ACCELERATOR PEDAL ACTUATOR ................... 341
ACCELERATOR PEDAL ACTUATOR : DTC Log-
C1B00 CAMERA UNIT MALF ......................... 328 ic ........................................................................... 341
LANE CAMERA UNIT ..............................................328 ACCELERATOR PEDAL ACTUATOR : Diagnosis
LANE CAMERA UNIT : DTC Logic ........................328 Procedure ............................................................. 341
LANE CAMERA UNIT : Diagnosis Procedure .......328 C1F02 ACCELERATOR PEDAL ACTUATOR.. 342
C1B01 CAM AIMING INCMP .......................... 329 ACCELERATOR PEDAL ACTUATOR ................... 342
LANE CAMERA UNIT ..............................................329 ACCELERATOR PEDAL ACTUATOR : DTC Log-
LANE CAMERA UNIT : DTC Logic ........................329 ic ........................................................................... 342
LANE CAMERA UNIT : Diagnosis Procedure .......329 ACCELERATOR PEDAL ACTUATOR : Diagnosis
Procedure ............................................................. 342
C1B03 ABNRML TEMP DETECT ................... 330
C1F05 ACCELERATOR PEDAL ACTUATOR
LANE CAMERA UNIT ..............................................330 POWER SUPPLY CIRCUIT .............................. 343
LANE CAMERA UNIT : DTC Logic ........................330
LANE CAMERA UNIT : Diagnosis Procedure .......330 ACCELERATOR PEDAL ACTUATOR ................... 343
C1B09 POWER SUPPLY CIRCUIT ................. 331 ic ........................................................................... 343
DTC Logic ..............................................................331 ACCELERATOR PEDAL ACTUATOR : Diagnosis
Diagnosis Procedure .............................................331 Procedure ............................................................. 343
C1B20 CONTROL MODULE ........................... 332 U0104 ADAS CAN 1 ......................................... 344
SIDE RADAR ........................................................... 344 U1010 CONTROL UNIT (CAN) ....................... 354
SIDE RADAR : DTC Logic .................................... 344 A
SIDE RADAR : Diagnosis Procedure .................... 344 ACCELERATOR PEDAL ACTUATOR .................... 354
ACCELERATOR PEDAL ACTUATOR : Descrip-
DRIVER ASSISTANCE BUZZER CONTROL MOD- tion ......................................................................... 354
ULE .......................................................................... 344 ACCELERATOR PEDAL ACTUATOR : DTC Log- B
DRIVER ASSISTANCE BUZZER CONTROL ic ............................................................................ 354
MODULE : DTC Logic ........................................... 345 ACCELERATOR PEDAL ACTUATOR : Diagnosis
DRIVER ASSISTANCE BUZZER CONTROL Procedure .............................................................. 354 C
MODULE : Diagnosis Procedure .......................... 345
LANE CAMERA UNIT .............................................. 354
U0126 STRG SEN CAN 1 ................................ 346 LANE CAMERA UNIT : Description ...................... 354
D
LANE CAMERA UNIT : DTC Logic ....................... 354
LANE CAMERA UNIT ............................................. 346 LANE CAMERA UNIT : Diagnosis Procedure ....... 355
LANE CAMERA UNIT : Diagnosis Procedure ....... 346 SIDE RADAR LH ..................................................... 355 E
SIDE RADAR LH : Description .............................. 355
U0405 ADAS CAN 2 ........................................ 347 SIDE RADAR LH : DTC Logic ............................... 355
SIDE RADAR LH : Diagnosis Procedure ............... 356
SIDE RADAR ........................................................... 347 F
SIDE RADAR : DTC Logic .................................... 347 SIDE RADAR RH ..................................................... 356
SIDE RADAR : Diagnosis Procedure .................... 347 SIDE RADAR RH : Description ............................. 356
SIDE RADAR RH : DTC Logic .............................. 356 G
U0428 STRG SEN CAN 2 ................................ 348
SIDE RADAR RH : Diagnosis Procedure .............. 357
LANE CAMERA UNIT ............................................. 348
DRIVER ASSISTANCE BUZZER CONTROL MOD-
LANE CAMERA UNIT : DTC Logic ....................... 348 H
ULE .......................................................................... 357
LANE CAMERA UNIT : Diagnosis Procedure ....... 348
U1000 CAN COMM CIRCUIT ........................... 349 MODULE : Description .......................................... 357
DRIVER ASSISTANCE BUZZER CONTROL I
ACCELERATOR PEDAL ACTUATOR ................... 349 MODULE : DTC Logic ........................................... 357
ACCELERATOR PEDAL ACTUATOR : Descrip- DRIVER ASSISTANCE BUZZER CONTROL
tion ........................................................................ 349 MODULE : Diagnosis Procedure ........................... 357 J
ic ............................................................................ 349 POWER SUPPLY AND GROUND CIRCUIT .. 358
ACCELERATOR PEDAL ACTUATOR : Diagnosis
ACCELERATOR PEDAL ACTUATOR .................... 358 K
Procedure .............................................................. 349
ACCELERATOR PEDAL ACTUATOR : Diagnosis
LANE CAMERA UNIT ............................................. 349 Procedure .............................................................. 358
LANE CAMERA UNIT : Description ...................... 349
SIDE RADAR LH ..................................................... 358 L
SIDE RADAR LH : Diagnosis Procedure ............... 358
LANE CAMERA UNIT : Diagnosis Procedure ....... 350
SIDE RADAR RH ..................................................... 359
SIDE RADAR LH ..................................................... 350 M
SIDE RADAR RH : Diagnosis Procedure .............. 359
SIDE RADAR LH : Description .............................. 350
SIDE RADAR LH : DTC Logic ............................... 351 LANE CAMERA UNIT .............................................. 360
SIDE RADAR LH : Diagnosis Procedure .............. 351 LANE CAMERA UNIT : Diagnosis Procedure ....... 360 N
SIDE RADAR RH ..................................................... 351 DRIVER ASSISTANCE BUZZER CONTROL MOD-
SIDE RADAR RH : Description ............................. 351 ULE .......................................................................... 361
SIDE RADAR RH : DTC Logic .............................. 352 DRIVER ASSISTANCE BUZZER CONTROL DAS
SIDE RADAR RH : Diagnosis Procedure .............. 352 MODULE : Diagnosis Procedure ........................... 361
DRIVER ASSISTANCE BUZZER CONTROL MOD- RIGHT/LEFT SWITCHING SIGNAL CIRCUIT . 362
ULE .......................................................................... 352 P
MODULE : Description .......................................... 352 WARNING BUZZER CIRCUIT ........................ 363
DRIVER ASSISTANCE BUZZER CONTROL Component Function Check .................................. 363
MODULE : DTC Logic ........................................... 352 Diagnosis Procedure ............................................. 363
MODULE : Diagnosis Procedure .......................... 353 BCI SWITCH CIRCUIT .................................... 365
Component Function Check .................................. 365

Diagnosis Procedure .............................................365 BLIND SPOT WARNING/BLIND SPOT INTER-
Component Inspection ...........................................366 VENTION ................................................................. 384
BLIND SPOT WARNING/BLIND SPOT INTER-
WARNING SYSTEMS SWITCH CIRCUIT ....... 367 VENTION : Description ......................................... 384
Component Function Check ..................................367 BLIND SPOT WARNING/BLIND SPOT INTER-
Diagnosis Procedure .............................................367 VENTION : Diagnosis Procedure .......................... 384
Component Inspection ...........................................368
NO FORCE GENERATED FOR PUTTING
WARNING SYSTEMS ON INDICATOR CIR- BACK THE ACCELERATOR PEDAL .............. 386
CUIT ................................................................. 369 Description ............................................................ 386
Component Function Check ..................................369 Diagnosis Procedure ............................................. 386
Component Inspection ...........................................370 FREQUENTLY CANNOT DETECT THE VEHI-
CLE AHEAD / DETECTION ZONE IS SHORT.. 387
SYMPTOM DIAGNOSIS ............................ 371 Description ............................................................ 387
DRIVER ASSISTANCE SYSTEM SYMP-
TOMS ............................................................... 371 THE SYSTEM DOES NOT DETECT THE VE-
Symptom Table .....................................................371 HICLE AHEAD AT ALL .................................... 389
Description ............................................................ 389
SYSTEM SETTINGS CANNOT BE TURNED
ON/OFF IN VEHICLE INFORMATION DIS-
PLAY ................................................................ 375 THE SYSTEM OPERATES EVEN WHEN US-
ING TURN SIGNAL .......................................... 391
DCA ..........................................................................375
Description ............................................................ 391
DCA : Description ..................................................375
DCA : Diagnosis Procedure ...................................375
LDW/LDP .................................................................376
LANE DEPARTURE WARNING LAMP DOES
LDW/LDP : Description ..........................................376 NOT TURN ON ................................................. 392
LDW/LDP : Diagnosis Procedure ..........................376 Description ............................................................ 392
BLIND SPOT WARNING/BLIND SPOT INTER-
VENTION ..................................................................376 LDP ON INDICATOR LAMP DOES NOT
BLIND SPOT WARNING/BLIND SPOT INTER- TURNED ON ..................................................... 393
VENTION : Description ..........................................376 Description ............................................................ 393
BLIND SPOT WARNING/BLIND SPOT INTER- Diagnosis Procedure ............................................. 393
VENTION : Diagnosis Procedure ..........................376
NORMAL OPERATING CONDITION ............... 394
BCI ............................................................................377 Description ............................................................ 394
BCI : Description ....................................................377
BCI : Diagnosis Procedure ....................................377 REMOVAL AND INSTALLATION ............. 400
SYSTEM NOT ACTIVATED ............................ 378 ACCELERATOR PEDAL ASSEMBLY ............ 400
Removal and Installation ....................................... 400
DCA ..........................................................................378
DCA : Description ..................................................378 DYNAMIC DRIVER ASSISTANCE SWITCH .. 401
DCA : Diagnosis Procedure ...................................378 Removal and Installation ....................................... 401
BCI ............................................................................379 SIDE RADAR .................................................... 402

BCI : Description ....................................................379 Exploded View ...................................................... 402
BCI : Diagnosis Procedure ....................................379 Removal and Installation ....................................... 402
CHIME DOES NOT SOUND ............................ 381 BLIND SPOT WARNING/BLIND SPOT IN-
Description .............................................................381 TERVENTION INDICATOR .............................. 403
Diagnosis Procedure .............................................381 Exploded View ...................................................... 403
SWITCH DOES NOT TURN ON / SWITCH
DOES NOT TURN OFF ................................... 383 DRIVER ASSISTANCE BUZZER CONTROL
MODULE ........................................................... 404
DCA ..........................................................................383 Removal and Installation ....................................... 404
DCA : Description ..................................................383
DCA : Diagnosis Procedure ...................................383
WARNING BUZZER ......................................... 405 SONAR SENSOR ............................................ 411
Removal and Installation ....................................... 405 Removal and Installation ....................................... 411 A
ICC SENSOR .................................................... 406 SONAR BUZZER ............................................ 413

Exploded View ...................................................... 406 Removal and Installation ....................................... 413
B
BCI SWITCH ................................................... 414
WARNING SYSTEMS SWITCH ....................... 408 Removal and Installation ....................................... 414
Removal and Installation ....................................... 408 C
REAR VIEW CAMERA .................................... 415
LANE CAMERA UNIT ...................................... 409 Removal and Installation ....................................... 415
Exploded View ...................................................... 409
Removal and Installation ....................................... 409 D
DAS

PRECAUTIONS
< PRECAUTION > [ADAS CONTROL UNIT]
PRECAUTION
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
PRE-TENSIONER" INFOID:0000000014222106
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 dual stage front air bag modules. The SRS system may only deploy
one front air bag, depending on the severity of a collision and whether the front passenger seat is occupied.
Information necessary to service the system safely is included in the SR and SB section of this Service Man-
ual.
WARNING:
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision which would result in air bag inflation, it is recommended that all mainte-
nance 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 the SR section.
• Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this
Service Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or har-
ness 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, DO NOT 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 three minutes before performing any service.
Precautions For Harness Repair INFOID:0000000014222108
ITS communication uses a twisted pair line. Be careful when repairing it.
• 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).
SKIB8766E
• Bypass connection is not allowed at the repaired area.

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

COMPONENT PARTS
< SYSTEM DESCRIPTION > [ADAS CONTROL UNIT]
SYSTEM DESCRIPTION A
COMPONENT PARTS
Component Parts Location INFOID:0000000014222109
B
ALOIA0056ZZ
G
1. ADAS control unit (view of rear luggage room area with stor-
age box removed) H
Component Description
• Controls each system, based on CAN communication, ITS communication and chassis com- I
munication signals received from each control unit
ADAS control unit
• Transmits signals necessary for control between CAN communication, ITS communication
and Chassis communication
J
ADAS Control Unit INFOID:0000000014222110
• ADAS control unit is installed behind the storage box. K

• Communicates with each control unit via CAN communication/ITS
communication/Chassis communication.
• ADAS control unit included gateway function, and necessary for L
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- M
nication signal, CAN communication signal and chassis communi-
cation signal from each control unit.
JSOIA0503ZZ
N
DAS

SYSTEM
SYSTEM
System Description INFOID:0000000014222111
SYSTEM DIAGRAM
ALOIA0482GB
ADAS CONTROL UNIT INPUT/OUTPUT SIGNAL ITEM

Input Signal Item

SYSTEM
Transmit unit Signal name Description A

Closed throttle position signal Receives idle position state (ON/OFF)
Accelerator pedal position signal Receives accelerator pedal position (angle)
Receives an operable/inoperable state of the ICC sys-
B
ICC prohibition signal
tem
Main switch signal
C
SET/COAST switch
signal
CANCEL switch sig-
nal D
CAN com- ICC steering switch Receives the operational state of the ICC steering
RESUME/ACCEL-
ECM munica- signal switch
ERATE switch signal
tion
E
DISTANCE switch
signal
Dynamic driver as-
sistance switch sig- F
nal
Engine speed signal Receives engine speed
Stop lamp switch signal Receives an operational state of the brake pedal G
Brake pedal position switch signal Receives an operational state of the brake pedal
Snow mode switch signal Receives an operational state of the snow mode
H
Input speed signal Receives the number of revolutions of input shaft
CAN com- Current gear position signal Receives a current gear position
TCM munica-
tion Shift position signal Receives a selector lever position I
Output shaft revolution signal Receives the number of revolutions of output shaft
ABS malfunction signal Receives a malfunction state of ABS
J
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 K
TCS operation signal Receives an operational state of TCS
ABS actuator CAN com- VDC OFF switch signal Receives an ON/OFF state of VDC
and electric unit munica- L
(control unit) tion 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 M
Stop lamp switch signal Receives an operational state of the brake pedal
Yaw rate signal Receives yaw rate acting on the vehicle
Side G sensor signal Receives lateral G acting on the vehicle
N
CAN com-
Combination
munica- Parking brake switch signal Receives an operational state of the parking brake
meter DAS
tion
Front wiper request signal Receives an operational state of front wiper(s)
CAN com-
Receives an operational state of the turn signal lamp
BCM munica- Turn indicator signal P
and the hazard lamp
tion
Dimmer signal Receives ON/OFF state of dimmer signal
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

SYSTEM
Transmit unit Signal name Description
CAN com-
Combination Receives a selection state of each item in “Driving Aids”
munica- System selection signal
meter selected with the vehicle information display
tion
CAN com-
A/C auto amp. munica- Ambient temperature signal Receives ambient temperature signal
tion
ITS com-
Receives detection results, such as the presence or ab-
ICC sensor munica- ICC sensor signal
sence of a vehicle ahead and distance from the vehicle
tion
Chassis
Lane camera
communi- Detected lane condition signal Receives detection results of lane marker
unit
cation
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
BCI OFF
Hard wire BCI OFF switch signal Receives the state of the BCI OFF switch request
Switch
ITS com-
Sonar control Receives objects detection result of rear area behind
munica- Rear object detection signal
unit vehicle
tion
Warning sys- Receives an ON/OFF state of the warning systems
Warning systems switch signal
tems switch switch
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
CAN commu- Transmits an ICC operation signal necessary for intel-
TCM ICC operation signal
nication ligent cruise control via ECM
ABS actuator Transmits a brake fluid pressure control signal to acti-

Brake fluid pressure control signal
and electric CAN commu- vate the brake
unit (control nication Transmits a target yaw moment signal to generate
unit) Target yaw moment signal
yaw moment to the vehicle

SYSTEM
A
Own vehicle indicator
signal
Vehicle ahead detec-
tion indicator signal B
Set vehicle speed indi-
cator signal
Meter display Set distance indicator Transmits a signal to display a state of the system on C
signal signal the information display
SET switch indicator
signal D
MAIN switch indicator
signal
DCA system switch in- E
Combination CAN commu- dicator signal
meter nication
Transmits a Blind Spot Warning/Blind Spot Interven-
Blind Spot Warning/Blind Spot Interven-
tion warning lamp signal
tion warning lamp signal to turn ON the Blind Spot F
Warning/Blind Spot Intervention warning lamp
Transmits a Blind Spot Intervention ON indictor lamp
Blind Spot Intervention ON indictor lamp
signal to turn ON the Blind Spot Intervention ON indic-
signal G
tor lamp
Transmits an LDP ON indicator lamp signal to turn ON
LDP ON indicator lamp signal
the LDP ON indicator lamp
H
Transmits a lane departure warning lamp signal to
Lane departure warning lamp signal
turn ON the lane departure warning lamp
Transmits an ICC warning lamp signal to turn ON the
ICC warning lamp signal
ICC system warning lamp
I
• Transmits a signal to turn ON the FEB indicator

FEB indicator lamp signal
• Transmits a signal to turn OFF the FEB indicator
J
Transmits a vehicle speed calculated by the ADAS
Vehicle speed signal
ITS commu- control unit
ICC sensor
nication Transmits a steering angle sensor signal received
Steering angle sensor signal K
from the steering angle sensor
Lane camera Chassis com- Vehicle speed signal
control unit
unit munication L
Turn indicator signal Transmits a turn indicator signal received from BCM
Transmits an accelerator pedal angle calculated by
Accelerator pedal position signal
Accelerator ITS commu- the ADAS control unit
pedal actuator nication
M
Accelerator pedal feedback force control Transmits a target reaction force value calculated by
signal the ADAS control unit
Vehicle speed signal N
control unit
Side radar LH, ITS commu- tion indicator signal to turn ON the Blind Spot Warning/
tion indicator signal
RH nication Blind Spot Intervention indicator DAS
tion indicator dimmer signal to dimmer Blind Spot
tion indicator dimmer signal
Warning/Blind Spot Intervention indicator P
ICC brake hold Activates the brake hold relay and turns ON the stop
ICC brake hold relay drive signal
relay lamp
Warning sys-
tems ON indi- Warning systems ON indicator signal Turns ON the warning systems ON indicator
cator

SYSTEM
While the shifter is in reverse and backing up, trans-
Sonar control ITS commu-
Warning buzzer signal mits a request for a variable warning buzzer signal re-
unit nication
lated to distance whenever an obstacle exists
Around view Transmits a visual signal request by the ADAS control
ITS commu-
monitor control Visual signal request unit to center display to override other signals and dis-
nication
unit play rear view while the shift lever is in reverse
Driver assis-
ITS commu- Transmits a warning buzzer signal to activate the
tance buzzer Driver assistance buzzer signal
nication buzzer
control module
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)
- Predictive Forward Collision Warning (PFCW)
- Lane Departure Warning (LDW)
- Lane Departure Prevention (LDP)
- Blind Spot Warning (BSW)
- Rear Cross Traffic Alert (RCTA)
- Blind Spot Intervention (BSI)
- Back-up Collision Intervention (BCI)
System Reference
Intelligent Cruise Control (ICC) CCS-13, "System Description"
Distance Control Assist (DCA) DAS-182, "DCA : System Description"
Forward Emergency Braking (FEB) BRC-190, "System Description"
Predictive Forward Collision Warning (PFCW) DAS-186, "PFCW : System Description"
Lane Departure Warning (LDW) DAS-187, "LDW : System Description"
Lane Departure Prevention (LDP) DAS-190, "LDP : System Description"
Blind Spot Warning (BSW) DAS-193, "BSW : System Description"
Rear Cross Traffic Alert (RCTA) DAS-196, "RCTA : System Description"
DAS-199, "BLIND SPOT INTERVENTION : System De-
Blind Spot Intervention (BSI)
scription"
Back-up Collision Intervention (BCI) DAS-203, "BCI : System Description"
Fail-safe (ADAS Control Unit) INFOID:0000000014235999
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 Buzzer Warning lamp/Warning display Description

High-
Vehicle-to-vehicle distance control mode pitched ICC system warning Cancel
tone
High-
Conventional (fixed speed) cruise control mode pitched ICC system warning Cancel
tone
High-
Forward Emergency Braking (FEB) pitched FEB warning Cancel
tone

SYSTEM
A
High-
Predictive Forward Collision Warning (PFCW) pitched Warning message Cancel
tone
High- B
Distance Control Assist (DCA) pitched DCA system warning Cancel
tone
Lane Departure Warning (LDW) — Lane departure warning lamp Cancel C
Low-
Lane Departure Prevention (LDP) pitched Lane departure warning lamp Cancel
tone D
Blind Spot Warning (BSW) — Blind Spot Warning warning lamp Cancel
Low-
Blind Spot Intervention pitched Blind Spot Intervention warning lamp Cancel E
tone
High-
Backup Collision Intervention warn-
Backup Collision Intervention (BCI) pitched Cancel
tone
ing indicator F
Rear Cross Traffic Alert (RCTA) — Rear Cross Traffic Alert warning Cancel
DAS

DIAGNOSIS SYSTEM (ADAS CONTROL UNIT)
On Board Diagnosis Function INFOID:0000000014222113
DESCRIPTION
The DTC is displayed on the information display by operating the ICC steering switch.
On Board Self-diagnosis System Diagram
JSOIA0271GB
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-40, "DTC Index".
JSOIA0008GB
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 A
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. B
Assumed abnormal part Inspection item

Check that the self-diagnosis function of the combina- C
Information display Combination meter malfunction
tion meter operates. Refer to MWI-17, "Description".
ICC steering switch malfunction
Perform the inspection for DTC “C1A06”. Refer to DAS- D
Harness malfunction between ICC steering switch and ECM
80, "DTC Logic".
ECM malfunction
• Check power supply and ground circuit of ADAS con-
E
trol unit. Refer to DAS-169, "Diagnosis Procedure".
ADAS control unit malfunction • Perform SELF-DIAGNOSIS for “ICC/ADAS”with
CONSULT, and then check the malfunctioning parts.
Refer to DAS-40, "DTC Index". F
HOW TO ERASE ON BOARD SELF-DIAGNOSIS
G
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 H
self-diagnosis starts.
NOTE:
• Complete the operation within 10 seconds after pressing the
CANCEL switch first. I
• If the operation is not completed within 10 seconds, repeat the
4. DTC 55 is displayed after erasing. J
NOTE:
DTCs for existing malfunction can not be erased. PKIB8373E
5. Turn ignition switch OFF, and finish the diagnosis. K

CONSULT Function (ICC/ADAS) INFOID:0000000014222114
APPLICATION ITEMS L
CONSULT performs the following functions via CAN communication using ADAS control unit.
Diagnosis mode Description M

• 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 N
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
DAS
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
P
CAN Diag Support Monitor Displays a reception/transmission state of CAN communication and ITS communication
CONFIGURATION
Configuration includes functions as follows.

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)
• Blind Spot Intervention
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
Vehicle-to-vehicle distance control mode
Forward Emergency Braking

Distance Control Assist
Cause of cancellation Description
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) A
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 B
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 C
IGN LOW VOLT × × × × Decrease in ADAS control unit ignition voltage
PARKING BRAKE ON × × The parking brake is operating
D
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 E
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 F
ECD CIRCUIT × × × × An abnormal condition occurs in ECD system
ENG SPEED DOWN × × Engine speed became extremely low while controlling ICC system
G
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 H
APA HI TEMP ×
high
ICC SENSOR CAN Communication error between ADAS control unit and the ICC sen-
× × ×
COMM ERR sor
I
ABS WARNING LAMP × × ABS warning lamp ON
Inclusion of dirt or stains on the ICC sensor area of the front
FR RADAR BLOCKED × × ×
bumper
J
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- K
× Detected lateral speed is the specified value or more
TION
RADAR INTERFER-
× × × ICC sensor receives electromagnetic interference
ENCE L
NO RECORD × × × —

M
Back-up Collision Intervention

DAS
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-40, "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]
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)

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
A
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
Indicates [On/Off] status of idle switch read from ADAS control unit B
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 C
[Short/Mid/Long]
CRUISE LAMP
× × Indicates [On/Off] status of MAIN switch indicator output
[On/Off] D
OWN VHCL
× Indicates [On/Off] status of own vehicle indicator output
[On/Off]
VHCL AHEAD E
× 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]
F
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]
G
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 H
[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-
I
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- J
×
[OFF/LOW/HIGH] quest signal through CAN communication)
YAW RATE NOTE:
×
[deg/s] The item is displayed, but it is not monitored K
BA WARNING
× Indicates [On/Off] status of FEB indicator lamp output
[On/Off]
STP LMP DRIVE L
× × × 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 M
[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)
N
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
× DAS
[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] P
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)
Indicates throttle position read from ADAS control unit through CAN com-
THRTL OPENING
× × × munication (ECM transmits accelerator pedal position 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 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)
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]
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
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:
[On/Off] The item is displayed, but it is not monitored
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]
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 Chassis communication
× ×
[Detect/Deviate/Both] (Lane camera unit transmits a lane marker signal via Chassis communi-
cation)
Indicates an ON/OFF state of the lane marker. The ON/OFF state is
judged from a detected lane condition signal read by the ADAS control
Lane unclear
× × unit via Chassis communication
[On/Off]
(The lane camera unit transmits a detected lane condition signal via Chas-
sis communication)

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
A
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
STATUS signal B
[Stnby/Warn/Cancl/ × Indicates a control state of LDP system
Off]
Shift position
Indicates shift position read from ADAS control unit through CAN commu- C
[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 D
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 E
× ×
[G] (The ABS actuator and electric unit (control unit) transmits a side G sensor
signal via CAN communication)
FUNC ITEM (FCW)

Indicates systems which can be set to ON/OFF by selecting “Driver Aids” F
× × × × ⇒“Emergency Assist” of the integral switch
[On/Off]
Indicates systems which can be set to ON/OFF by selecting “Driver Aids” G
FUNC ITEM (LDW)
× × × × ⇒“Lane” of the integral switch
[On/Off]
Lane Departure Warning
Indicates systems which can be set to ON/OFF by selecting “Driver Aids”
FUNC ITEM (BSW)
× × × × ⇒“Blind spot” of the integral switch
H
[On/Off]
Blind Spot Warning
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 I
[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 J
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
K
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
L
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 M
× × × × set to ON/OFF by selecting “Driving Aids”⇒“Blind spot” of the integral
[On/Off]
switch
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- N
[STD/SPT/ECO/SNO]
munication
WARN SYS SW
× × × × Indicates [On/Off] status of warning systems switch
[On/Off] DAS
BSW/BSI WARN LMP
× Indicates [On/Off] status of Blind Spot warning malfunction
[On/Off]
BSI ON IND P
× 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
× × Indicates [On/Off] status of PFCW system
[On/Off]

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
BCI SYSTEM ON
× Indicates [On/Off] status of BCI system
[On/Off]
BCI SWITCH
× Indicates [On/Off] status of Backup Collision Intervention system switch
[On/Off]
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]
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 ×
The item is displayed, but it is not monitored
[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]
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 A
- Blind Spot Intervention
- BCI
• The “Active Test” cannot be performed when the FEB warning lamp is illuminated.
B
• Shift the selector lever to “P” position, and then perform the test.
Test item Description

C
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 D
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) E
• Predictive Forward Collision Warning (PFCW)
• Forward Emergency Brake (FEB)
BRAKE ACTUATOR Activates the brake by an arbitrary operation
F
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
Sounds a buzzer used for following systems by arbitrarily operating ON/OFF G
• Lane Departure Warning (LDW)
LDP BUZZER • Lane Departure Prevention (LDP)
• Blind Spot Warning (BSW)
H
Warning systems ON indicator (on warning systems switch) can be illuminated by ON/OFF opera-
WARNING SYSTEM IND
tions as necessary
I
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
The Blind Spot Warning/Blind Spot Intervention warning lamp can be illuminated by ON/OFF opera- J
BSW/BSI WARNING LAMP
tions 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 K
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
L
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 M
METER LAMP
NOTE:
The test can be performed only when the engine is running. N
• MAIN switch indicator

Oper-
Test item Description • ICC system warning DAS
ation
• FEB warning lamp
Stops sending the following signals to exit from the test
Off • Meter display signal OFF
• FEB warning lamp signal P
METER LAMP Transmits the following signals to the combination meter via
CAN communication
On ON
• Meter display signal
• FEB warning lamp 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
End Returns to the “SELECT TEST ITEM” screen —
BRAKE ACTUATOR
NOTE:
The test can be performed only when the engine is running.
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 CAN 20 bar
communication
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:
The test is finished in 10 seconds after starting
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 A

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

Oper-
Test item Description LDP system display (Green)
ation
Stops transmitting the meter display signal below to end
Off —
the test
LDP ON IND
Transmits the meter display signal to the combination
On ON
meter via CAN communication
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
Oper- Blind Spot Warning/Blind Spot Inter-

ation vention warning lamp (Yellow)
Stops transmitting the Blind Spot Warning/Blind Spot In-
Off —
tervention warning lamp signal below to end the test
BSW/BSI WARNING
LAMP Transmits the Blind Spot Warning/Blind Spot Interven-
On tion warning lamp signal to the combination meter via ON
CAN communication
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- A
Test item Description LDP malfunction (Yellow)
ation
Off —
LDP WARNING INDI- the test
B
CATOR Transmits the meter display signal to the combination
On ON
LDW WARNING INDICATOR C
Oper-
Test item Description LDW malfunction (Yellow)
ation D
Off —
LDW WARNING IN- the test
DICATOR Transmits the meter display signal to the combination E
On ON
BSW WARNING INDICATOR

F
Oper-
Test item Description BSW malfunction (Yellow)
ation
Stops transmitting the meter display signal below to end G
Off —
BSW WARNING IN- the test
DICATOR Transmits the meter display signal to the combination
On ON
meter via CAN communication H
BSI WARNING INDICATOR
Oper- Blind Spot Intervention malfunction I

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

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

ADAS CONTROL UNIT
Reference Value INFOID:0000000014222115
VALUES ON THE DIAGNOSIS TOOL

NOTE:
Monitor item Condition Value/Status

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
When brake pedal is not depressed Off
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
The item is indicated, but not monitored
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
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
When the buzzer of the following system operates
• Vehicle-to-vehicle distance control mode
• 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
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-
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
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.
control mode When a vehicle ahead is not detected 0.0
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
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
When the LDW system is ON On
LDW SYSTEM ON Ignition switch ON
When the LDW system is OFF Off
LDW ON LAMP Ignition switch ON
Start the engine and press dy- LDP ON indicator lamp ON On
namic driver assistance switch
LDP ON IND
(When LDP system setting is LDP ON indicator lamp 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

ADAS CONTROL UNIT
A
• 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
When the buzzer of the following system does not oper- B
PUT Spot Warning/Blind Spot Inter-
vention system ate
Off
• LDW/LDP system
• Blind Spot Warning/Blind Spot Intervention system
C
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) D
Drive the vehicle and activate Lane departure warning is operating On
WARN REQ
the LDP system Lane departure warning is not operating Off
E
READY signal
ON) F
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- G
tem Both side lane markers are lost Both
Lane marker is unclear On
Lane unclear While driving
Lane marker is clear Off H
When the LDP system is ON Stnby
Drive the vehicle and activate When the LDP system is operating Warn
STATUS signal I
the LDP system When the LDP system is canceled Cancl
When the LDP system is OFF Off
• Engine running Displays the J
Shift position
• While driving shift position
Turn signal lamps OFF Off
Turn signal lamp LH blinking LH K
Turn signal
Turn signal lamp RH blinking RH
Turn signal lamp LH and RH blinking LH&RH
L
Vehicle turning right Negative value
SIDE G While driving
Vehicle turning left Positive value
FUNC ITEM Ignition switch ON FUNC3 M
FUNC ITEM (FCW) Engine running On
FUNC ITEM (LDW) Engine running On
FUNC ITEM (BSW) Engine running On N
“Distance Control Assist” set with the integral switch is
On
ON
DCA SELECT Ignition switch ON DAS
Off
OFF
“Lane Departure Intervention” set with the integral
On
switch is ON P
LDP SELECT Ignition switch ON
Off
switch is OFF
“Blind Spot Intervention” set with the integral switch is
On
ON
BSI SELECT Ignition switch ON
Off
OFF

ADAS CONTROL UNIT
“Forward Emergency Braking” set with the integral
On
switch is ON
FCW SELECT Ignition switch ON
Off
switch is OFF
“Lane Departure Warning” set with the integral switch is
On
ON
LDW SELECT Ignition switch ON
Off
OFF
“Blind Spot Warning” set with the integral switch is ON On
BSW SELECT Ignition switch ON
“Blind Spot Warning” set with the integral switch is OFF Off
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
When warning systems switch is pressed On
WARN SYS SW Ignition switch ON
When warning systems switch is not pressed Off
When the BSW system is malfunctioning On
BSW/BSI WARN LMP Engine running
When the BSW system is normal Off
Blind Spot Intervention warning ON On
BSI ON IND Engine running
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 Engine running
LDW system display OFF Off
LDW WARNING INDI- When the LDW system is malfunctioning On

Engine running
CATOR When the LDW system is normal Off
When the vehicle is normal NOREQ
SYSTEM CANCEL When the wheel is slipping SLIP

Engine running
MESSAGE When the drive mode selector is SNOW mode SNOW
When the VDC is OFF VDC OFF

ADAS CONTROL UNIT
A
Lane camera unit high temperature warning display ON On
CAMERA HI TEMP
Engine running Lane camera unit high temperature warning display
MSG Off
OFF
B
ITS SETTING
Ignition switch ON On
ITEM(DCA)
ITS SETTING
Ignition switch ON On C
ITEM(LDP)
ITS SETTING
ITEM(BSI)
D
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 E
BSW ON INDICATOR Engine running
BSW system display OFF Off
SIDE RADAR BLOCK Front bumper or side radar is dirty On

Engine running
COND Front bumper and side radar is clean Off F
LDW system OFF Nothing
LDW WARNING
Ignition switch ON Lane departure warning timing is early setting Early
ALERT TIMING G
Lane departure warning timing is late setting Late
BSW system OFF Nothing
Blind Spot Warning/Blind Spot Intervention indicator H
Bright
brightness bright
BSW IND BRIGHT-
Ignition switch ON Blind Spot Warning/Blind Spot Intervention indicator
NESS Normal
brightness normal I
Blind Spot Warning/Blind Spot Intervention indicator
Dark
brightness dark
J
TERMINAL LAYOUT
PHYSICAL VALUES
K
M
JSOIA0705ZZ
DAS

ADAS CONTROL UNIT
Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ − Signal name
Output
1
CAN high — — — —
(B)
2
CAN low — — — —
(W)
Ignition
5
Ground — switch — 0V
(B)
ON
6
ITS communication high — — — —
(L)
7
ITS communication low — — — —
(Y)
8
Chassis communication high — — — —
(L)
9
Ground Chassis communication low — — — —
(Y)
12
Ignition power supply Input Ignition switch ON Battery voltage
(R)
Ignition — Battery voltage
17
ICC brake hold relay drive signal Output switch
(G) At “STOP LAMP” test of “Active test” 0V
ON
Ignition When warning systems switch is not pressed Battery voltage
18
Warning systems switch Input switch
(BR) When warning systems switch is pressed 0V
ON
Ignition Warning systems ON indicator ON 0V
19
Warning systems ON indicator Output switch
(W) Warning systems ON indicator OFF Battery voltage
ON
Ignition When BCI OFF switch is not pressed Battery voltage
22
BCI OFF switch Input switch
(BG) When BCI OFF switch is pressed 0V
ON

High-
tone
High-
tone
High-
tone
High-
tone
High-
tone
Lane Departure Warning (LDW) — Lane departure warning lamp Cancel

ADAS CONTROL UNIT
A
Low-
tone
Blind Spot Warning (BSW) — Blind Spot Warning warning lamp Cancel B
Low-
Blind Spot Intervention pitched Blind Spot Intervention warning lamp Cancel
tone C
High-
ing indicator
tone D
DTC Inspection Priority Chart INFOID:0000000014222117

E
If multiple DTCs are detected simultaneously, check them one by one depending on the following DTC inspec-
tion priority chart.
F
Priority Detected items (DTC)
• U1507: LOST COMM (SIDE RDR R)
1
• U1508: LOST COMM (SIDE RDR L) G
• 1CA0A: CONFIG UNFINISHED
2 • U1000: CAN COMM CIRCUIT
• U1010: CONTROL UNIT (CAN) H
• C1B00: CAMERA UNIT MALF
• C1F02: APA C/U MALF
3 • C1B53: SIDE RDR R MALF
• C1B54: SIDE RDR L MALF I
• C1B84: DIST SEN MALFUNCTION
• C1A01: POWER SUPPLY CIR • U0121: VDC CAN CIR 2
• C1A02: POWER SUPPLY CIR 2 • U0126: STRG SEN CAN CIR 1 J
• 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 K
• 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
L
• 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 M
• 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
4 • C1A39: STRG SEN CIR • U150C: VDC CAN CIRC 3 N
• C1A40: SYSTEM SW CIR • U150D: TCM CAN CIRC 3
• C1B01: CAM AIMING INCMP • U150E: BCM CAN CIRC 3
• C1B03: CAM ABNRMAL TMP DETCT • U1512: HVAC CAN CIRC3
• C1B56: SONAR CIRCUIT • U1513: METER CAN CIRC 3 DAS
• C1B57: AVM CIRCUIT • U1514: STRG SEN CAN CIRC 3
• C1B58: DR ASSIST BUZZER CIRCUIT • U1515: ICC SENSOR CAN CIRC 3
• C1B82: DIST SEN OFF-CENTER • U1516: CAM CAN CIR 3
• C1B85: DIST SEN ABNORMAL TEMP • U1517: APA CAN CIRC 3 P
• C1B86: DIST SEN PWR SUP CIR • U1518: SIDE RDR L CAN CIRC 3
• C1F01: APA MOTOR MALF • U1519: SIDE RDR R CAN CIRC 3
• C1F05: APA PWR SUPLY CIR • U1521: SONAR CAN COMMUNICATION 2
• U1522: SONAR CAN COMMUNICATION 1
• U1524: AVM CAN COMMUNICATION 1
• U1530: DR ASSIST BUZZER CAN CIR 1

ADAS CONTROL UNIT
5 • C1A03: VHCL SPEED SE CIRC
6 • C1A15: GEAR POSITION
7 • C1A00: CONTROL UNIT
DTC Index INFOID:0000000014222118
Systems for fail-safe

• A: Vehicle-to-vehicle distance control mode
• B: Conventional (fixed speed) cruise control mode
• C: Distance Control Assist (DCA)
• D: Forward Emergency Braking (FEB)
• E: Predictive Forward Collision Warning (PFCW)
• F: Blind Spot Warning (BSW)/Blind Spot Intervention (BSI)/Rear Cross Traffic Alert (RCTA)
• G: Back-up Collision Intervention (BCI)
• H: Lane Departure Warning (LDW)/Lane Departure Prevention (LDP)
DTC Fail-safe
On board CONSULT display Reference
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 DAS-68
C1A00 0 CONTROL UNIT A, B, C, D, E, F, G, H DAS-69
C1A01 1 POWER SUPPLY CIR A, B, C, D, E, F, G, H DAS-70
C1A02 2 POWER SUPPLY CIR 2 A, B, C, D, E, F, G, H DAS-70
C1A03 3 VHCL SPEED SE CIRC A, B, C, D, E, F, G, H DAS-71
C1A04 4 ABS/TCS/VDC CIRC A, B, C, D, E, F, G, H DAS-73
C1A05 5 BRAKE SW/STOP L SW A, B, C, D, G, H DAS-75
C1A06 6 OPERATION SW CIRC A, B, C, D, E, H DAS-80
C1A13 13 STOP LAMP RLY FIX A, B, C, D, E, G DAS-82
C1A14 14 ECM CIRCUIT A, B, C, D, E DAS-89
C1A15 15 GEAR POSITION A, B, C, D, E DAS-91
C1A24 24 NP RANGE A, B, C, D, E, F, G DAS-93
C1A26 26 ECD MODE MALF A, B, C, D, G DAS-95
C1A27 27 ECD PWR SUPLY CIR A, B, C, D, G DAS-97
C1A33 33 CAN TRANSMISSION ERR A, B, C, D, E DAS-99
C1A34 34 COMMAND ERROR A, B, C, D, E DAS-100
C1A35 35 APA CIR A, C, D, E DAS-101
C1A36 36 APA CAN COMM CIR A, C, D, E DAS-102
C1A37 133 APA CAN CIR 2 A, C, D, E DAS-103
C1A39 39 STRG SEN CIR A, B, C, D, E, F, G DAS-105
C1A40 40 SYSTEM SW CIR G DAS-105
C1B00 81 CAMERA UNIT MALF F, H DAS-108
C1B01 82 CAM AIMING INCMP F, H DAS-109
C1B03 83 ABNRML TMP DETCT F, H DAS-110
C1B53 84 SIDE RDR R MALF F, G DAS-111

ADAS CONTROL UNIT
• A: Vehicle-to-vehicle distance control mode A
• E: Predictive Forward Collision Warning (PFCW) B
C
DTC Fail-safe
CONSULT System
display D
C1B54 85 SIDE RDR L MALF F, G DAS-112
C1B56 86 SONAR CIRCUIT G DAS-113
C1B57 87 AVM CIRCUIT G DAS-114 E
C1A58 182 DR ASSIST BUZZER CIRCUIT DAS-115
C1B82 12 DIST SEN OFF-CENTER A, C, D, E DAS-116
F
C1B83 16 DIST SEN BLOCKED A, C, D, E DAS-117
C1B84 17 DIST SEN MALFUNCTION A, C, D, E DAS-118
C1B85 21 DIST SEN ABNORMAL TEMP A, C, D, E DAS-119 G
C1B86 80 DIST SEN PWR SUP CIR A, C, D, E DAS-120
C1F01 91 APA MOTOR MALF A, C, D, E DAS-122
H
C1F02 92 APA C/U MALF A, C, D, E DAS-123
C1F05 95 APA PWR SUPLY CIR A, C, D, E DAS-124
U0121 127 VDC CAN CIR 2 A, B, C, D, E, F, G, H DAS-125 I
U0126 130 STRG SEN CAN CIR 1 A, B, C, D, E, F, G DAS-126
U0235 144 ICC SENSOR CAN CIRC 1 A, C, D, E DAS-127
J
U0401 120 ECM CAN CIR 1 A, B, C, D, E, F, G DAS-128
U0402 122 TCM CAN CIR 1 A, B, C, D, E, F, G, H DAS-129
U0415 126 VDC CAN CIR 1 A, B, C, D, E, F, G, H DAS-131 K
U0424 156 HVAC CAN CIR 1 DAS-133
NOTE L
U1000 100 CAN COMM CIRCUIT A, B, C, D, E, F, G, H DAS-135
U1010 110 CONTROL UNIT (CAN) A, B, C, D, E, F, G, H DAS-137
U150B 157 ECM CAN CIRC 3 A, B, C, D, E, F, G, H DAS-138 M
U150C 158 VDC CAN CIRC 3 A, B, C, D, E, F, G, H DAS-140
U150D 159 TCM CAN CIRC 3 A, B, C, D, E, F, G, H DAS-142
U150E 160 BCM CAN CIRC 3 A, B, C, D, F, G, H DAS-144 N
U1500 145 CAM CAN CIR2 F, H DAS-145
U1501 146 CAM CAN CIR 1 F, H DAS-146
DAS
U1502 147 ICC SEN CAN COMM CIR A, C, D, E DAS-147
U1503 150 SIDE RDR L CAN CIR 2 F, G DAS-148
U1504 151 SIDE RDR L CAN CIR 1 F, G DAS-149 P
U1505 152 SIDE RDR R CAN CIR 2 F, G DAS-150
U1507 154 LOST COMM (SIDE RDR R) F, G DAS-152
U1508 155 LOST COMM (SIDE RDR L) F, G DAS-153
U1512 162 HVAC CAN CIRC3 DAS-154

ADAS CONTROL UNIT
DTC Fail-safe
CONSULT System
display
U1513 163 METER CAN CIRC 3 A, B, C, D, E, F, G, H DAS-155
U1514 164 STRG SEN CAN CIRC 3 A, B, C, D, E, F, G DAS-156
U1516 166 CAM CAN CIRC 3 F, H DAS-158
U1517 167 APA CAN CIRC 3 A, C, D, E DAS-159
U1518 168 SIDE RDR L CAN CIRC 3 F, G DAS-160
U1519 169 SIDE RDR R CAN CIRC 3 F, G DAS-161
U1521 177 SONAR CAN COMMUNICATION 2 G DAS-163
U1524 180 AVM CAN COMMUNICATION 1 G DAS-166
U1530 183 DR ASSIST BUZZER CAN CIR1 DAS-168
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.

DRIVER ASSISTANCE SYSTEMS
< WIRING DIAGRAM > [ADAS CONTROL UNIT]
WIRING DIAGRAM A
Wiring Diagram INFOID:0000000014222119
B
DAS
AAOWA0150GB

AAOWA0151GB

DAS
AAOWA0152GB

AAOWA0153GB

DAS
AAOIA0475GB

AAOIA0476GB

DAS
AAOIA0477GB

AAOIA0478GB

DAS
AAOIA0479GB

AAOIA0480GB

DAS
AAOIA0481GB

AAOIA0482GB

DAS
AAOIA0483GB

AAOIA0484GB

DAS
AAOIA0485GB

AAOIA0486GB

DAS
AAOIA0487GB

AAOIA0500GB

DAS
AAOIA0564GB

AAOIA0636GB

DAS
AAOIA0637GB

AAOIA0638GB

ADDITIONAL SERVICE WHEN REPLACING ADAS CONTROL UNIT
< BASIC INSPECTION > [ADAS CONTROL UNIT]
BASIC INSPECTION A
ADDITIONAL SERVICE WHEN REPLACING ADAS CONTROL UNIT
Description INFOID:0000000014222120
B
Always perform the ADAS control unit configuration after replacing the ADAS control unit.
Work Procedure INFOID:0000000014222121 C
1.ADAS CONTROL UNIT CONFIGURATION

Perform the ADAS control unit configuration with CONSULT. Refer to DAS-66, "Description". D
>> GO TO 2.
E
2.PERFORM SELF-DIAGNOSIS
Perform the self-diagnosis of ADAS control unit with CONSULT. Check if any DTC is detected.
Is any DTC detected? F
YES >> Perform the trouble diagnosis for the detected DTC. Refer to DAS-40, "DTC Index".
NO >> INSPECTION END
G
DAS

CONFIGURATION (ADAS CONTROL UNIT)
• Since vehicle specifications are not included in the ADAS control unit after replacement, it is required to write
vehicle specifications with CONSULT.
• Configuration has three functions as follows.
Before Replace ECU
After Replace ECU
unit by hand.
Work Procedure INFOID:0000000014222123
1.SAVING VEHICLE SPECIFICATION

WITH CONSULT
Perform “READ CONFIGURATION” to save or print current vehicle specification.
Is vehicle specification saved normally?
YES >> GO TO 2.
NO >> GO TO 4.
2.REPLACE ADAS CONTROL UNIT
Replace ADAS control unit. Refer to DAS-170, "Removal and Installation".
>> GO TO 3.
3.WRITING VEHICLE SPECIFICATION
WITH CONSULT
Perform “WRITE CONFIGURATION - Config file” to write vehicle specification.
>> GO TO 6.
Replace ADAS control unit. Refer to DAS-170, "Removal and Installation".
>> GO TO 5.
5.WRITING VEHICLE SPECIFICATION
WITH CONSULT
Select “WRITE CONFIGURATION - Manual selection” and write in the following list at a ADAS control unit
depending on a vehicle specification.
Setting item
Items Setting value
FWD
FWD/AWD
AWD
WITHOUT
LANE DEPARTURE PREVENTION
WITH
>> GO TO 6.

6.OPERATION CHECK A
Confirm that each function controlled by ADAS control unit operates normally.
>> WORK END. B
DAS

C1A0A CONFIG UNFINISHED
< DTC/CIRCUIT DIAGNOSIS > [ADAS CONTROL UNIT]
DTC/CIRCUIT DIAGNOSIS
C1A0A CONFIG UNFINISHED
DTC Logic INFOID:0000000014222124
DTC DETECTION LOGIC
DTC
(On board dis- Trouble diagnosis name DTC detecting condition
play)
C1A0A CONFIG UNFINISH
The vehicle specifications of ADAS control unit is incomplete.
(41) (Configuration unfinished)
POSSIBLE CAUSE
Vehicle specifications for ADAS control unit is incomplete.
FAIL-SAFE
The following systems are canceled.
• Conventional (fixed speed) cruise control mode
• Rear Cross Traffic Alert (RCTA)
• Back-up Collision Intervention (BCI)
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
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”.
Is “C1A01” detected as the current malfunction?
YES >> Refer to DAS-68, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-50, "Intermittent Incident".
NO-2 >> Confirmation after repair: INSPECTION END
Diagnosis Procedure INFOID:0000000014222125
1.PERFORM CONFIGURATION OF ADAS CONTROL UNIT

Perform configuration of ADAS control unit when DTC “C1A0A” is detected.
>> Perform configuration of ADAS control unit. Refer to DAS-66, "Description".

C1A00 CONTROL UNIT
C1A00 CONTROL UNIT
A
DTC DETECTION LOGIC B
DTC
(On board dis- Trouble diagnosis name DTC detecting condition C
play)
C1A00 CONTROL UNIT
ADAS control unit internal malfunction
(0) (Control unit)
D
POSSIBLE CAUSE
ADAS control unit
E
FAIL-SAFE
• Conventional (fixed speed) cruise control mode F
• Predictive Forward Collision Warning (PFCW) G
• Rear Cross Traffic Alert (RCTA) H
I
2. Perform “All DTC Reading” with CONSULT. J
YES >> Refer to DAS-69, "Diagnosis Procedure". K
L
1.CHECK SELF-DIAGNOSIS RESULTS

M
Check if any DTC other than “C1A00” is detected in “Self Diagnostic Result” of “ICC/ADAS”.
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to N
DAS-40, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-170, "Removal and Installation".
DAS

C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
DTC DETECTION LOGIC
DTC
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
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
• Connector, harness, fuse
• ADAS control unit
FAIL-SAFE
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?
1.CHECK ADAS CONTROL UNIT POWER SUPPLY AND GROUND CIRCUIT

Check power supply and ground circuit of ADAS control unit. Refer to DAS-169, "Diagnosis Procedure".
Is the inspection result normal?
YES >> Replace the ADAS control unit. Refer to DAS-170, "Removal and Installation".
NO >> Repair or replace the malfunctioning parts.

C1A03 VEHICLE SPEED SENSOR
A
DTC
play)
If the vehicle speed signal (wheel speed) from ABS actuator and electric unit
C1A03 VHCL SPEED SE CIRC (control unit) and the CVT vehicle speed sensor signal (output shaft revolution
(3) (Vehicle speed sensor circuit) signal) from TCM, received by the ADAS control unit via CAN communication, D
are inconsistent
POSSIBLE CAUSE E
• Wheel speed sensor
• ABS actuator and electric unit (control unit)
• Vehicle speed sensor CVT (output speed sensor)
• TCM F
FAIL-SAFE
G
• Distance Control Assist (DCA) H
• Lane Departure Warning (LDW) I
• Back-up Collision Intervention (BCI) J

1.CHECK DTC PRIORITY K
If DTC “C1A03” is displayed with DTC “U1000” or “C1A04”, first diagnose the DTC “U1000” or “C1A04”.
Is applicable DTC detected?
L
YES >> Perform diagnosis of applicable.
• U1000: Refer to DAS-135, "DTC Logic"
• C1A04: Refer to DAS-73, "DTC Logic"
NO >> GO TO 2. M
1. Start the engine. N
3. Drive the vehicle at 30 km/h (19 MPH) or more.
CAUTION:
Always drive safely. DAS
4. Stop the vehicle.
6. Check if the “C1A03” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. P

1.CHECK DTC PRIORITY

If DTC “C1A03” is displayed with DTC “U1000” or “C1A04”, first diagnose the DTC “U1000” or “C1A04”.
NO >> GO TO 2.
2.CHECK DATA MONITOR
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”.
CAUTION:
Be careful of the vehicle speed.
NO >> GO TO 3.
3.CHECK TCM SELF-DIAGNOSIS RESULTS
1. Perform “All DTC Reading”.
2. Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
TM-64, "DTC Index" (RE0F10E) or TM-291, "DTC Index" (RE0F10J).
NO >> GO TO 4.
4.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
BRC-47, "DTC Index".

C1A04 ABS/TCS/VDC SYSTEM
A
DTC
play)
C1A04 ABS/TCS/VDC CIRC
If a malfunction occurs in the VDC/TCS/ABS system
(4) (ABS/TCS/VDC circuit)
D
POSSIBLE CAUSE
ABS actuator and electric unit (control unit)
E
FAIL-SAFE
I
If DTC “C1A04” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected? J
YES >> Perform diagnosis of applicable. Refer to DAS-135, "DTC Logic".
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE K

2. Turn the MAIN switch of ICC system ON. L
M
N
1.CHECK DTC PRIORITY DAS

YES >> Perform diagnosis of applicable. Refer to DAS-135, "DTC Logic". P
NO >> GO TO 2.

C1A05 BRAKE SW/STOP LAMP SW
A
DTC
play)
A mismatch between a stop lamp switch signal and a brake pedal position
C1A05 BRAKE SW/STOP L SW switch signal received from ECM and a stop lamp signal received from the
(5) (Brake switch/Stop lamp switch) ABS actuator and electric unit (control unit) continues for 10 seconds or more D
with vehicle speeds at approximately 40 km/h or more
POSSIBLE CAUSE E
• Stop lamp switch circuit
• Brake pedal position switch circuit
• Stop lamp switch
• Brake pedal position switch F
• Incorrect stop lamp switch installation
• Incorrect brake pedal position switch installation
• ECM G
FAIL-SAFE
The following systems are canceled. H
• Distance Control Assist (DCA) I
DTC CONFIRMATION PROCEDURE J
K
NO >> GO TO 2.
L
2. Turn the MAIN switch of ICC system ON. M
Is “C1A05” detected as the current malfunction? N
NO-2 >> Confirmation after repair: INSPECTION END DAS
P
Regarding Wiring Diagram information, refer to DAS-43, "Wiring Diagram".

2. Check if the “U1000” is detected other than “C1A05” in “Self Diagnostic Result” of “ICC/ADAS”.

Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to DAS-135, "DTC Logic".
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-7, "Inspection".
YES >> GO TO 5.
NO >> Adjust brake pedal position switch installation. Refer to BR-13, "Adjustment".
5.BRAKE PEDAL POSITION SWITCH INSPECTION
1. Disconnect brake pedal position switch connector.
2. Check brake pedal position switch. Refer to DAS-79, "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

E72 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.
For Mexico
Brake pedal position switch ECM

Continuity
Connector Terminal Connector Terminal
E72 2 E16 126 Yes

Except for Mexico
A
Brake pedal position switch ECM
Continuity
B
E72 2 E32 140 Yes
4. Check for continuity between brake pedal position switch harness connector and ground.
C
Brake pedal position switch
Continuity
E72 2 No D

YES >> GO TO 8. E
8.PERFORM SELF-DIAGNOSIS OF ECM
1. Connect all connectors again if the connectors are disconnected. F
2. Turn ignition switch ON.
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. Refer to EC-112, "DTC Index" G
(except for Mexico) or EC-654, "DTC Index" (for Mexico).
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result. H
9.CHECK STOP LAMP SWITCH INSTALLATION
1. Turn ignition switch OFF. I
2. Check stop lamp switch for correct installation. Refer to BR-7, "Inspection".
YES >> GO TO 10. J
NO >> Adjust stop lamp switch installation. Refer to BR-13, "Adjustment".
10.STOP LAMP SWITCH INSPECTION K
1. Disconnect stop lamp switch connector.
2. Check stop lamp switch. Refer to DAS-79, "Component Inspection (Stop Lamp Switch)".
Is the inspection result normal? L
YES >> GO TO 11.
NO >> Replace stop lamp switch.
11.CHECK STOP LAMP SWITCH POWER SUPPLY CIRCUIT M
2. Check voltage between stop lamp switch harness connector and ground.
N
Terminals
(+) (-) Voltage
DAS
Stop lamp switch (Approx.)
Connector Terminal
Ground
1 P
E38 Battery voltage
3
YES >> GO TO 12.
12.CHECK HARNESS BETWEEN STOP LAMP SWITCH AND ECM
1. Turn ignition switch OFF
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.
For Mexico
Stop lamp switch ECM

Continuity
E38 2 E16 122 Yes
Except for Mexico

Continuity
E38 2 E32 139 Yes
4. Check for continuity between stop lamp switch harness connector and ground.
Stop lamp switch

Continuity
E38 2 No
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.
2. Check for continuity between stop lamp switch harness connector and ABS actuator and electric unit
(control unit) harness connector.
Stop lamp switch ABS actuator and electric unit (control unit)
Continuity
E38 4 E125 7 Yes
Stop lamp switch

Continuity
E38 4 No
YES >> GO TO 14.
1. Connect all connectors again if the connectors are disconnected.
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. Refer to EC-112, "DTC Index"
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
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-47, "DTC Index".

YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result. A
Component Inspection (Brake Pedal Position Switch) INFOID:0000000014222136
B
1.CHECK BRAKE PEDAL POSITION SWITCH
Check for continuity between brake pedal position switch terminals. C
Terminal Condition Continuity

When brake pedal is depressed No D
1 2
When brake pedal is released Yes
E
YES >> INSPECTION END
NO >> Replace brake pedal position switch. Refer to BR-20, "Exploded View".
Component Inspection (Stop Lamp Switch) INFOID:0000000014222137 F

Check for continuity between stop lamp switch terminals. G

H
When brake pedal is depressed Yes
1 2
When brake pedal is released No
When brake pedal is depressed Yes I
3 4
When brake pedal is released No
YES >> INSPECTION END J
NO >> Replace stop lamp switch. Refer to BR-20, "Exploded View".
DAS

C1A06 OPERATION SW
C1A06 OPERATION SW
DTC DETECTION LOGIC
DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play)
• Any switch of the ICC steering switch is de-
tected as “ON” continuously for 60 seconds • ICC steering switch circuit
C1A06 OPERATION SW
• An ON/OFF state judgment of the ICC differs • ICC steering switch
(6) CIRC
between ECM and ADAS control unit, and the • ECM
state continues for 2 seconds or more
NOTE:
If DTC “C1A06” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-155, "ICC
SENSOR : DTC Logic".
2. Wait for approximately 5 minutes after turning the MAIN switch of ICC system ON.
NO >> Refer to GI-50, "Intermittent Incident".
Regarding Wiring Diagram information, refer to CCS-64, "Wiring Diagram".

Check if “U1000” is detected other than “C1A06” in “Self Diagnostic Result” of “ICC/ADAS”.
Refer to CCS-155, "ICC SENSOR : DTC Logic".
NO >> GO TO 2.
2.CHECK ICC STEERING SWITCH
2. Disconnect the ICC steering switch connector.
3. Check the ICC steering switch. Refer to DAS-81, "Component Inspection".
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

C1A06 OPERATION SW
25 101
E16 (for Mexico) A
32 108
M30 Yes
25 134
E32 (except for Mexico)
32 135 B
3. Check for continuity between spiral cable harness connector and ground.
Spiral cable C
Continuity
Connector Terminal
Ground
25
M30 No D
32
YES >> GO TO 4. E
4.CHECK SPIRAL CABLE
F
Check for continuity between spiral cable terminals.
Spiral cable
Continuity G
Terminal
13 25
Yes
16 32 H
YES >> GO TO 5.
NO >> Replace the spiral cable. I

1. Connect the connectors of ICC steering switch and ECM connector. J
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”.
K
YES >> Perform self-diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer
to EC-112, "DTC Index" (except for Mexico) or EC-654, "DTC Index" (for Mexico). L
Component Inspection INFOID:0000000014236089
M
1.CHECK ICC STEERING SWITCH
Check resistance between ICC steering switch terminals.
N
Terminal Switch operation Resistance [Ω]
When pressing MAIN switch Approx. 1
DAS
When pressing dynamic driver assistance switch Approx. 267
When pressing CANCEL switch Approx. 615
13 16 When pressing DISTANCE switch Approx. 1090 P
When pressing SET/COAST switch Approx. 1805
When pressing RESUME/ACCELERATE switch Approx. 2985
When all switches are not pressed Approx. 5415
YES >> Inspection End.
NO >> Replace the ICC steering switch. Refer to CCS-190, "Removal and Installation".
C1A13 STOP LAMP RELAY
DTC DETECTION LOGIC
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-
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
- No brake operation
POSSIBLE CAUSE
• Stop lamp switch circuit
• Brake pedal position switch circuit
• ICC brake hold relay circuit
• Stop lamp switch
• Brake pedal position switch
• ICC brake hold relay
• Incorrect stop lamp switch installation
• Incorrect brake pedal position switch installation
• ECM
FAIL-SAFE
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE (1)
2. Perform the active test item “STOP LAMP” with CONSULT.
4. Check if the “C1A13” is detected as the current malfunction in the “Self Diagnostic Result” of “ICC/ADAS”.
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:
Always drive safely.

NOTE:
If it is outside the above condition, repeat step 1. A
3. Check if the “C1A13” is detected as the current malfunction in the “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1A13” detected as the current malfunction? B
C
D
E
Is “U1000” detected? F
NO >> GO TO 2. G
Check that “STOP LAMP SW” operate normally in “DATA MONITOR” of “ICC/ADAS”. H
YES >> GO TO 10.
NO >> GO TO 3. I
2. Check stop lamp switch for correct installation. Refer to BR-7, "Inspection". J
YES >> GO TO 4.
NO >> Adjust stop lamp switch installation. Refer to BR-13, "Adjustment". K
1. Disconnect stop lamp switch connector. L
2. Check stop lamp switch. Refer to DAS-87, "Component Inspection".
YES >> GO TO 5. M
NO >> Replace stop lamp switch.
5.CHECK STOP LAMP FOR ILLUMINATION
1. Turn the ignition switch OFF. N
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.
Is the inspection result normal? DAS
YES >> GO TO6.
NO >> Check the stop lamp circuit, and repair or replace the malfunctioning parts.
6.CHECK HARNESS BETWEEN STOP LAMP SWITCH AND ECM P

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.
For Mexico


Continuity
E38 2 E16 122 Yes
Except for Mexico

Continuity
E38 2 E32 139 Yes
Stop lamp switch

Continuity
E38 2 No
YES >> GO TO 7.
7.CHECK ICC BRAKE HOLD RELAY CIRCUIT
1. Disconnect 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.
YES >> GO TO 9.
NO >> GO TO 8.
8.CHECK ICC BRAKE HOLD RELAY
1. Remove ICC brake hold relay
2. Check ICC brake hold relay. Refer to DAS-87, "Component Inspection".
YES >> GO TO 9.
NO >> Replace ICC brake hold relay.
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. Refer to EC-112, "DTC Index"
NO >> Replace ADAS control unit. Refer to DAS-170, "Removal and Installation".
10.CHECK ICC BRAKE HOLD RELAY POWER SUPPLY CIRCUIT
3. Check the voltage between ICC brake hold relay harness connector and ground.
Terminal
(+) (–) Voltage
ICC brake hold relay (Approx.)

YES >> GO TO 11.
NO >> Repair or replace ICC brake hold relay power supply circuit. A
11.CHECK HARNESS BETWEEN AND ICC BRAKE HOLD RELAY AND ADAS CONTROL UNIT
1. Disconnect ADAS control unit connectors.
B
2. Check for continuity between ICC brake hold relay harness connector and ADAS control unit harness
connector.
ICC brake hold relay ADAS control unit

C
Continuity
E75 1 B104 17 Yes D
3. Check for continuity between ADAS control unit harness connector and ground.
ICC brake hold relay E

Continuity
E75 1 No
F
YES >> GO TO 12.
NO >> Repair the harnesses or connectors. G
12.CHECK ADAS CONTROL UNIT STANDARD VOLTAGE
2. Turn ignition switch ON. H
3. Perform “STOP LAMP” on “Active Test” of “ICC/ADAS”, and then check the voltage between ADAS con-
trol unit harness connector and ground.
I
Terminal
Condition
(+) (–) Voltage
(Approx.) J
ADAS control unit Active Test item
Connector Terminal “STOP LAMP”
Ground
Off Battery voltage K
B104 17
On 0V
YES >> GO TO 13. L
13.CHECK ICC BRAKE HOLD RELAY POWER SUPPLY CIRCUIT M
2. Check the voltage between ICC brake hold relay harness connector and ground.
N
Terminal
(+) (–) Voltage
ICC brake hold relay (Approx.) DAS
P
YES >> GO TO 14.
NO >> Repair or replace ICC brake hold relay power supply circuit.
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.
For Mexico
ICC brake hold relay ECM

Continuity
E75 2 E16 122 Yes
Except for Mexico
ICC brake hold relay ECM

Continuity
E75 2 M32 139 Yes
3. Check for continuity between ICC brake hold relay harness connector and ground.
ICC brake hold relay

Continuity
E75 2 No
YES >> GO TO 15.
2. Check ICC brake hold relay. Refer to DAS-87, "Component Inspection".
YES >> GO TO 16.
Check that “STOP LAMP SW” operate normally in “DATA MONITOR” of “ABS”.
YES >> GO TO 21.
NO >> GO TO 17.
2. Check stop lamp switch for correct installation. Refer to BR-7, "Inspection".
YES >> GO TO 18.
NO >> Adjust stop lamp switch installation. Refer to BR-13, "Adjustment".
1. Disconnect stop lamp switch connector.
2. Check stop lamp switch. Refer to DAS-87, "Component Inspection".
YES >> GO TO 19.
NO >> Replace stop lamp switch. Refer to BR-20, "Exploded View".
19.CHECK STOP LAMP SWITCH POWER SUPPLY CIRCUIT
1. Connect stop lamp switch connector.
2. Check the voltage between stop lamp switch harness connector and ground.

Terminal A
(+) (–) Voltage
Stop lamp switch (Approx.)
B
Is the inspection result normal? C
YES >> GO TO 20.
NO >> Repair or replace stop lamp switch power supply circuit.
20.CHECK HARNESS BETWEEN STOP LAMP SWITCH AND ABS ACTUATOR AND ELECTRIC UNIT D
(CONTROL UNIT)
1. Turn the ignition switch OFF. E
2. Disconnect stop lamp switch, ABS actuator and electric unit (control unit) connectors.
3. Check for continuity between the stop lamp switch harness connector and the ABS actuator and electric
unit (control unit) harness connector.
F
Stop lamp switch ABS actuator and electric unit (control unit)
Continuity
G
E38 4 E125 7 Yes
H
Stop lamp switch
Continuity
I
E38 4 No
YES >> GO TO 21. J
1. Connect all connectors again if the connectors are disconnected. K
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. Refer to EC-112, "DTC Index" L
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result. M
NO >> GO TO 22.
N
4. Check if any DTC is detected in “Self Diagnostic Result” of “ABS”. Refer to BRC-47, "DTC Index". DAS
NO >> Replace ADAS control unit. Refer to DAS-170, "Removal and Installation". P

Apply battery voltage to ICC brake hold relay terminals 1 and 2, and
then check for continuity under the following conditions.

When the battery voltage is applied Yes
3 5
When the battery voltage is not applied No
JSOIA0075GB

C1A14 ECM
C1A14 ECM
A
DTC
play)
C1A14 ECM CIRCUIT
If ECM is malfunctioning
(14) (ECM circuit)
D
POSSIBLE CAUSE
• Accelerator pedal position sensor
• ECM E
FAIL-SAFE
The following systems are canceled. F
• Distance Control Assist (DCA) G
DTC CONFIRMATION PROCEDURE H
I
NO >> GO TO 2. J
2. Operate the ICC system and drive. K
CAUTION:
3. Stop the vehicle. L
M
N

NO >> GO TO 2.
Refer toDAS-135, "DTC Logic".
C1A14 ECM
NO >> GO TO 3.
Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”.
EC-112, "DTC Index" (except for Mexico) or EC-654, "DTC Index" (for Mexico).

C1A15 GEAR POSITION
C1A15 GEAR POSITION
A
ADAS control unit judges the gear position based on the following signals. B
• 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. C
D
DTC DETECTION LOGIC
DTC
E
play)
A mismatch between an current gear position signal transmitted from TCM via
C1A15 GEAR POSITION F
CAN communication and a gear position calculated by the ADAS control unit
(15) (Gear position)
continues for approximately 11 minutes or more
POSSIBLE CAUSE
G
• Input speed sensor
• Vehicle speed sensor CVT (output speed sensor)
• TCM
H
FAIL-SAFE
• Conventional (fixed speed) cruise control mode I
• Predictive Forward Collision Warning (PFCW) J
1.CHECK DTC PRIORITY K
If DTC “C1A15” is displayed with DTC “U1000” or “C1A03”, or “C1A04” first diagnose the DTC
“U1000”,“C1A03”, or “C1A04”
Is applicable DTC detected? L
• C1A03: Refer to DAS-71, "DTC Logic" M
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE N
3. Drive the vehicle at 10 km/h (6 MPH) or faster for approximately 15 minutes or more. DAS
CAUTION:
5. Perform “All DTC Reading” with CONSULT. P
6. Check if “C1A15” is detected as the current malfunction in the “Self Diagnostic Result” of “ICC/ADAS”.

C1A15 GEAR POSITION

If DTC “C1A15” is displayed with DTC “U1000” or “C1A03”, or “C1A04” first diagnose the DTC
“U1000”,“C1A03”, or “C1A04”
NO >> GO TO 2.
2.CHECK VEHICLE SPEED SIGNAL
Check that “VHCL SPEED SE” operates normally in “DATA MONITOR” of “ICC/ADAS”.
CAUTION:
YES >> GO TO 3.
NO >> GO TO 7.
3.CHECK GEAR POSITION
Check that “GEAR” operates normally in “DATA MONITOR” of “ICC/ADAS”.
CAUTION:
YES >> GO TO 5.
NO >> GO TO 4.
4.CHECK GEAR POSITION SIGNAL
Check that “GEAR” operates normally in “DATA MONITOR” of “TRANSMISSION”.
YES >> GO TO 5.
NO >> GO TO 6.
5.CHECK INPUT SPEED SENSOR SIGNAL
Check that “INPUT SPEED” operates normally in “DATA MONITOR” of “TRANSMISSION”.
NO >> GO TO 6.
2. Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.

C1A24 NP RANGE
C1A24 NP RANGE
A
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) D
or more
POSSIBLE CAUSE
• TCM E
• Transmission range switch
FAIL-SAFE
• Distance Control Assist (DCA) G
I
NO >> GO TO 2.
2.CHECK DTC REPRODUCE (1) K

3. Wait for approximately 5 minutes or more after shifting the selector lever to “P” position.
Is “C1A24” detected as the current malfunction? M
NO >> GO TO 3.
3.CHECK DTC REPRODUCE (2) N
1. Wait for approximately 5 minutes or more after shifting the selector lever to “N” position.
2. Perform “All DTC Reading”. DAS
YES >> Refer to DAS-93, "Diagnosis Procedure". P


C1A24 NP RANGE
NO >> GO TO 2.
2.CHECK TCM DATA MONITOR
Check that “SLCT LVR POSI” operates normally in “DATA MONITOR” of “TRANSMISSION”.
YES >> GO TO 3.
NO >> Perform diagnosis for transmission range switch circuit and repair or replace the malfunctioning
parts. Refer to DAS-93, "Diagnosis Procedure".
3.PERFORM TCM SELF-DIAGNOSIS

C1A26 ECD MODE MALFUNCTION
A
DTC
play)
C1A26 ECD MODE MALF
If an abnormal condition occurs with ECD system
(26) (ECD mode malfunction) D
POSSIBLE CAUSE
E
FAIL-SAFE
F
• Back-up Collision Intervention (BCI) G
1.CHECK DTC PRIORITY H
If DTC “C1A26” is displayed with DTC “U1000”, “U0415” or “U0121”, first diagnose the DTC “U1000”“U0415”
or “U0121”.
Is applicable DTC detected? I
• U0415: Refer to DAS-131, "DTC Logic" J
NO >> GO TO 2.
2. Wait for approximately 1 minute after turning the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” with CONSULT. L
YES >> Refer to DAS-95, "Diagnosis Procedure". M
N

DAS
or “U0121”.
P
NO >> GO TO 2.

C1A27 ECD POWER SUPPLY CIRCUIT
A
DTC
play)
C1A27 ECD PWR SUPLY CIR
ECD system power supply voltage is excessively low
(27) (ECD power supply circuit) D
POSSIBLE CAUSE
• ABS actuator and electric unit (control unit) power supply circuit
• ABS actuator and electric unit (control unit) E
FAIL-SAFE
F
• Forward Emergency Braking (FEB) G
H
or “U0121”. I
NO >> GO TO 2.
K
2. Wait for approximately 1 minute after turning the MAIN switch of ICC system ON. L
Is “C1A27” detected as the current malfunction? M
NO-2 >> Confirmation after repair: INSPECTION END N

or “U0121”.
Is applicable DTC detected? P
NO >> GO TO 2.
2.CHECK POWER SUPPLY CIRCUIT OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
Check power supply circuit of ABS actuator and electric unit (control unit). Refer to BRC-157, "Diagnosis Pro-
cedure".
YES >> Perform self-diagnosis of ABS actuator and electric unit (control unit). Refer to BRC-47, "DTC
Index".

C1A33 CAN TRANSMISSION ERROR
C1A33 CAN TRANSMISSION ERROR
A
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
D
POSSIBLE CAUSE
ADAS control unit
E
FAIL-SAFE
YES >> Perform diagnosis of applicable. Refer to DAS-135, "DTC Logic". I
NO >> GO TO 2.
J
4. Check if the “C1A33” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. K
NO-1 >> To check malfunction symptom before repair: Refer to GI-50, "Intermittent Incident". L
M
If DTC “C1A33” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. N
NO >> GO TO 2. DAS
P

C1A34 COMMAND ERROR
C1A34 COMMAND ERROR
DTC DETECTION LOGIC
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
POSSIBLE CAUSE
ADAS control unit
FAIL-SAFE
NO >> GO TO 2.
2. Operate the ICC system and drive.
CAUTION:


C1A35 ACCELERATOR PEDAL ACTUATOR
C1A35 ACCELERATOR PEDAL ACTUATOR
A
DTC
play)
C1A35 APA CIR
If the accelerator pedal actuator is malfunctioning
(35) (Accelerator pedal actuator circuit)
D
POSSIBLE CAUSE
Accelerator pedal actuator
E
FAIL-SAFE
• Distance Control Assist (DCA) F
DTC CONFIRMATION PROCEDURE G

If DTC “C1A35” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. H
NO >> GO TO 2. I
1. Start the engine. J
2. Turn the DCA system ON.
4. Check if the “C1A35” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
Is “C1A35” detected as the current malfunction? K
NO-2 >> Confirmation after repair: INSPECTION END L
1.CHECK DTC PRIORITY M
Is applicable DTC detected? N
NO >> GO TO 2.
2.CHECK ACCELERATOR PEDAL ACTUATOR SELF-DIAGNOSIS RESULTS DAS
Check if the DTC is detected in “Self Diagnostic Result” of “ACCELE PEDAL ACT”.
P

C1A36 ACCELERATOR PEDAL ACTUATOR CAN COMM
C1A36 ACCELERATOR PEDAL ACTUATOR CAN COMM
DTC DETECTION LOGIC
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
circuit)
POSSIBLE CAUSE
• Accelerator pedal actuator
• ITS communication system
FAIL-SAFE
NO >> GO TO 2.

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”.

C1A37 ACCELERATOR PEDAL ACTUATOR CAN 2
A
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 D
circuit2)
POSSIBLE CAUSE
Accelerator pedal actuator malfunction E
FAIL-SAFE
• Vehicle-to-vehicle distance control mode F
NO >> GO TO 2.
J
4. Check if the “C1A37” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”. K
M
If DTC “C1A37” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. N
NO >> GO TO 2. DAS
2.REPLACE ACCELERATOR PEDAL ASSEMBLY
2. Replace the accelerator pedal assembly. P
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?
DTC DETECTION LOGIC
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
circuit1)
POSSIBLE CAUSE
Accelerator pedal actuator malfunction
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.
2. Replace the accelerator pedal assembly.
4. Erases All self-diagnosis results.
5. Perform “All DTC Reading” again.
6. Check if the “C1A38” is detected in self-diagnosis results of “ICC/ADAS”.
Is “C1A38” detected?
C1A39 STEERING ANGLE SENSOR
C1A39 STEERING ANGLE SENSOR
A
DTC
play)
C1A39 STRG SEN CIR
If the steering angle sensor is malfunction
(39) (Steering angle sensor circuit)
D
POSSIBLE CAUSE
Steering angle sensor
E
FAIL-SAFE
• Rear Cross traffic Alert (RCTA)
H
I
YES >> Perform diagnosis of applicable. Refer to DAS-135, "DTC Logic". J
NO >> GO TO 2.
1. Start the engine. K
4. Check if the “C1A39” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”. L
NO-1 >> To check malfunction symptom before repair: Refer to GI-50, "Intermittent Incident". M
N
DAS
NO >> GO TO 2.
P

C1A40 SYSTEM SWITCH CIRCUIT
DTC DETECTION LOGIC
DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play)
• BCI OFF switch circuit
C1A40 BCI OFF switch remains “ON” (short circuit) for
SYSTEM SW CIRC • BCI OFF switch
(40) 10 minutes or more

1. Start the engine and wait for approximately 10 minutes or more.
3. Check if “C1A40” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
1.CHECK METER CONTROL SWITCH (BCI OFF SWITCH) SIGNAL INPUT

2. Check voltage between ADAS control unit harness connector and ground.
Terminals
Condition
(+) (−) Voltage
ADAS control unit (Approx.)
BCI OFF switch
Connector Terminal
Ground
Pressed 0V
B104 22
Released Battery voltage
NO >> GO TO 2.
2.CHECK METER CONTROL SWITCH (BCI OFF SWITCH)
2. Remove meter control switch (BCI OFF switch).
3. Check meter control switch (BCI OFF switch). Refer to DAS-107, "Component Inspection Meter Control
Switch (BCI OFF Switch)".
YES >> GO TO 3.
NO >> Replace the meter control switch (BCI OFF switch). Refer to DAS-414, "Removal and Installa-
tion".
3.CHECK METER CONTROL SWITCH (BCI OFF SWITCH) CIRCUIT FOR OPEN
1. Disconnect the ADAS control unit connector.

2. Check continuity between the ADAS control unit harness connector and meter control switch (BCI OFF
switch) harness connector. A
ADAS control unit Meter control switch (BCI OFF switch)

Continuity
Connector Terminal Connector Terminal B
B104 22 M27 6 Yes
Is the inspection result normal? C
YES >> GO TO 4.
4.CHECK METER CONTROL SWITCH (BCI OFF SWITCH) CIRCUIT FOR SHORT D
Check continuity between the ADAS control unit harness connector and ground.
ADAS control unit

E
Continuity
B104 22 No
F
NO >> Repair the harnesses or connectors. G
Component Inspection Meter Control Switch (BCI OFF Switch) INFOID:0000000014222171
1.CHECK METER CONTROL SWITCH (BCI OFF SWITCH) H
Check continuity of meter control switch (BCI OFF switch) terminals.

I
When the meter control switch (BCI OFF switch) is pressed Yes
1 2
When the meter control switch (BCI OFF switch) is released No J
NO >> Replace the meter control switch (BCI OFF switch). Refer to DAS-414, "Removal and Installa- K
tion".
DAS

C1B00 CAMERA UNIT MALF
DTC DETECTION LOGIC
DTC
play)
If lane camera unit is malfunctioning
(81) (Camera unit malfunction)
POSSIBLE CAUSE
Lane camera unit
FAIL-SAFE
• Lane Departure Warning (LDW)/Lane Departure Prevention (LDP)
• Blind Spot Warning (BSW)/Blind Spot Intervention
3. Check if the “C1B00” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1B00” detected as the current malfunction?
NO-1 >> To check malfunction symptom before repair: Refer to GI-50, "Intermittent Incident"

Check if “C1B00” is detected in “Self Diagnostic Result” of “LANE CAMERA”.
Is “C1B00” detected?
YES >> Refer to DAS-108, "DTC Logic"

C1B01 CAM AIMING INCMP
A
DTC
play)
Camera aiming is not completed
(82) (Camera aiming incomplete) D
POSSIBLE CAUSE
• Lane camera aiming is not adjusted
• Lane camera aiming adjustment has been interrupted E
FAIL-SAFE
F
2. Operate the LDP system and drive. H
CAUTION:
3. Perform “All DTC Reading” with CONSULT. I
YES >> Refer to DAS-109, "Diagnosis Procedure". J
Diagnosis Procedure INFOID:0000000014222175 K

L
Check if “C1B01” is detected in “Self Diagnostic Result” of “LANE CAMERA”.
YES >> Refer to DAS-283, "DTC Index"
M
NO >> GO TO 2.
2.CHECK DATA MONITOR
1. Start the engine. N
2. Check that “OK” is indicated for the value of “AIMING RESULT” in “DATA MONITOR” of “LANE CAM-
ERA”.
Is “OK” indicated? DAS
NO >> Replace the lane camera unit. Refer to DAS-409, "Removal and Installation".
P

C1B03 ABNRML TEMP DETECT
DTC DETECTION LOGIC
DTC
play)
CAM ABNRML TMP DETCT
C1B03
(Camera abnormal temperature Temperature around lane camera unit is excessively high
(83)
detect)
POSSIBLE CAUSE
Interior room temperature is excessively high
FAIL-SAFE
2. Turn the LDP system ON.
4. Check if the “C1B03” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.
1.CHECK LANE CAMERA UNIT SELF-DIAGNOSIS RESULTS

2. Check if the “C1B03” is detected in “Self Diagnostic Result” of “LANE CAMERA”
YES >> Refer to DAS-40, "DTC Index"
NO >> GO TO 2.
2.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS
1. Erase all self-diagnosis results with CONSULT.
3. Check if the “C1B03” is detected in “Self Diagnostic Result” of “ICC/ADAS”

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
2. Perform “All DTC Reading” with CONSULT. H
YES >> Refer to DAS-111, "Diagnosis Procedure". I
J
1.CHECK SELF-DIAGNOSIS RESULTS K

Check if “U1000” is detected other than “C1B53” in “Self Diagnostic Result” of “ICC/ADAS”.
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. L
NO >> GO TO 2.
2.CHECK SELF-DIAGNOSIS RESULTS M
Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR RIGHT”.
N
DAS-273, "DTC Index" (SIDE RADAR LH), DAS-276, "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

NO >> GO TO 2.
Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR LEFT”.
DAS-273, "DTC Index" (SIDE RADAR LH), DAS-276, "DTC Index" (SIDE RADAR RH).

C1B56 SONAR CIRCUIT
C1B56 SONAR CIRCUIT
A
DTC
play)
C1B56 SONAR CIRCUIT
ADAS control unit detects that rear sonar control unit circuit has a malfunction.
(86) (Sonar 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-200, "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”.

C1B58 DRIVER ASSISTANCE BUZZER
C1B58 DRIVER ASSISTANCE BUZZER
A
DTC
play)
DR ASSIST BUZZER CIRCUIT
C1B58
(Driver assistance buzzer cir- ADAS control unit detects that driver assistance buzzer has a malfunction. D
(14)
cuit)
POSSIBLE CAUSE
• Driver assistance buzzer E
• Driver assistance buzzer control module
FAIL-SAFE F
None
2. Operate the ICC system and drive. H
CAUTION:
3. Stop the vehicle. I
Is “C1B58” detected as the current malfunction? J
K
1.CHECK DTC PRIORITY L

If DTC “C1B58” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
YES >> Perform diagnosis of applicable. Refer to DAS-352, "DRIVER ASSISTANCE BUZZER CONTROL M
MODULE : DTC Logic".
NO >> GO TO 2.
2.CHECK SELF-DIAGNOSIS RESULTS N
Check if any DTC is detected in “Self Diagnostic Result” of “BSW/BUZZER”.

Is any DTC detected? DAS
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 “C1B82” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
YES >> Refer to DAS-116, "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-170, "Removal and Installation".

C1B83 DISTANCE SENSOR BLOCKED
C1B83 DISTANCE SENSOR BLOCKED
A
DTC
play)
C1B83 DIST SEN BLOCKED
If ICC sensor is malfunctioning
(16) (Distance sensor blocked)
D
POSSIBLE CAUSE
ICC sensor
E
FAIL-SAFE

1. Start the engine. H
Is “C1B84” detected as the current malfunction? I
NO-2 >> Confirmation after repair: INSPECTION END J
1.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS K

2. Check if “U1000” is detected other than “C1B84” in “Self Diagnostic Result” of “LASER/RADAR“.
Is “” detected? L
YES >> Perform the CAN communication system inspection. Refer to DAS-266, "DTC Index".
NO >> GO TO 2.
2.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS M
Check if any DTC is detected in “Self Diagnostic Result”“ICC/ADAS “

N
NO >> Replace ADAS control unit. Refer to DAS-170, "Removal and Installation". DAS

C1B84 DISTANCE SENSOR
C1B84 DISTANCE SENSOR
DTC DETECTION LOGIC
DTC
play)
C1B84 DIST SEN MALFUNCTION
If ICC sensor is malfunctioning
(17) (Distance sensor malfunction)
POSSIBLE CAUSE
ICC sensor
FAIL-SAFE

2. Check if “U1000” is detected other than “C1B84” in “Self Diagnostic Result” of “ICC/ADAS“.
YES >> Perform the CAN communication system inspection. Refer to DAS-135, "DTC Logic".
NO >> GO TO 2.
Check if any DTC is detected in““Self Diagnostic Result”“LASER/RADAR “
CCS-60, "DTC Index".

C1B85 DISTANCE SENSOR ABNORMAL TEMP
C1B85 DISTANCE SENSOR ABNORMAL TEMP
A
DTC
play)
DIST SEN ABNORMAL TEMP
C1B85
(Distance sensor abnormal temper- ICC sensor judges high temperature abnormality
(21) D
ature)
POSSIBLE CAUSE
Temperature around the ICC sensor becomes high E
FAIL-SAFE
1.PERFORM DTC CONFIRMATION PROCEDURE H
2. Wait for 10 minutes or more to cool the ICC sensor.
4. Turn the ICC system ON. I
Is “C1B85” detected as the current malfunction? J
NO-2 >> Confirmation after repair: INSPECTION END K
1.CHECK SELF-DIAGNOSIS RESULTS L
Check if “C1B85” is detected in “Self Diagnostic Result” of “ICC/ADAS”.

Is “C1B85” detected? M
DAS-119, "DTC Logic".
NO >> Replace the ADAS control unit. Refer to DAS-170, "Removal and Installation". N
DAS

C1B86 DISTANCE SENSOR POWER SUPPLY CIRCUIT
DTC DETECTION LOGIC
DTC
play)
DIST SEN PWR SUP CIR
C1B86
(Distance sensor power supply cir- ICC sensor power supply voltage is malfunction
(80)
cuit)
POSSIBLE CAUSE
• Harness, connector, fuse
• ICC sensor
FAIL-SAFE
NO >> GO TO 2.
4. Check if the “C1B86” is detected as the current malfunction in self-diagnosis results of “ICC/ADAS”.

NO >> GO TO 2.
2. Check if the “C1B86” is detected as the current malfunction in “Self Diagnostic Result” of “LASER/
RADAR”.
YES >> Refer to DAS-120, "DTC Logic".
NO >> GO TO 3.
Check if the “C1B86” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.
Is “C1B86” detected? A
YES >> Replace ADAS control unit. Refer to DAS-170, "Removal and Installation".
B
DAS

DTC DETECTION LOGIC
DTC
play)
APA MOTOR MALF
C1F01
(Accelerator pedal actuator mal- If the accelerator pedal actuator motor error is detected
(91)
function)
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”.
Is “C1F01” detected as the current malfunction?

Check if “U1000” is detected other than “C1F01” in “Self Diagnostic Result” of “ICC/ADAS”.
NO >> GO TO 2.
Check if “C1F01” is detected in “Self Diagnostic Result” of “ACCELE PEDAL ACT”.
Is “C1F01” detected?
YES >> Refer to DAS-271, "DTC Index".

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

Check if “U1000” is detected other than “C1F02” in “Self Diagnostic Result” of “ICC/ADAS”. L
Refer to DAS-135, "DTC Logic". M
NO >> GO TO 2.
N
YES >> Refer to DAS-271, "DTC Index". DAS

C1F05 ACCELERATOR PEDAL ACTUATOR POWER SUPPLY CIRCUIT
DTC DETECTION LOGIC
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
supply circuit)
POSSIBLE CAUSE
• Harness, connector, or fuse
FAIL-SAFE
4. Check if the “C1F05” is detected as the current malfunction on the self-diagnosis results of “ICC/ADAS”.

Check if “U1000” is detected other than “C1F05” in “Self Diagnostic Result” of “ICC/ADAS”.
NO >> GO TO 2.
YES >> Refer to DAS-271, "DTC Index".

U0121 VDC CAN 2
U0121 VDC CAN 2
A
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
D
POSSIBLE CAUSE
E
FAIL-SAFE
H
I
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”. L
Is “U0121” detected as the current malfunction?
N
DAS
NO >> GO TO 2.
P

U0126 STRG SEN CAN 1
DTC DETECTION LOGIC
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
POSSIBLE CAUSE
FAIL-SAFE
NO >> GO TO 2.
4. Check if the “U0126” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”.

NO >> GO TO 2.

U0235 ICC SENSOR CAN 1
A
DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes C
play)
If ADAS control unit detects an error signal
U0235 ICC SENSOR CAN
that is received from ICC sensor via ITS com- ICC sensor
(144) CIR1 D
munication
NOTE:
If DTC “U0235” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-155, "ICC
SENSOR : DTC Logic". E

1.PERFORM DTC CONFIRMATION PROCEDURE F
3. Perform “All DTC Reading” with CONSULT. G
YES >> Refer to DAS-127, "Diagnosis Procedure". H
I
Check if “U1000” is detected other than “U0235” in “Self Diagnostic Result” of “ICC/ADAS”. J
Refer to CCS-155, "ICC SENSOR : DTC Logic". K
NO >> GO TO 2.
Check if any DTC is detected in “Self Diagnostic Result” of “LASER/RADAR”. L
CCS-60, "DTC Index". M
DAS

U0401 ECM CAN 1
U0401 ECM CAN 1
DTC DETECTION LOGIC
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
POSSIBLE CAUSE
ECM
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.
2.CHECK ECM SELF-DIAGNOSIS RESULTS
EC-654, "DTC Index" (for Mexico) or EC-112, "DTC Index" (except for Mexico).

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
I
NO >> GO TO 2.

M
N

NO >> GO TO 2.
Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
U0402 TCM CAN 1

U0415 VDC CAN 1
U0415 VDC CAN 1
A
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
D
POSSIBLE CAUSE
E
FAIL-SAFE
I
NO >> GO TO 2.

M
N

NO >> GO TO 2.
U0415 VDC CAN 1

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
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”.
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to P
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-49, "CAN COMMUNICATION SYSTEM : CAN Communica- D
tion Signal Chart".
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)
If ADAS control unit is not transmitting or receiving CAN communication signal
U1000 CAN COMM CIRCUIT J
or ITS communication signal or chassis communication signal for 2 seconds
(100) (CAN communication circuit)
or more
NOTE:
If “U1000” is detected, first diagnose the CAN communication system. K
POSSIBLE CAUSE
• CAN communication system
• ITS communication system L
• Chassis communication system
FAIL-SAFE
M
• Distance Control Assist (DCA) N
• Lane Departure Warning (LDW)/Lane Departure Prevention (LDP) DAS
NOTE: P
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.
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-28, "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
J
N
2. Perform “All DTC Reading” with CONSULT. DAS
YES >> Replace the ADAS control unit. Refer to DAS-170, "Removal and Installation". 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
EC-654, "DTC Index" (for Mexico) or EC-112, "DTC Index" (except for Mexico).
U150B ECM CAN 3
A
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.
U150C VDC CAN 3
A
DAS

U150D TCM CAN 3
U150D TCM CAN 3
DTC DETECTION LOGIC
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
POSSIBLE CAUSE
TCM
FAIL-SAFE
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”.
Is “U150D” detected as the current malfunction?

If DTC “U0150D” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
NO >> GO TO 2.
Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
U150D TCM CAN 3
A
DAS

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-51, "DTC Index".
U1500 CAM CAN 2
U1500 CAM CAN 2
A
DTC
play)
U1500 CAM CAN CIRC 2 ADAS control unit detects an error signal that is received from lane camera via ITS
(145) (Camera can circuit 2) 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
2. Turn the Blind Spot Intervention system ON.
3. Perform “All DTC Reading” with CONSULT. J
YES >> Refer to DAS-145, "Diagnosis Procedure". K
Diagnosis Procedure INFOID:0000000014222236 L

If DTC “U1500” 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-283, "DTC Index". P

U1501 CAM CAN 1
U1501 CAM CAN 1
DTC DETECTION LOGIC
DTC
play)
U1501 CAM CAN CIRC 1 ADAS control unit detects an error signal that is received from lane camera via ITS
(145) (Camera can circuit 1) communication
POSSIBLE CAUSE
Lane camera unit
FAIL-SAFE
NO >> GO TO 2.

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

U1502 ICC SENSOR CAN COMM CIRC
U1502 ICC SENSOR CAN COMM CIRC
A
DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes C
play)
ADAS control unit detects an error signal that is
U1502 ICC SEN CAN COMM
received from ICC sensor via CAN communi- ICC sensor
(147) CIR D
cation
NOTE:
If DTC “U1502” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-135, "DTC
Logic". E

1.PERFORM DTC CONFIRMATION PROCEDURE F
YES >> Refer to DAS-147, "Diagnosis Procedure". H
I
Check if “U1000” is detected other than “U1502” in “Self Diagnostic Result” of “ICC/ADAS”. J
Refer to DAS-135, "DTC Logic". K
NO >> GO TO 2.
Check if any DTC is detected in “Self Diagnostic Result” of “LASER/RADAR”. L
CCS-60, "DTC Index". M
DAS

U1503 SIDE RDR L CAN 2
DTC DETECTION LOGIC
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
POSSIBLE CAUSE
Side radar LH
FAIL-SAFE
If DTC “U1503” is displayed with DTC “U1000” or “U1508”, first diagnose the DTC “U1000” or “U1508”.
NO >> GO TO 2.

NO >> GO TO 2.
2.CHECK SIDE RADAR LH SELF-DIAGNOSIS RESULTS

A
DTC
play)
U1504 SIDE RDR L CAN CIR 1 ADAS control unit detects an error signal that is received from side radar LH
D
POSSIBLE CAUSE
Side radar LH
E
FAIL-SAFE
• Rear Cross Traffic Alert (RCTA) F
G
Is applicable DTC detected? H
• U1508: Refer to DAS-153, "DTC Logic" I
NO >> GO TO 2.
J
4. Check if the “U1504” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. K
M
If DTC “U1504” is displayed with DTC “U1000” or “U1508”, first diagnose the DTC “U1000” or “U1508”. N
• U1000: Refer to DAS-135, "DTC Logic" DAS
NO >> GO TO 2.
2.CHECK SIDE RADAR LH SELF-DIAGNOSIS RESULTS P

U1505 SIDE RDR R CAN 2
DTC DETECTION LOGIC
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
POSSIBLE CAUSE
Side radar RH
FAIL- SAFE
NO >> GO TO 2.

NO >> GO TO 2.
2.CHECK SIDE RADAR RH SELF-DIAGNOSIS RESULTS

A
DTC
play)
U1506 SIDE RDR R CAN CIR 1 ADAS control unit detects an error signal that is received from side radar RH
D
POSSIBLE CAUSE
Side radar RH
E
FAIL-SAFE
• Back-up Collision Intervention (BCI) F
H
NO >> GO TO 2. I
• U1507: Refer to DAS-152, "DTC Logic" DAS
NO >> GO TO 2.
Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR RIGHT”. P

U1507 LOST COMM(SIDE RDR R)
U1507 LOST COMM(SIDE RDR R)
DTC DETECTION LOGIC
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
right)]
POSSIBLE CAUSE
• Side radar RH right/left switching signal circuit
• Side radar RH
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.
2.CHECK RIGHT/LEFT SWITCHING SIGNAL CIRCUIT
Check right/left switching signal circuit. Refer to DAS-362, "Diagnosis Procedure".
Refer to LAN-28, "Trouble Diagnosis Flow Chart".
NO >> Repair right/left switching signal circuit.

U1508 LOST COMM(SIDE RDR L)
U1508 LOST COMM(SIDE RDR L)
A
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 D
left)]
POSSIBLE CAUSE
• Side radar LH harness connector E
• Side radar LH
FAIL-SAFE F
• Rear Cross Traffic Alert (RCTA) G
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE J
3. Perform “All DTC Reading” with CONSULT. K
YES >> Refer to DAS-153, "Diagnosis Procedure". L
M

N
YES >> Perform diagnosis of applicable. Refer to DAS-135, "DTC Logic". DAS
NO >> GO TO 2.
2.CHECK SIDE RADAR HARNESS CONNECTOR
1. Turn the ignition switch OFF. P
2. Check the terminals and connectors of the side radar LH for damage, bend and short (unit side and con-
nector side).
Refer to LAN-28, "Trouble Diagnosis Flow Chart".
NO >> Repair the terminal or connector.

U1512 HVAC CAN 3
U1512 HVAC CAN 3
DTC DETECTION LOGIC
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
POSSIBLE CAUSE
A/C auto amp.
FAIL- SAFE
None
NO >> GO TO 2.

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

U1513 METER CAN 3
U1513 METER CAN 3
A
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
D
POSSIBLE CAUSE
Combination meter
E
FAIL-SAFE
H
I
NO >> GO TO 2.
N
DAS
NO >> GO TO 2.
P
2.CHECK COMBINATION METER SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “METER/M&A”.
MWI-26, "DTC Index".

DTC DETECTION LOGIC
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
POSSIBLE CAUSE
FAIL-SAFE
NO >> GO TO 2.

NO >> GO TO 2.

A
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
D
POSSIBLE CAUSE
ICC sensor
E
FAIL-SAFE

NO >> GO TO 2. I
NO >> GO TO 2.
2.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS DAS
Check if any DTC is detected in “Self Diagnostic Result” of “LASER/RADAR”.

P
CCS-60, "DTC Index".

U1516 CAM CAN 3
U1516 CAM CAN 3
DTC DETECTION LOGIC
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
POSSIBLE CAUSE
Lane camera unit
FAIL-SAFE
NO >> GO TO 2.

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

U1517 ACCELERATOR PEDAL ACTUATOR CAN 3
U1517 ACCELERATOR PEDAL ACTUATOR CAN 3
A
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 D
circuit 3)
POSSIBLE CAUSE
Accelerator pedal actuator E
FAIL-SAFE
NO >> GO TO 2.
J
4. Check if the “U1517” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. K
M
If DTC “U1517” 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 “ACCELE PEDAL ACT”.
Is any DTC detected? P

DTC DETECTION LOGIC
DTC
play)
U1518 SIDE RDR L CAN CIRC 3 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.
2.CHECK SIDE RADAR LH SELF-DIAGNOSIS RESULTS

A
DTC
play)
U1519 SIDE RDR R CAN CIRC 3 ADAS control unit detects an error signal that is received from side radar RH
D
POSSIBLE CAUSE
Side radar RH
E
FAIL-SAFE
If DTC “U1519” is detected along with DTC “U1000”, or “U1507”, first diagnose the DTC “U1000” or “U1507”. G
• Refer to DAS-135, "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.
N
DAS
• U1507: Refer to DAS-152, "DTC Logic" P
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
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-135, "DTC Logic". N
NO >> GO TO 2.
2.CHECK SONAR SYSTEM SELF-DIAGNOSIS RESULTS
DAS
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to P

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-50, "Intermittent Incident". K
L
Is applicable DTC detected? M
NO >> GO TO 2.
2.CHECK SONAR SELF-DIAGNOSIS RESULTS N

NO >> Replace the ADAS control unit. Refer to DAS-170, "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.
2.CHECK SONAR SELF-DIAGNOSIS RESULTS
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-135, "DTC Logic". H
NO >> GO TO 2.
2. Turn the Back-up Collision Intervention system ON.
J
K
Diagnosis Procedure INFOID:0000000014222278 L

If DTC “U1525” 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 “AVM”. DAS
AV-718, "DTC Index". 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.
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”.

POWER SUPPLY AND GROUND CIRCUIT
A
B
C
1.CHECK FUSES
Check that the following fuse is not blown.
D
Signal name Fuse No.
Ignition power supply 30 (10A)
Is the fuse blown? E
YES >> Replace the blown fuse after repairing the affected circuit.
NO >> GO TO 2.
2.CHECK ADAS CONTROL UNIT POWER SUPPLY CIRCUIT F
Check voltage between ADAS control unit harness connector and ground.
G
Terminal
Condition
(+) (–) Voltage
ADAS control unit (Approx.) H
Ignition switch
Connector Terminal
Ground
OFF 0V
B104 12 I
ON Battery voltage
YES >> GO TO 3. J
NO >> Repair the ADAS control unit power supply circuit.
3.CHECK ADAS CONTROL UNIT GROUND CIRCUIT K
3. Check for continuity between ADAS control unit harness connector and ground.
L
ADAS control unit

Continuity
Connector Terminal Ground M
B104 5 Yes
YES >> Inspection End. N
NO >> Repair the ADAS control unit ground circuit.
DAS

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

ADAS CONTROL UNIT
Removal and Installation INFOID:0000000014222282
REMOVAL
CAUTION:
Before replacing ADAS control unit, perform “Read/Write Configuration” to save or print current vehi-
cle specification. For details, refer to DAS-66, "Description".
1. Remove the storage box. Refer to INT-33, "STORAGE BOX : Removal and Installation".
2. Disconnect the harness connector (A) from the ADAS control
unit (1).
: Front
3. Remove the bolts ( ).
4. Lift upward to remove ADAS control unit (1).
AWOIA0010GB
INSTALLATION
Installation is in the reverse order of removal.
CAUTION:
Be sure to perform “ADDITION SERVICE WHEN REPLACING ADAS CONTROL UNIT” when replacing
ADAS control unit. For details, refer to DAS-65, "Description".
• Tighten ADAS control unit bolts to specification.
ADAS control unit bolts : 8.3 N·m (0.85 kg-m, 73 in-lb)

PRECAUTIONS
< PRECAUTION > [DRIVER ASSISTANCE SYSTEM]
PRECAUTION A
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT B
PRE-TENSIONER" INFOID:0000000014225328
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along C
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 dual stage front air bag modules. The SRS system may only deploy
one front air bag, depending on the severity of a collision and whether the front passenger seat is occupied.
Information necessary to service the system safely is included in the SR and SB section of this Service Man- D
ual.
WARNING:
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in E
the event of a collision which would result in air bag inflation, it is recommended that all mainte-
nance 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
F
caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag Module,
see the SR section.
• Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this
Service Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or har- G
ness connectors.
PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS
H
WARNING:
• When working near the Air Bag Diagnosis Sensor Unit or other Air Bag System sensors with the
Ignition ON or engine running, DO NOT 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 I
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 three minutes before performing any service. J
Precaution for DCA System Service INFOID:0000000014222285
CAUTION: K
• Turn the MAIN switch OFF in conditions similar to driving, such as free rollers or a chassis dyna-
mometer.
• Do not use or disassemble the ICC sensor removed from the vehicle.
L
• Erase DTC when replacing parts of DCA system, then check the operation of DCA system after per-
forming radar beam alignment, if necessary.
Precaution for PFCW System Service INFOID:0000000014222286
M
CAUTION:
• Turn the PFCW system OFF in conditions similar to driving, such as free rollers or a chassis dyna-
mometer. N
• Do not use or disassemble the ICC sensor removed from the vehicle.
• Erase DTC when replacing parts of PFCW system, then check the operation of PFCW system after
performing radar beam alignment, if necessary. DAS
• Never change PFCW initial state ON ⇒ OFF without the consent of the customer.
Precaution for LDW/LDP System Service INFOID:0000000014222287
P
WARNING:
Be careful of traffic conditions and safety around the vehicle when performing road test.
CAUTION:
• Do not use the LDP system when driving with free rollers or a chassis dynamometer.
• Do not perform the active test while driving.
• Do not disassemble the lane camera unit.
• Do not use the lane camera unit that is removed from the vehicle.

PRECAUTIONS
• Do not change LDW initial state ON ⇒ OFF without the consent of the customer.
Precaution for Blind Spot Warning/Blind Spot Intervention System Service INFOID:0000000014222288
WARNING:
CAUTION:
• Do not use the Blind Spot Intervention system when driving with free rollers or a chassis dynamom-
eter.
• Do not disassemble the lane camera unit.
• Do not use the lane camera unit that is removed from the vehicle.
• Do not 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:
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.
Precaution for Backup Collision Intervention INFOID:0000000014222289
WARNING:
CAUTION:
• Do not use the Backup Collision Intervention system when driving with free rollers or a chassis
dynamometer.
• Do not change BCI initial state ON ⇒ OFF without the consent of the customer.
TO KEEP THE BACKUP COLLISION INTERVENTION SYSTEM OPERATING PROPERLY, BE
SURE TO OBSERVE THE FOLLOWING ITEMS:
System Maintenance
The two side radars for the Backup Collision Intervention 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 Backup Collision Intervention 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.

PRECAUTIONS
A
Precaution for FEB System Service INFOID:0000000014222290
WARNING:
• Failure to follow the warnings and instructions for proper use of the FEB with pedestrian detection B
system could result in serious injury or death.
• The FEB with pedestrian detection system is a supplemental aid to the driver. It is not a replacement
for the drivers attention to traffic conditions or responsibility to drive safely. It cannot prevent acci- C
dents due to carelessness or dangerous driving techniques.
• The FEB with pedestrian detection system does not function in all driving, traffic, weather, and road
conditions.
D
• Listed below are the system limitations for the FEB with pedestrian detection system. Failure to
operate the vehicle in accordance with these system limitations could result in serious injury or
death.
- The FEB with pedestrian detection system cannot detect all vehicles or pedestrians under call con- E
ditions.
- The FEB with pedestrian detection system does not detect the following objects:
• Small pedestrians (including small children), animals and cyclists.
F
• Pedestrians in wheel chairs or using mobile transport such as scooters, child-operated toys, or
skateboards.
• Pedestrians who are seated or otherwise not in a full upright standing or walking position.
• Oncoming vehicles G
• Crossing vehicles
• Obstacles on the roadside.
CAUTION: H
• The FEB with pedestrian detection system has some performance limitations, for example:
- If a stationary vehicle is in the vehicle’s path, the FEB with pedestrian detection system will not func-
tion when the vehicle is driven at speeds over approximately 50 MPH (80 km/h).
- For pedestrian detection, the FEB with pedestrian detection system will not function when the vehi- I
cle is driven at speeds over approximately 37 MPH (60 km/h) or below approximately 6 MPH (10 km/
h).
• The FEB with pedestrian detection system will not function for pedestrians in darkness or in tunnels, J
even if there is street lighting in the areas.
• For pedestrians, the FEB with pedestrian detection system will not issue the first warning and will
not push the accelerator pedal up
K
• The vehicles brake lights come on when any braking is performed by the FEB with pedestrian detection sys-
tem. Depending on vehicle speed and distance to the vehicle or pedestrian ahead, as well as driving and
roadway conditions, the system may help the driver avoid a forward collision or may help mitigate the conse- L
quences if a collision should be unavoidable. If the driver is handling the steering wheel, accelerating or
braking, the FEB with pedestrian detection system will function later or not function.
• The automatic braking will cease under the following conditions: M
- When the steering wheel is turned to avoid a collision.
- When the accelerator pedal is depressed.
- When there is no longer a vehicle or pedestrian detected ahead.
• If the FEB with pedestrian detection system has stopped the vehicle, the vehicle will remain at a standstill for N
approximately 2 seconds before the brakes are released.
• The FEB with pedestrian detection system will be automatically turned on when the engine is started.
• The PFCW system (if equipped) is integrated into the FEB with pedestrian detection system. There is not a DAS
separate selection in the vehicle information display for the PFCW system. When the FEB with pedestrian
detection is turned off, the PFCW system is also turned off.
Precaution for ICC System Service INFOID:0000000014222291 P
CAUTION:
• Turn MAIN switch OFF in conditions similar to driving, such as free rollers or a chassis dynamome-
ter.
• Do not use ICC sensor removed from vehicle. Never disassemble or remodel.
• Erase DTC when replacing parts of ICC system, then check operation of ICC system after adjusting
radar alignment if necessary.

PRECAUTIONS
Precaution for Work INFOID:0000000014227412
• When removing or disassembling each component, be careful not to damage or deform it. If a component
may be subject to interference, be sure to protect it with a shop cloth.
• When removing (disengaging) components with a screwdriver or similar tool, be sure to wrap the component
with a shop cloth or vinyl tape to protect it.
• Protect the removed parts with a shop cloth and prevent them from being dropped.
• Replace a deformed or damaged clip.
• If a part is specified as a non-reusable part, always replace it with a new one.
• Be sure to tighten bolts and nuts securely to the specified torque.
• After installation is complete, be sure to check that each part works properly.
• Follow the steps below to clean components:
- Water soluble dirt:
• Dip a soft cloth into lukewarm water, wring the water out of the cloth and wipe the dirty area.
• Then rub with a soft, dry cloth.
- Oily dirt:
• Dip a soft cloth into lukewarm water with mild detergent (concentration: within 2 to 3%) and wipe the dirty
area.
• Then dip a cloth into fresh water, wring the water out of the cloth and wipe the detergent off.
• Then rub with a soft, dry cloth.
- Do not use organic solvent such as thinner, benzene, alcohol or gasoline.
- For genuine leather seats, use a genuine leather seat cleaner.
Precautions For Harness Repair INFOID:0000000014222292
ITS communication uses a twisted pair line. Be careful when repairing it.
• 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).
SKIB8766E
• Bypass connection is not allowed at the repaired area.

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

PREPARATION
< PREPARATION > [DRIVER ASSISTANCE SYSTEM]
PREPARATION A
PREPARATION
Special Service Tool INFOID:0000000014227411
B
The actual shape of the tools may differ from those illustrated here.
Tool number Description
(TechMate No.) C
Tool name
— Removing trim components
(J-46534) D
Trim Tool Set
AWJIA0483ZZ
DAS

COMPONENT PARTS
< SYSTEM DESCRIPTION > [DRIVER ASSISTANCE SYSTEM]
SYSTEM DESCRIPTION
COMPONENT PARTS
Component Parts Location INFOID:0000000014222293
ALOIA0460ZZ

COMPONENT PARTS
A. Inside mirror area B. Engine room (RH rear) C. Front bumper (RH) A
D. Instrument lower panel (LH) E. Luggage area (LH rear) F. Rear bumper (LH)
G. Rear bumper (RH)
B
No. Component Description
• 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- C
ABS actuator and electric unit trol unit via CAN communication
1.
(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-9, "Component Parts Location" for detailed installation location. D
• TCM transmits the signal related to CVT control to ADAS control unit.
2. TCM • Refer to TM-15, "CVT CONTROL SYSTEM : Component Parts Location" for detailed
installation location. E
• 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-
3. ECM cation
F
• Refer to EC-22, "ENGINE CONTROL SYSTEM : Component Parts Location" for de-
tailed installation location.
• Transmits the turn indicator signal and position light request signal to ADAS control unit
via CAN communication G
4. BCM
• Refer to BCS-4, "BODY CONTROL SYSTEM : Component Parts Location" for detailed
installation location.
Blind Spot Warning/Blind Spot In- H
5. Refer to DAS-180, "Blind Spot Warning/Blind Spot Intervention Indicator LH/RH"
tervention indicator LH
• 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- I
sure control signal to ABS actuator and electric unit (control unit) via CAN communica-
tion
6. ADAS control unit • ADAS control unit transmits the buzzer output signal to the driver assistance buzzer
control module via ITS communication J
• ADAS control unit transmits an accelerator pedal feedback force control signal to the
accelerator pedal actuator via ITS communication
• Refer to DAS-11, "Component Parts Location" for detailed installation location.
K
• Detects rear obstacle distance and transmits signal to sonar control unit.
7. Rear sonar sensors
• Refer to AV-155, "Component Parts Location" for detailed installation location.
Blind Spot Warning/Blind Spot In-
8. Refer to DAS-180, "Blind Spot Warning/Blind Spot Intervention Indicator LH/RH" L
tervention indicator RH
9. Warning system switch Refer to DAS-181, "Warning Systems Switch / Warning Systems ON indicator"
• Measures the rotation amount, rotation speed, and rotation direction of steering wheel,
10. Steering angle sensor and then transmits them to ADAS control unit via CAN communication
M
• Refer to BRC-9, "Component Parts Location" for detailed installation location.
Performs the following operations using the signals received from the ADAS control unit
via the CAN communication N
• Displays the system operation status using the meter display signal
11. Combination meter
• Illuminates the system FEB warning lamp using the FEB warning lamp signal
• Refer to MWI-6, "METER SYSTEM : Component Parts Location" for detailed installa-
tion location. DAS
ECM receives an ICC steering switch (dynamic driver assistance switch) signal and trans-
12. ICC steering switch
mits the signal to ADAS control unit via CAN communication
13. BCI OFF switch Refer to DAS-181, "BCI Switch"
P
• Receives camera image signal from AVM control unit.

14. Display unit
• Receives the various systems and camera signals and routes them to the display unit
15. AVM control unit via CAN communication
16. Lane camera unit Refer to DAS-179, "Lane Camera Unit"

COMPONENT PARTS
No. Component Description
17. ICC brake hold relay Refer to DAS-179, "ICC Brake Hold Relay"
18. ICC sensor Refer to DAS-178, "ICC Sensor"
19. Warning buzzer Refer to DAS-180, "Warning Buzzer"
Driver assistance buzzer control
20. Refer to DAS-180, "Driver Assistance Buzzer Control Module"
module
• Transmits sonar buzzer signal to sound sonar buzzer.
21. Sonar control unit
22. Brake pedal position switch
Refer to DAS-178, "Brake Pedal Position Switch / Stop Lamp Switch"
23. Stop lamp switch
24. Accelerator pedal actuator Refer to DAS-179, "Accelerator Pedal Actuator"
• Receives sonar buzzer signal from sonar control unit and buzzer sounds.
25. Sonar buzzer
26. Side radar LH
Refer to DAS-180, "Side Radar LH/RH"
27. Side radar RH
ICC Sensor INFOID:0000000014222294
• ICC sensor is installed on the back of the front bumper and detects
a vehicle ahead by using millimeter waves.
• 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
the distance from the vehicle to ADAS control unit via ITS commu-
nication.
JSOIA0811ZZ
ICC Steering Switch INFOID:0000000014222295
• 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.
Brake Pedal Position Switch / Stop Lamp Switch INFOID:0000000014222296
• 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.

COMPONENT PARTS
• Stop lamp switch is installed at the upper part of the brake pedal
and detects a brake operation performed by the driver. A
• 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
B
from ECM and ABS actuator and electric unit (control unit) to
ADAS control unit via CAN communication.
JSOIA0439ZZ
D
ICC Brake Hold Relay INFOID:0000000014222297
• ICC brake hold relay is installed in the engine room (right side).
• When the brake is activated by the system, the ICC brake hold E
relay turns ON the stop lamp by bypassing the circuit of the stop
lamp, according to a signal transmitted from the ADAS control unit.
F
JSOIA0565ZZ
H
Combination Meter INFOID:0000000014222298
• Transmits driver assistance system selection signal to ADAS control unit via CAN communication.
• Receives meter display signal from ADAS control unit via CAN communication. I
• Displays the system status according to a signal received from the ADAS control unit.
Accelerator Pedal Actuator INFOID:0000000014222299
J
• 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. K
• 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 L
upward.
ALFIA0714ZZ
Lane Camera Unit INFOID:0000000014222300 N
• Lane camera unit is installed to the windshield and detects the lane
marker in travel lane.
DAS
• Transmits lane marker signal to ADAS control unit via chassis
communication.
JSOIA1307ZZ

COMPONENT PARTS
Driver Assistance Buzzer Control Module INFOID:0000000014222301
• Driver assistance buzzer control module is installed behind the

instrument lower panel LH.
• When the warning buzzer signal is received from the ADAS control
unit, the driver assistance buzzer control module transmits the
warning buzzer signal to warning buzzer.
AWOIA0101ZZ
Warning Buzzer INFOID:0000000014222302
• Warning buzzer is installed behind the instrument panel assembly.

• When a warning buzzer signal is received from the driver assis-
tance buzzer control module, the warning buzzer sounds.
JSOIA0815ZZ
Side Radar LH/RH INFOID:0000000014222303
• 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:0000000014222304
• Installed on the door mirror corner finisher, 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:0000000014222305
• 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.

COMPONENT PARTS
Warning Systems Switch / Warning Systems ON indicator INFOID:0000000014222306
A
• Warning system switch and warning system ON indicator are integrated at the instrument lower panel (LH).
• Warning system switch (ON/OFF) input to ADAS control unit.
• Warning system ON indicator turn ON when PFCW system, LDW system and/or BSW system are ON. B
• Warning system ON indicator blinks when PFCW system, LDW system and/or BSW system are OFF and
the warning system switch is pressed.
NOTE:
Warning system switch is shared with following systems (ON/OFF). C
• Predictive Forward Collision Waning (PFCW)
• Lane departure Warning (LDW)
• Blind Spot Warning (BSW) D
BCI Switch INFOID:0000000014222307
• BCI OFF switch is integrated with the meter control switch. E

• BCI switch (ON/OFF) input to ADAS control unit.
DAS

SYSTEM
SYSTEM
DCA
DCA : System Description INFOID:0000000014222308
SYSTEM DIAGRAM
ALOIA0393GB

SYSTEM
Input Signal Item
A
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- Stop lamp switch signal Receives an operational state of the brake pedal
ECM C
tion
Brake pedal position switch signal Receives an operational state of the brake pedal
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- Current gear position signal Receives a current gear position E
TCM munica-
tion Shift position signal Receives a selector lever position
F
ABS warning lamp signal Receives an ON/OFF state of ABS warning lamp
G
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- H
VDC OFF switch signal Receives an ON/OFF state of VDC
(control unit) tion
VDC malfunction signal Receives a malfunction state of VDC
I
Vehicle speed signal (ABS) Receives wheel speeds of four wheels
Stop lamp switch signal Receives an operational state of the brake pedal J
CAN com-
munica- Steering angle sensor signal K
tion
ITS com-
Receives detection results, such as the presence or ab- L
sence of a leading vehicle and distance from the vehicle
tion
ITS com-
Accelerator Accelerator pedal actuator operation status Receives an operational state of accelerator pedal ac- M
munica-
pedal actuator signal tuator
tion
Output Signal Item

N
ABS actuator
and electric CAN commu- Transmits a brake fluid pressure control signal to acti- DAS
Brake fluid pressure control signal
unit (control nication vates the brake
unit)
Vehicle ahead detection P
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

SYSTEM
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.
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-
mits a control signal to the accelerator pedal actuator via ITS communication and to the ABS actuator control
unit (control unit) via CAN communication.

SYSTEM
If the driver is not depressing the acceler-

ator pedal, the system activates the
brakes to decelerate smoothly as neces- B
sary
JSOIA0222ZZ C
When vehicle approaches a vehicle ahead
If the driver is depressing the accelerator D

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

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

SYSTEM
PFCW
PFCW : System Description INFOID:0000000014222309
SYSTEM DIAGRAM
ALOIA0395GB

Input Signal Item

ABS actuator CAN com-
and electric unit munica- Vehicle speed signal (ABS) Receives wheel speeds of four wheels
(control unit) tion
CAN com-
Combination Receives a selection state each item in “Driver Aids” se-
munica- System selection signal
meter 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 driver assistance buzzer control module via ITS communication and
meter display signal to the combination meter via CAN communication.
PFCW Operating Condition
I
• PFCW/FEB system display (white) : ON
• 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 in the combination meter information display.
LDW
K
LDW : System Description INFOID:0000000014222310
SYSTEM DIAGRAM L
DAS
ALOIA0480GB

Input Signal Item

SYSTEM

ABS actuator and elec-
CAN communication Vehicle speed signal (ABS) Receives wheel speeds of four wheels
tric unit (control unit)
Receives an operational state of the turn signal
BCM CAN communication Turn indicator signal
lamp and the hazard lamp
Receives a selection state of each item in “Driving
Combination meter CAN communication System selection signal
Aids” selected with the vehicle information display
Chassis communi-
Lane camera unit Detected lane condition signal Receives detection results of lane marker
cation
Receives an ON/OFF state of the warning system
Warning system switch Warning system switch signal
switch
Output Signal Item

Transmits a lane departure warning lamp signal to
Combination meter CAN communication Lane departure warning lamp signal
Chassis communi- Vehicle speed signal
Lane camera unit control unit
cation
Warning systems
Warning systems ON indicator signal Turns ON the warning systems ON indicator
ON indicator
Driver assistance
Transmits a warning buzzer signal to activate the
buzzer control ITS communication Driver assistance buzzer signal
buzzer
module
• 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
the lane departure warning lamp (yellow) 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.
EXAMPLE
JPOIA0014GB
When the vehicle approaches the right lane marker, the driver is alerted by the buzzer and the blinking of lane
departure warning lamp (yellow).
• When the system is turned ON by operating the warning system switch, ADAS control unit turns ON the
warning systems ON indicator.
• Lane camera unit monitors lane markers of the traveling lane. It transmits the detected lane condition signal
to ADAS control unit via Chassis communication.

SYSTEM
• 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. A
- Activates warning buzzer
- ADAS control unit transmits a lane departure warning lamp signal to combination meter via CAN communi-
cation and turns ON/OFF the lane departure warning lamp (yellow).
B
OPERATING CONDITION
• Warning systems ON indicator: ON
• Vehicle speed: approximately 70 km/h (45 MPH) or more C
• Turn indicator signal: After 2 seconds or more from turned OFF
NOTE:
• When the LDW system setting on the vehicle information display is ON.
• After the operating conditions of warning are satisfied, the warning continues until the vehicle speed reaches D
approximately 60 km/h (40 MPH)
• LDP ON indicator lamp is OFF
• The LDW system may not function properly, depending on the situation. Refer to DAS-223, "Precautions for E
Lane Departure Warning/Lane Departure Prevention".
Fail-safe Indication
F
Warning sys-
Vehicle condition/ Driver's operation tems ON indi- Indication on the combination meter
cator
G
When DTC is detected
ON
(Except “C1B01” and “C1B03”)
Camera aiming is not completed H

(“C1B01”is detected)
NOTE: ON
This is detected while driving the vehicle and the indication
remains ON until the ignition switch is turned OFF I
ALOIA0133GB

ON
J
(“C1B01” is detected)
NOTE: ON
K
This is detected while driving the vehicle and the indication
remains ON until the ignition switch is turned OFF
ALOIA0099GB
Temporary disabled status at high temperature L

OFF Unavailable: High Cabin Temp
(“C1B03” is detected)
M
When the warning system switch is pressed
(When the settings of LDW system, PFCW system, and Blink
BSW system on the vehicle information display are “OFF”)
N
ALOIA0132GB
LDP DAS

SYSTEM
LDP : System Description INFOID:0000000014222311
SYSTEM DIAGRAM
ALOIA0481GB

Input Signal Item

Accelerator pedal position signal Receives accelerator pedal position (angle)
Dynamic driver as-
CAN com- ICC steering switch Receives the operational state of the ICC steering
sistance switch sig-
ECM munica- signal switch
nal
tion
Snow mode switch signal Receives an operational state of the snow mode
CAN com- Current gear position signal Receives a current gear position
TCM munica-
tion Shift position signal Receives a selector lever position

SYSTEM
A
TCS malfunction signal Receives a malfunction state of TCS B
ABS actuator CAN com- VDC OFF switch signal Receives an ON/OFF state of VDC
and electric unit munica-
VDC malfunction signal Receives a malfunction state of VDC C
(control unit) tion
D
CAN com- Parking brake switch signal Receives an operational state of the parking brake E
Combination
munica-
meter System selection signal Receives a selection state of each item in "Driver Aids"
tion
CAN com- F
Receives an operational state of the turn signal lamp
BCM munica- Turn indicator signal
and the hazard lamp
tion
CAN com-
G
munica- Steering angle sensor signal
tion
Steering angle speed signal Receives the turning angle speed of the steering wheel H
ITS com-
sence of a vehicle ahead and distance from the vehicle
tion
I
Chassis
Lane camera
communi- Detected lane condition signal Receives detection results of lane marker
unit
cation
J
Output Signal Item
Reception unit Signal name Description K

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) L
Transmits an LDP ON indicator lamp signal to turn ON
LDP ON indicator lamp signal
Combination CAN commu- the LDP ON indicator lamp
meter nication M
Transmits an lane departure warning lamp signal to
Lane departure warning lamp signal
Lane camera Chassis com- Vehicle speed signal N
control unit
unit munication
Driver assis-
ITS commu- Transmits a warning buzzer signal to activate the DAS
nication warning buzzer
control module
FUNCTION DESCRIPTION P
• Lane Departure Prevention (LDP) system provides a lane departure warning and brake 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
lane departure warning lamp (yellow) on the combination meter blinks to alert the driver. Then, the LDP sys-
tem automatically applies the brakes for a short period of time to help assist the driver to return the vehicle to
the center 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.
SYSTEM
EXAMPLE
JPOIA0013GB
When the vehicle approaches the right lane marker, the driver is alerted by the buzzer and the blinking of lane
departure warning lamp (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 LDP ON
indicator 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 Chassis 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 warning buzzer request signal to the driver assistance buzzer control module via ITS communi-
cation to activate the warning buzzer.
- Transmits a lane departure warning lamp 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 lane departure
warning lamp (yellow) and the LDP ON indicator lamp (green).
OPERATING CONDITION
• LDP ON indicator lamp: ON
• Vehicle speed: approximately 70 km/h (45 MPH) or more
• Turn indicator signal: After 2 seconds or more from turned OFF
NOTE:
• When the LDP system setting in the vehicle information display is ON.
• After the operating conditions are satisfied, the control continues until the vehicle speed reaches approxi-
mately 60 km/h (40 MPH).
• The LDP system may not function properly, depending on the situation. Refer to DAS-223, "Precautions for
Lane Departure Warning/Lane Departure Prevention".
Fail-safe Indication
Vehicle condition/ Driver's operation Indication on the combination meter Buzzer


(“C1B01”is detected) Beep
NOTE:
This is detected while driving the vehicle and the indication remains ON until
the ignition switch is turned OFF
ALOIA0133GB
Temporary disabled status at high temperature

Unavailable High Cabin Temp Beep
(“C1B03”is detected)

SYSTEM
Vehicle condition/ Driver's operation Indication on the combination meter Buzzer
A
Temporary disabled status during rain Unavailable Road is slippery Beep
Temporary disabled status when the VDC system is turned OFF Unavailable VDC OFF Beep
Temporary disabled status when drive mode select switch is in SNOW mode Unavailable Snow mode active Beep B
LDP OFF (green)
When the dynamic driver assistance switch is pressed C

(When the settings of LDP system, DCA system and Blind Spot Intervention —
system in the vehicle information display are “OFF”)
D
ALOIA0132GB
BSW
E
BSW : System Description INFOID:0000000014222312
SYSTEM DIAGRAM F
ALOIA0404GB
ADAS CONTROL UNIT INPUT/OUTPUT SIGNAL ITEM N

ADAS control unit receives signals via CAN communication. It also detects vehicle conditions that are neces-
sary for BSW control.
Input Signal Item DAS

TCM CAN communication Shift position signal Receives a selector lever position P
ABS actuator
and electric unit CAN communication Vehicle speed signal (ABS) Receives wheel speeds of four wheels
(control unit)
Receives an operational state of the turn signal lamp and
Turn indicator signal
BCM CAN communication the hazard lamp

SYSTEM
Combination Receives a selection state of each item in “Driving Aids”
CAN communication System selection signal
meter selected with the vehicle information display
Side radar LH,
ITS communication Vehicle detection signal Receives vehicle detection condition of detection zone.
RH
Warning sys- Receives an ON/OFF state of the warning systems
Warning systems switch signal
tems switch switch
Output Signal Item

tion warning lamp signal to turn ON the Blind Spot
tervention warning lamp signal
Combination Warning/Blind Spot Intervention warning lamp
CAN communication
meter Transmits a Blind Spot Intervention ON indictor lamp
Blind Spot Intervention ON indic-
signal to turn ON the Blind Spot Intervention ON indic-
tor signal
tor lamp
tion indicator signal to turn ON the Blind Spot Warning/
tervention indicator signal
Blind Spot Intervention indicator
Side radar LH, Transmits a Blind Spot Warning/Blind Spot Interven-
ITS communication Blind Spot Warning/Blind Spot In-
RH tion indicator dimmer signal to dimmer Blind Spot
tervention indicator dimmer signal
Warning/Blind Spot Intervention indicator
control unit
Warning sys-
tems ON indi- Warning systems ON indicator signal Turns ON the warning systems ON indicator
cator
Driver assis-
Transmits a warning buzzer signal to activate the
tance buzzer ITS communication Driver assistance buzzer signal
warning 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.

SYSTEM
NOTE:
A buzzer sounds if the side radar have already detected vehicles when the driver activates the turn signal. If A
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.
B
F
JSOIA0258GB
BSW SYSTEM OPERATION DESCRIPTION

• ADAS control unit enables BSW system. G
• The ADAS control unit turns on the BSW system when the warning systems switch is turned ON.
• Side radar detects a vehicle in the adjacent lane, and transmits the vehicle detection signal to ADAS control
unit via ITS communication.
H
• 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. I
cation to activate the warning buzzer.
• Side radar transmits an indicator operation signal to the Blind Spot Warning/Blind Spot Intervention indicator J
according to Blind Spot Warning/Blind Spot Intervention indicator signal and Blind Spot Warning/Blind Spot
Intervention indicator dimmer signal.
Operation Condition of BSW System K
• When the warning systems switch is turned ON* or Blind Spot Intervention system turned ON.
• When the vehicle drives at 32 km/h (20 MPH) or more to the forward direction.
L
NOTE:
*: When the BSW system setting in the vehicle information display is ON.
• After the operating conditions of warning are satisfied, the warning continues until the vehicle speed is
reduced below approximately 29 km/h (18 MPH) M
• The BSW system may not function properly, depending on the situation. Refer to DAS-224, "Precautions for
Blind Spot Warning/Blind Spot Intervention".
BULB CHECK ACTION AND FAIL-SAFE INDICATION N
Blind Spot Warning/

Warning systems
Vehicle condition/Driver′s operation Blind Spot Intervention Indication on the combination meter DAS
ON indicator
indicator
OFF → Orange
P
When DTC is detected OFF ON
ALOIA0099GB

SYSTEM
Blind Spot Warning/
Warning systems
Vehicle condition/Driver′s operation Blind Spot Intervention Indication on the combination meter
ON indicator
indicator
When radar blockage is detected OFF ON Unavailable: Side Radar Obstruction
When the warning systems switch is

pressed
(When the settings of LDW system, OFF Blink
PFCW system, and BSW system in the
vehicle information display are “OFF”)
ALOIA0132GB
*: Blinking cycle when the side radar blockage condition
JSOIA0358GB
NOTE:
Time shown in the figure is approximate time.
RCTA
RCTA : System Description INFOID:0000000014222313
SYSTEM DIAGRAM
ALOIA0428GB

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

SYSTEM
Transmit unit Signal name Description A

TCM CAN communication Shift position signal Receives a selector lever position
ABS actuator
and electric unit CAN communication Vehicle speed signal (ABS) Receives wheel speeds of four wheels B
(control unit)
Combination Receives a selection state of each item in “Driver Aids”
CAN communication System selection signal
meter selected with the integral switch C
Side radar LH,
RH
Output Signal Item D

Combination CAN communi- BSW system dis- Transmits a meter display signal to turn ON the Blind
E
Meter display signal
meter cation play Spot Warning system display
tion indicator signal to turn ON the Blind Spot Warning/ F
tion indicator signal
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 G
tion indicator dimmer signal
Warning/Blind Spot Intervention indicator
control unit
H
Driver assis-
ITS communi- Transmits a driver assistance buzzer signal to acti-
cation vates the buzzer
control module
I
• The Rear Cross Traffic Alert system can help alert the driver of approaching vehicles when the driver is
backing out of a parking space. J
• The RCTA system uses side radars installed near the rear bumper to detect approaching vehicles.
• The RCTA system operates at speeds below 5 MPH (8 km/h)

K
whenever the vehicle is in reverse.
• 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 L
approximately 20 m (66 ft) away.
JSOIA0977ZZ
N
DAS

SYSTEM
• If the radar detects a vehicle approaching from the side, the system gives visual and audible warning.
AWOIA0113ZZ
• If the side radar detects an approaching vehicle from the side, the RCTA system sounds a beep (single
beep), the Blind Spot Warning/Blind Spot Intervention indicator on the side of the approaching vehicle
flashes.
REAR CROSS TRAFFIC ALERT SYSTEM OPERATION DESCRIPTION

• ADAS control unit enables Rear Cross Traffic Alert system.
• The ADAS control unit turns ON the RCTA system when the BSW system is turned ON by the integral
switch.
• ADAS control unit starts the control as follows, based on a reverse gear signal and vehicle detection signal.
• Side radar detects a vehicle approaching, and transmits the vehicle detection signal to ADAS control unit via
ITS communication.
Operation Condition of Rear Cross Traffic Alert System.
ADAS control unit performs the control when the following conditions are satisfied:
• BSW system: ON (Selected by integral switch)
• When the vehicle is moving in reverse at 5 MPH (8 km/h) or less.
BLIND SPOT INTERVENTION

SYSTEM
BLIND SPOT INTERVENTION : System Description INFOID:0000000014222314
A
SYSTEM DIAGRAM
ALOIA0486GB
I
Input Signal Item
J
Accelerator pedal position sig-
Receives accelerator pedal position (angle) K
nal
Dynamic driv-
ECM CAN communication ICC steering
er assistance Receives the operational state of the ICC steering switch
switch signal
switch signal L
M
Current gear position signal Receives a current gear position
TCM CAN communication
Shift position signal Receives a select lever position
Output shaft revolution signal Receives the number of revolutions of output shaft N
DAS
TCS malfunction signal Receives a malfunction state of TCS
ABS actuator VDC OFF switch signal Receives an ON/OFF state of VDC
and electric unit CAN communication P
(control unit) VDC malfunction signal Receives a malfunction state of VDC

SYSTEM
Parking brake switch signal Receives an operational state of the parking brake
Combination
CAN communication Receives a selection state of each item in "Driving Aids"
meter System selection signal
selected with the vehicle information display
Receives an operational state of the turn signal lamp and
Turn indicator signal
BCM CAN communication the hazard lamp
Steering angle sensor mal-
Receives a malfunction state of steering angle sensor
function signal
Steering angle
CAN communication Receives the number of revolutions, turning direction of
sensor Steering angle sensor signal
the steering wheel
ICC sensor ITS communication ICC sensor signal
Lane camera Chassis communica- Detection lane condition sig-
Receives detection results of lane marker
unit tion nal
Side radar LH,
RH
Output Signal Item

ABS actuator
Transmits a target yaw moment signal to generate yaw
and electric unit CAN communication Target yaw moment signal
moment to the vehicle
(control unit)
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 Chassis communica- Vehicle speed signal
unit
unit tion
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 warning buzzer signal to activate the warning
tance buzzer ITS communication
nal 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 BSW.
• 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.
• 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.

SYSTEM
• 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 A
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.
B
F
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. G
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 H
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
brake control will be activated.
I
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 in the vehicle
J
information display. Then Blind Spot Intervention ON indicator comes on.
• Combination meter turns Blind Spot Intervention ON indicator lamp ON/OFF according to the signals from
ADAS control unit via CAN communication.
• Side radar detects a vehicle in the adjacent lane, and transmits the vehicle detection signal to ADAS control K
unit via 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- L
nal to ADAS control unit via chassis communication.
• ADAS control unit starts the control as follows, based on a vehicle detection signal, lane condition 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 M
indicator dimmer signal transmission to side radar.
cation to activate the warning buzzer. N
- 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
according to Blind Spot Warning/Blind Spot Intervention indicator operation signal and Blind Spot Warning/ DAS
Blind Spot Intervention indicator dimmer signal.
• ABS actuator and electric unit (control unit) controls brake pressure of four wheels respectively according to
the target yaw moment signal. P
Operation Condition of Blind Spot Intervention System
• Blind Spot Intervention ON indicator: ON
• When the vehicle drives at 60 km/h (37 MPH) or more to the forward direction.
NOTE:
• When the Blind Spot Intervention system setting in the vehicle information display is ON.

SYSTEM
• The Blind Spot Intervention system may not function properly, depending on the situation. Refer to DAS-224,
"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
under the following conditions.
- When the brake pedal is depressed.
- When the accelerator pedal is depressed while brake control assist is provided.
- When steering quickly.
- 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.
• Under the following conditions, the Blind Spot Intervention system will be turned off automatically, a beep will
sound and the Blind Spot Intervention ON indicator will blink. 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.
- When the VDC system is turned OFF.
- When the SNOW mode switch is turned ON.
BULB CHECK ACTION AND FAIL-SAFE INDICATION.
Blind Spot
Warning/Blind
Warning
Vehicle condition/Driver′s operation Spot Interven- Indication on the combination meter
buzzer
tion
indicator
When DTC is detected OFF Beep
ALOIA0137GB
When radar blockage is detected OFF Beep Unavailable: Side Radar Obstruction
When the camera detects that the interior tem-
OFF Beep Unavailable: High Cabin Temp.
perature is high
Blink (Approx. 3 sec.)
When the dynamic driver assistance switch is

turned ON with settings of DCA system, LDP sys- OFF —
tem and Blind Spot Intervention system OFF
ALOIA0132GB
*: Blinking cycle when the side radar blockage condition or lane camera unit high temperature condition
JSOIA0358GB

SYSTEM
NOTE:
Time shown in the figure is approximate time. A
BCI
BCI : System Description INFOID:0000000014222315
B
SYSTEM DIAGRAM
C
ALOIA0407GB M
Input Signal Item N

Accelerator pedal position sig- DAS
Receives accelerator pedal position (angle)
ECM CAN communication nal
Current gear position signal Receives a current gear position P
TCM CAN communication
Shift position signal Receives a select lever position
ABS actuator
and electric unit CAN communication VDC malfunction signal Receives a malfunction state of VDC
(control unit)
BCI OFF switch Hard wire BCI OFF switch signal Receives the state of the BCI OFF switch request

SYSTEM
Sonar control Receives objects detection result of rear area behind ve-
ITS communication Rear object detection signal
unit hicle
Side radar LH,
RH
Output Signal Item

ABS actuator
Brake fluid pressure control Transmits a brake fluid pressure control signal to activate
and electric unit CAN communication
signal. the brake.
(control unit)
Turns the BCI ON/OFF dis- Turns the BCI ON/OFF display and BCI system warning
Combination
CAN communication play and BCI system warning lamp to display a state of the system on the information
meter
lamp. display.
Sonar control While the shifter is in reverse and backing up, transmits a
ITS communication Sonar buzzer signal
unit request for a sonar buzzer signal to alert the driver.
Around view Transmits a visual signal request by the ADAS control unit
monitor control ITS communication Visual signal request to center display to override other signals and display rear
unit view while the shift lever is in reverse.
Accelerator While backing up and obstacle appears, transmits a sig-
ITS communication Push up accelerator signal
pedal actuator nal to push up the accelerator pedal
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
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 warning buzzer signal to activate the warning
tance buzzer ITS communication
nal buzzer
control module
• The Backup Collision Intervention system can help alert the driver
of approaching vehicles or rear objects when the driver is backing
out of a parking space.
• The BCI system comprise of to main detection systems. The side
radars (1), and the four sonar sensors (2) mounted on the rear
bumper cover as illustrated.
• The BCI system operates at speeds below 5 MPH (8 km/h) when-
ever the vehicle is in reverse.
ALOIA0073ZZ

SYSTEM
• The BCI system uses the two side radars installed near the rear
bumper to detect approaching vehicles and rear obstacles. A
• 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
B
approximately 49 feet (15 m) away.
ALOIA0083ZZ
D
• The sonar sensors can detect rear obstacles of up to approxi-
mately 4.9 feet (1.5 m).
• If the radar detects a vehicle approaching from the side or the E
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 accelera-
tor pedal, the system pushes the accelerator upward before apply- F
ing the brake. If the driver continues to press the accelerator, the
system will not engage the brake.
G
ALOIA0075ZZ
The radar sensors may not be able to detect certain objects such as: H
• Pedestrians, bicycles, animals
• A vehicle that is passing at a speed greater than approximately 15 MPH (24 km/h)
• The radar sensors may not detect approaching vehicles in certain situations: I
Examples of certain situations Illustration of certain situations

J
When the vehicle parked aside obstruct the beam of the radar sensor K
ALOIA0076ZZ L
M
When the vehicle is parked in an angled parking space
N
ALOIA0077ZZ
DAS
When the vehicle is parked on an inclined ground

P
ALOIA0078ZZ

SYSTEM
Examples of certain situations Illustration of certain situations
When the vehicle turns around into your vehicle’s aisle
ALOIA0079ZZ
When the angle formed by your vehicle and approaching vehicle is small
ALOIA0080ZZ
BACKUP COLLISION INTERVENTION SYSTEM OPERATION DESCRIPTION

• ADAS control unit enables Backup Collision Intervention system.
• The BCI system is automatically turned ON every time the engine is started. Then BCI ON indicator comes
on.
• Combination meter turns Backup Collision Intervention ON indicator lamp ON/OFF according to the signals
from ADAS control unit via CAN communication.
• Side radar detects a vehicle approaching, and transmits the vehicle detection signal to ADAS control unit via
ITS communication.
• Side radar receives vehicle speed signal from ADAS control unit and changes its detecting function.
• ADAS control unit starts the control as follows, based on a vehicle detection signal.
Operation Condition of Backup Collision Intervention System
• Backup Collision Intervention ON indicator: ON
• When the vehicle is moving in reverse at 5 MPH (8 km/h) or less.
NOTE:
• When the Backup Collision Intervention system setting is ON in the meter display.
• Backup Collision Intervention braking will not function properly under the following conditions:
- When driving with a tire that is not within normal tire conditions (pressure, wear, chain, spare, etc...)
- When the vehicle is equipped with non-original brake parts or suspension parts.
• Do not use the BCI system when towing a trailer.
• Excessive noise such as the audio system will interfere with the chime sound, and it may not be heard.
BULB CHECK ACTION AND FAIL-SAFE INDICATION.

SYSTEM
Backup Colli- A
sion Interven- Warning
Vehicle condition/Driver′s operation Indication on the combination meter
tion buzzer
indicator
B
C
Engine running and shift lever in reverse ON OFF
D
ALOIA0112ZZ
OFF (orange)
When DTC is detected OFF OFF
ALOIA0081ZZ
When radar blockage is detected ON Beep Unavailable: Side Radar Obstruction G

When the accelerator pedal actuator detects that
ON Beep Unavailable: High Accelerator Temp.
the internal motor temperature is high.
H
Unless the driver overrides it and turns it off, the

BCI system is always set to ON every time the
OFF — I
engine is started and the shifter placed in re-
verse.
ALOIA0085ZZ J
The BCI system is turned off temporarily by push- K

ing the BCI switch. The BCI OFF display appears
OFF —
on the meter display. When the selector lever is
shifted into R again the BCI system is turned ON.
L
ALOIA0086ZZ

M
N
High-
Vehicle-to-vehicle distance control mode pitched ICC system warning Cancel DAS
tone
High-
Conventional (fixed speed) cruise control mode pitched ICC system warning Cancel P
tone
High-
tone
High-
tone

SYSTEM
High-
tone
Low-
tone
Low-
tone
High-
ing indicator
tone
Fail-safe (ICC Sensor) INFOID:0000000014237524
If a malfunction occurs in the ICC sensor, ADAS control unit cancels control, sounds a beep, and turns ON the
ICC system warning lamp in the combination meter.
Fail-safe (Side Radar) INFOID:0000000014237522
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.
Blind Spot Intervention
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.
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.
Rear Cross Traffic Alert (RCTA)
Fail-safe (Lane Camera Unit) INFOID:0000000014237523

Lane Departure Warning (LDW)

SYSTEM
If a malfunction occurs in the lane camera unit, ADAS control unit cancels control, and turns ON the lane
departure warning lamp in the combination meter. A
Lane Departure Prevention (LDP)
If a malfunction occurs in the lane camera unit, ADAS control unit cancels control, sounds a beep, and turns
ON the lane departure warning lamp in the combination meter. B
TEMPORARY DISABLED STATUS AT HIGH TEMPERATURE
Lane Departure Warning (LDW) C
• If the vehicle is parked in direct sunlight under high temperature conditions, the system may be deactivated
automatically. And the lane departure warning lamp (yellow) in the combination meter will blinks.
• When interior temperature is reduced, the system will resume operation automatically and the lane depar-
ture warning lamp (yellow) in the combination meter will stop blinking. D

E
automatically. And the buzzer sounds and lane departure warning lamp (yellow) in the combination meter
will blinks.
• When interior temperature is reduced, the system will resume when dynamic driver assistance switch is
turned OFF and turned ON and the lane departure warning lamp (yellow) in the combination meter will stop F
blinking.
DAS

OPERATION
OPERATION
DCA
DCA : Switch Name and Function INFOID:0000000014222320
ALOIA0087GB
No. Switch name Description

Turns the DCA system ON/OFF
1 Dynamic driver assistance switch
(When the setting of the DCA system in the vehicle information display is ON)
DCA system setting screen (in the
2 DCA system settings can be switched between ON and OFF
vehicle information display)
DCA : Menu Displayed by Pressing Each Switch INFOID:0000000014222321
SYSTEM DISPLAY
ALOIA0088ZZ

Dynamic driver assistance switch
1 Indicates that DCA system is OFF.
OFF
Dynamic driver assistance switch
2 Indicates that DCA system is ON with no vehicle ahead
ON (DCA set)
DISPLAY AND WARNING LAMP

System Control Condition Display
The DCA system indicator on the vehicle information display illuminates when the system is turned ON by
pressing the dynamic driver assistance switch.

OPERATION
Condition Display on combination meter A
B
System set display with vehicle ahead
C
ALOIA0089ZZ
Operation status
System set display with out vehicle ahead

E
ALOIA0090ZZ
F
Approach Warning Display
• 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: G
- The chime sounds.
- The vehicle ahead detection indicator blinks.
• The warning chime may not sound in some cases when there is a short distance between vehicles. Some H
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
I
- 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.
Warning Lamp Display J
DAS

OPERATION
Condition Description Display on combination meter

When the dynamic driver assistance
switch is turned ON with settings of The DCA system is not activated. The DCA
DCA system, LDP system and Blind system switch indicator blinks.
Spot Intervention system OFF
The DCA system is automatically can-
• When the road is slippery and VDC celed. The chime will sound and the DCA
or ABS (including the TCS) operates system switch indicator will blink.
• When the VDC is turned OFF NOTE:
• When the SNOW mode switch is The system operates if the dynamic driver
ALOIA0091ZZ
turned ON assistance switch is turned OFF⇒ON after
the condition improves.
The DCA system is automatically can-
celed. The chime sounds and the ICC sys-
Warning tem warning lamp will come on and the
display When the sensor window is dirty, mak- “Sensor Blocked” indicator will appear.
ing it impossible to detect a vehicle NOTE:
ahead Stop the vehicle in a safe location and turn
the ignition switch OFF. Clean the dirty ar-
ea. The system returns to normal condition
when turning the ignition switch ON again. ALOIA0092ZZ
The chime sounds and the DCA system

warning indicator (orange) will come on.
NOTE:
When the DCA system is not operating
Turn the ignition switch OFF, and then turn
properly
the ignition switch ON again. If there is no
malfunction, the system returns to the nor-
mal condition.
ALOIA0093ZZ
NOTE:
When the DCA system is automatically canceled, the cancellation condition can be displayed on “WORK
SUPPORT” of CONSULT (ICC/ADAS).
PFCW
PFCW : Switch Name and Function INFOID:0000000014222322
ALOIA0095GB

Turns PFCW/FEB system ON/OFF
1 Warning system switch
(When the setting of PFCW/FEB system in the vehicle information display is ON)
PFCW/FEB system setting screen
2 The setting of PFCW/FEB system can be switched between ON and OFF
(the vehicle information display)

OPERATION
PFCW : Menu Displayed by Pressing Each Switch INFOID:0000000014222323
A
DISPLAY AND WARNING LAMP
D
ALOIA0096ZZ
No. Display item Description E

• Indicates that the PFCW/FEB system, LDW system, and/or BSW system is ON.
1 Warning system ON indicator • Blinks when the setting of LDW, PFCW/FEB, and BSW are “OFF” and the warn-
ing system switch is pressed. F
2 Vehicle ahead detection indicator Vehicle ahead detection indicator blinks when the PFCW system is activated
SYSTEM CONTROL CONDITION DISPLAY G
Warning
systems Vehicle ahead detection indicator
Condition Buzzer H
ON indica- (In the combination meter)
tor
Set condition ON OFF —
When the warning system switch is I
turned ON with settings of PFCW sys-
Blink OFF —
tem, LDW system and BSW system
OFF J
When own vehicle comes close to the

K
vehicle ahead and it is judged that the
ON Beep
distance between the vehicles is not
sufficient
L
ALOIA0126ZZ
LDP
M
LDP : Switch Name and Function INFOID:0000000014222324
DAS
P
ALOIA0103GB

OPERATION

Turns LDP system ON/OFF
1 Dynamic driver assistance switch
(When the setting of LDP system in the vehicle information display)
LDP system settings screen
2 The setting of LDP system can be switched between ON and OFF
LDP : Menu Displayed by Pressing Each Switch INFOID:0000000014222325
INDICATOR LAMP AND WARNING LAMP
ALOIA0127GB
No. Display item Description

LDP ON indicator (green) Indicates that LDP system is ON
1
Lane departure warning lamp (yellow) Turns ON when LDP system has a malfunction
2 Lane departure warning indicator light (yellow) Blinks when the warning of LDP system occurs
DISPLAY AND WARNING
Vehicle condition/ Driver's operation Action Indication on the combination meter Buzzer
ON (green)
Less than Ap-

prox. 60 km/h
Close to lane marker No action —
(40 MPH)
ALOIA0134GB

OPERATION
A
Green →→
Warning and yawing

• Buzzer sounds Short continu- B
Close to lane marker
• Warning lamp blinks ous beeps
• Brake control
C
ALOIA0135GB
D
• Close to lane marker
• Turn signal ON (Deviate No action —
side)
E
Approx. 70 ALOIA0134GB
km/h (45
Green (ON) F
MPH) or more
Warning
Close to lane with soft brak- Short continu-
• Buzzer sounds G
ing ous beeps
• Warning lamp blinks
ALOIA0135GB
H
• VDC OFF Switch
OFF ⇒ ON Cancellation
(VDC system ON ⇒ • Buzzer sounds
OFF) • Each message is displayed I
• SNOW mode switch NOTE: Each message is displayed Beep
OFF ⇒ ON When dynamic driver assis-
• Road is slippery tance switch is ON ⇒ OFF, J
• Camera temperature message is turned OFF
high
NOTE:
K
After the operating conditions are satisfied, the control continues until the vehicle speed reaches approxi-
mately 60 km/h (40 MPH). Refer to DAS-190, "LDP : System Description".
LDW
L
LDW : Switch Name and Function INFOID:0000000014222326
DAS
ALOIA0100GB
No. Switch name Description P

Turns LDW system ON/OFF
1 Warning systems switch
(When the setting of LDW system in the vehicle information display is ON)
LDW system setting screen
2 Turns setting of LDW system can be switched between ON and OFF
(The vehicle information display)

OPERATION
LDW : Menu Displayed by Pressing Each Switch INFOID:0000000014222327
INDICATOR LAMP AND WARNING LAMP
ALOIA0102ZZ
No. Display item Description

• Indicates that the LDW, FCW, and/or BSW system is ON
• Blinks when the setting of LDW, FCW, and BSW are “OFF” and the warning sys-
1 Warning systems ON indicator
tems switch is pressed
• Blinks when the temperature of the lane camera unit becomes high
2 Lane departure warning indicator light • Blinks when LDW system is activated
DISPLAY AND WARNING
Warning sys-
Indication on the combination
Vehicle condition/ Driver's operation Action tems ON indi- Buzzer
meter
cator
Less than Ap-
prox. 60 km/h
Close to lane marker No action ON OFF —
(40 MPH)
OFF (orange) Blink
Warning
Short con-
• Buzzer sounds
Approx. 70 Close to lane marker ON tinuous
• Warning lamp
km/h (45 beeps
blinks (orange)
MPH) or more
ALOIA0104ZZ

• Turn signal ON (Deviate No action ON OFF —
side)
NOTE:
After the operating conditions of warning are satisfied, the warning continues until the vehicle speed reaches
approximately 60 km/h (40 MPH). Refer to DAS-187, "LDW : System Description".
BSW/RCTA
BSW/RCTA : Switch Name and Function INFOID:0000000014222328
ALOIA0108GB

OPERATION
No. Name Function A

Turns BSW system ON/OFF
1 Warning systems switch
(When the setting of BSW system in the vehicle information display is ON)
BSW setting screen B
2 Changes setting of BSW system (ON/OFF)
BSW/RCTA : System Display and Warning INFOID:0000000014222329 C
INDICATOR AND WARNING LAMP

D
ALOIA0109ZZ
G
No. Name Description
• Indicates that the FCW system, LDW system, and/or BSW system is ON
1 Warning systems ON indicator • Blinks when the setting of LDW, FCW, and BSW are “OFF” and the warning sys- H
tems switch is pressed
DISPLAY AND WARNING OPERATION

I
Vehicle condition/ Driver's operation Action
Status of ve-
Warning Vehicle speed hicle detec- Indication on the J
Turn signal
systems ON (Approx.) tion within Blind Spot Warning/Blind Spot In- Buzzer
condition
indicator [km/h (MPH)] detection tervention indicator
area
K
OFF — — — OFF OFF
Less than ap-
prox. — — OFF OFF
L
29 (18)
Vehicle is
— OFF OFF
absent
M
Vehicle is
OFF ON OFF
detected
Blink Short continuous beep
N
Before turn
signal oper-
ON ates
Approx. Vehicle is DAS
32 (20) detected
or more ON
(vehicle de- JSOIA0251GB JSOIA0252GB
P
tected direc- Blink
tion)
Vehicle is
detected af-
OFF
ter turn sig-
nal operates
JSOIA0251GB

OPERATION
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 Intervention 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. However, at this
time the warning systems ON indicator remains OFF.
BLIND SPOT INTERVENTION (BSI) SYSTEM
BLIND SPOT INTERVENTION (BSI) SYSTEM : Switch Name and Function
INFOID:0000000014222330
ALOIA0110GB
No. Name Function

1 Dynamic driver assistance switch Turns Blind Spot Intervention, LDP, and DCA systems ON/OFF
Blind Spot Intervention setting
2 screen Changes setting of Blind Spot Intervention system (ON/OFF)
(The vehicle information display)
BLIND SPOT INTERVENTION (BSI) SYSTEM : System Display and Warning

INFOID:0000000014222331
INDICATOR AND WARNING LAMP
ALOIA0138GB

Blind Spot Intervention ON indicator • Turns ON when Blind Spot Warning/Blind Spot Intervention system is malfunc-
1
(green) tioning

Whenever the Blind Spot Intervention system is turned on, the BSW system will also be on.

OPERATION
Vehicle condition/Driver's operation Action A

Status of
Blind Vehicle
vehicle de- Status of
Spot In- speed Indication on the
tection approach to Brake
terven- (Approx.) Blind Spot Warning/Blind Spot In- Buzzer B
within de- adjacent control
tion ON [km/h tervention indicator
tection lane
indicator (MPH)]
area
OFF — — — OFF OFF OFF C
Less than
approx. — — OFF OFF OFF
60 (37) D
Vehicle is
— OFF OFF OFF
absent
Not E
Vehicle is
approach- ON OFF OFF
detected
ing
Green Blink Short continuous beeps F
Approx.
60 (37) or
more
Vehicle is Approach- G
ON
detected ing
JSOIA0251GB JSOIA0334GB H
Time shown in the figure is ap- Time shown in the figure is ap-
proximate time. proximate time.
BSI system warning light (orange)
I
BCI
BCI : Switch Name and Function INFOID:0000000014222332
J
ALOIA0128GB
M
No. Name Function
1 BCI switch Turns Backup Collision Intervention system ON/OFF
N
BCI : System Display and Warning INFOID:0000000014222333
INDICATOR AND WARNING LAMP DAS

OPERATION
Press the BCI switch to toggle between ON and OFF. "BCI" will appear on the left side of the vehicle informa-
tion display screen.
ALOIA0128GB

BCI indicator Turns ON while Backup Collision Intervention system is ON
2 Backup Collision Intervention warn-
Turns ON when Backup Collision Intervention system is malfunctioning
ing lamp (orange)
Vehicle condition/Driver's operation Action

Status of
Backup Vehicle
vehicle de-
Collision speed Indication on the
tection Brake
Interven- (Approx.) Backup Collision Intervention in- Buzzer
within de- control
tion ON [km/h dicator
tection
indicator (MPH)]
area
OFF — — OFF OFF OFF
Less than
approx. Vehicle is
ON ON ON
5 MPH (8 detected
km/h)
Vehicle is
ON OFF OFF
ON absent
Approx.
Vehicle is
5 MPH (8 ON ON ON
detected
km/h) or
more Vehicle is
not ON OFF OFF
detected
Under the following conditions, the Backup Collision Intervention system will be turned off automatically, a beep will sound. The Backup
Collision Intervention 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:0000000014222334
• 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.
• Depending on the position of the accelerator pedal, the system may not be able to assist the driver to
• 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:0000000014222335
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:0000000014222336
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:
• Always keep the windshield clean.
I
• Do not attach a sticker (including transparent material) or install an accessory near the lane 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 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:0000000014222337
LANE CAMERA UNIT HANDLING

Refer to DAS-223, "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 the ICC, DCA, predictive forward collision warning or forward emergency braking warnings sound.
- When the hazard warning flashers are operated.

HANDLING PRECAUTION
Precautions for Rear Cross Traffic Alert INFOID:0000000014222338
SIDE RADAR HANDLING

• Side radar for Rear Cross Traffic Alert system is located inside the rear bumper.
radar.
• Do not strike, damage, and scratch the side radar, especially the vent seal (gray circular) area, under repair.
REAR CROSS TRAFFIC ALERT
• Always check surroundings and turn to check what is behind you before backing up. The radar sensors
detect approaching (moving) vehicles. The radar sensors cannot detect every object such as:
- Pedestrians, bicycles, motorcycles, animals or child operated toy vehicles.
- A vehicle that passing at speeds greater than approximately 30 KM/H (19 MPH)
- A vehicle that passing at speeds lower than approximately 8 KM/H (5 MPH)
• The radar sensors may not detect approaching vehicles in certain situations:
- When the vehicle that is parked next to you obstructs the beam of the radar sensor.
- When the vehicle is parked in an angled parking space.
- When the vehicle is parked on an incline.
- When an approaching vehicle turns into your vehicles parking lot isle.
- When the angle formed by your vehicle is too small.
• The following conditions may reduce the ability of the radar to detect other vehicles:
- Severe weather
- Road spray
- Ice build up on the vehicle
- Frost on the vehicle
- Dirt build up on the vehicle
radar sensors. These conditions may reduce the ability of the radar to detect other vehicles.
• Do not use RCTA systems when towing a trailer.
• Excessive noise (e.g. audio system volume, open vehicle window) will interfere with the chime sound and it
may not be heard.
Precautions for Back-up Collision Intervention INFOID:0000000014222339
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
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.

HANDLING PRECAUTION
• The radar sensor may not be able to detect certain objects are present such as:
- Pedestrians, bicycles or animals. A
- 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.
B
- 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. C
• 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. D
- 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 E
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, F
- When the vehicle is equipped with non-original brake parts or suspension parts.
sound, and it may not be heard. G
DAS

On Board Diagnosis Function INFOID:0000000014224829
DESCRIPTION
The DTC is displayed on the information display by operating the ICC steering switch.
On Board Self-diagnosis System Diagram
JSOIA0271GB
METHOD OF STARTING
CAUTION:
Start condition of on board self-diagnosis
• ICC system OFF
• DCA system OFF
• Vehicle speed 0 km/h (0 MPH)
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
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-40, "DTC Index".
JSOIA0008GB
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 A
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. B
Assumed abnormal part Inspection item

Check that the self-diagnosis function of the combina- C
Information display Combination meter malfunction
tion meter operates. Refer to MWI-17, "Description".
ICC steering switch malfunction
Perform the inspection for DTC “C1A06”. Refer to DAS- D
Harness malfunction between ICC steering switch and ECM
80, "DTC Logic".
ECM malfunction
• Check power supply and ground circuit of ADAS con-
E
trol unit. Refer to DAS-169, "Diagnosis Procedure".
ADAS control unit malfunction • Perform SELF-DIAGNOSIS for “ICC/ADAS”with
CONSULT, and then check the malfunctioning parts.
Refer to DAS-40, "DTC Index". F
HOW TO ERASE ON BOARD SELF-DIAGNOSIS
G
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 H
self-diagnosis starts.
NOTE:
• Complete the operation within 10 seconds after pressing the
CANCEL switch first. I
• If the operation is not completed within 10 seconds, repeat the
4. DTC 55 is displayed after erasing. J
NOTE:
DTCs for existing malfunction can not be erased. PKIB8373E
5. Turn ignition switch OFF, and finish the diagnosis. K

CONSULT Function (ICC/ADAS) INFOID:0000000014224830
APPLICATION ITEMS L
CONSULT performs the following functions via CAN communication using ADAS control unit.
Diagnosis mode Description M

• 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 N
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
DAS
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
P
CAN Diag Support Monitor Displays a reception/transmission state of CAN communication and ITS communication
CONFIGURATION
Configuration includes functions as follows.

Before Replace ECU
After Replace ECU
unit by hand.
WORK SUPPORT

tems
• Vehicle-to-vehicle control mode
• Conventional (fixed speed) control mode
tems
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.

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) A
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 B
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 C
IGN LOW VOLT × × × × Decrease in ADAS control unit ignition voltage
PARKING BRAKE ON × × The parking brake is operating
D
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 E
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 F
ECD CIRCUIT × × × × An abnormal condition occurs in ECD system
ENG SPEED DOWN × × Engine speed became extremely low while controlling ICC system
G
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 H
APA HI TEMP ×
high
ICC SENSOR CAN Communication error between ADAS control unit and the ICC sen-
× × ×
COMM ERR sor
I
ABS WARNING LAMP × × ABS warning lamp ON
Inclusion of dirt or stains on the ICC sensor area of the front
FR RADAR BLOCKED × × ×
bumper
J
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- K
× Detected lateral speed is the specified value or more
TION
RADAR INTERFER-
× × × ICC sensor receives electromagnetic interference
ENCE L
NO RECORD × × × —

M

DAS
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 × —

NOTE:
• IGN counter is displayed on FFD (Freeze Frame Data).
DATA MONITOR
NOTE:
(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
[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]
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)

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
A
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
Indicates [On/Off] status of idle switch read from ADAS control unit B
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 C
[Short/Mid/Long]
CRUISE LAMP
× × Indicates [On/Off] status of MAIN switch indicator output
[On/Off] D
OWN VHCL
× Indicates [On/Off] status of own vehicle indicator output
[On/Off]
VHCL AHEAD E
× 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]
F
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]
G
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 H
[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-
I
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- J
×
[OFF/LOW/HIGH] quest signal through CAN communication)
YAW RATE NOTE:
×
[deg/s] The item is displayed, but it is not monitored K
BA WARNING
× Indicates [On/Off] status of FEB indicator lamp output
[On/Off]
STP LMP DRIVE L
× × × 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 M
[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)
N
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
× DAS
[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] P
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)
Indicates throttle position read from ADAS control unit through CAN com-
THRTL OPENING
× × × munication (ECM transmits accelerator pedal position 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 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)
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]
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
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:
[On/Off] The item is displayed, but it is not monitored
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]
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 Chassis communication
× ×
[Detect/Deviate/Both] (Lane camera unit transmits a lane marker signal via Chassis communi-
cation)
Indicates an ON/OFF state of the lane marker. The ON/OFF state is
judged from a detected lane condition signal read by the ADAS control
Lane unclear
× × unit via Chassis communication
[On/Off]
(The lane camera unit transmits a detected lane condition signal via Chas-
sis communication)

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
A
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
STATUS signal B
[Stnby/Warn/Cancl/ × Indicates a control state of LDP system
Off]
Shift position
Indicates shift position read from ADAS control unit through CAN commu- C
[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 D
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 E
× ×
[G] (The ABS actuator and electric unit (control unit) transmits a side G sensor
signal via CAN communication)
FUNC ITEM (FCW)

Indicates systems which can be set to ON/OFF by selecting “Driver Aids” F
× × × × ⇒“Emergency Assist” of the integral switch
[On/Off]
Indicates systems which can be set to ON/OFF by selecting “Driver Aids” G
FUNC ITEM (LDW)
× × × × ⇒“Lane” of the integral switch
[On/Off]
Lane Departure Warning
Indicates systems which can be set to ON/OFF by selecting “Driver Aids”
FUNC ITEM (BSW)
× × × × ⇒“Blind spot” of the integral switch
H
[On/Off]
Blind Spot Warning
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 I
[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 J
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
K
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
L
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 M
× × × × set to ON/OFF by selecting “Driving Aids”⇒“Blind spot” of the integral
[On/Off]
switch
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- N
[STD/SPT/ECO/SNO]
munication
WARN SYS SW
× × × × Indicates [On/Off] status of warning systems switch
[On/Off] DAS
BSW/BSI WARN LMP
× Indicates [On/Off] status of Blind Spot warning malfunction
[On/Off]
BSI ON IND P
× 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
× × Indicates [On/Off] status of PFCW system
[On/Off]

(LDW/LDP)
(BSW/BSI)
MAIN SIG
MAIN SIG
MAIN SIG
MAIN SIG
ALL SIG
(ICC)
(ICC)
(BCI)
Monitored item
Description
[Unit]
BCI SYSTEM ON
× Indicates [On/Off] status of BCI system
[On/Off]
BCI SWITCH
× Indicates [On/Off] status of Backup Collision Intervention system switch
[On/Off]
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]
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]
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 A
- Blind Spot Intervention
- BCI
• The “Active Test” cannot be performed when the FEB warning lamp is illuminated.
B

C
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 D
can be illuminated
ICC BUZZER • Distance Control Assist (DCA) E
• Forward Emergency Brake (FEB)
BRAKE ACTUATOR Activates the brake by an arbitrary operation
F
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
Sounds a buzzer used for following systems by arbitrarily operating ON/OFF G
LDP BUZZER • Lane Departure Prevention (LDP)
H
Warning systems ON indicator (on warning systems switch) can be illuminated by ON/OFF opera-
WARNING SYSTEM IND
tions as necessary
I
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
The Blind Spot Warning/Blind Spot Intervention warning lamp can be illuminated by ON/OFF opera- J
tions 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 K
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
L
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 M
METER LAMP
NOTE:
The test can be performed only when the engine is running. N
• MAIN switch indicator

Oper-
Test item Description • ICC system warning DAS
ation
• FEB warning lamp
Stops sending the following signals to exit from the test
Off • Meter display signal OFF
• FEB warning lamp signal P
METER LAMP Transmits the following signals to the combination meter via
CAN communication
On ON
• Meter display signal
• FEB warning lamp 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:
The test can be performed only when the engine is running.
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 CAN 20 bar
communication
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:
The test is finished in 10 seconds after starting
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 A

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

ation vention warning lamp (Yellow)
Stops transmitting the Blind Spot Warning/Blind Spot In-
Off —
tervention warning lamp signal below to end the test
BSW/BSI WARNING
LAMP Transmits the Blind Spot Warning/Blind Spot Interven-
On tion warning lamp signal to the combination meter via ON
CAN communication
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- A
Test item Description LDP malfunction (Yellow)
ation
Off —
LDP WARNING INDI- the test
B
On ON
LDW WARNING INDICATOR C
Oper-
Test item Description LDW malfunction (Yellow)
ation D
Off —
LDW WARNING IN- the test
DICATOR Transmits the meter display signal to the combination E
On ON
BSW WARNING INDICATOR

F
Oper-
Test item Description BSW malfunction (Yellow)
ation
Stops transmitting the meter display signal below to end G
Off —
BSW WARNING IN- the test
DICATOR Transmits the meter display signal to the combination
On ON
meter via CAN communication H
BSI WARNING INDICATOR
Oper- Blind Spot Intervention malfunction I

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

DIAGNOSIS SYSTEM (ICC SENSOR)
CONSULT Function (LASER/RADAR) INFOID:0000000014224835
CAUTION:
After disconnecting the CONSULT vehicle interface (VI) from the data link connector, the ignition must
be cycled OFF → ON (for at least 5 seconds) → OFF. If this step is not performed, the BCM may not go
to “sleep mode”, potentially causing a discharged battery and a no-start condition.
APPLICATION ITEMS
CONSULT performs the following functions via CAN communication with ADAS control unit and the communi-
cation with ICC sensor.
Diagnosis mode Description

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

Refer to CCS-60, "DTC Index".
DATA MONITOR
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]
DISTANCE
Indicates the distance from the vehicle ahead
[m]
RELATIVE SPD
Indicates the relative speed of the vehicle ahead
[m/s]
RADAR OFFSET NOTE:
[m] The item is indicated, but not used
RADAR HEIGHT NOTE:
[m] The item is indicated, but not used
STEERING ANGLE
The steering angle is displayed
[deg]
STRG ANGLE SPEED
The steering angle speed is displayed
[deg/s]
L/R ADJUST
Indicates a horizontal correction value of the radar
[deg]
U/D ADJUST
Indicates a vertical correction value of the radar
[deg]

WORK SUPPORT
A
Outputs millimeter waves, calculates the displacement in radar direction, and indicates an ad-
MILLIWAVE RADAR ADJUST
justment direction B
ICC sensor Adjust

C
ECU IDENTIFICATION
ICC sensor part number is displayed.
D
DAS

DIAGNOSIS SYSTEM (ACCELERATOR PEDAL ACTUATOR)
CONSULT Function (ACCELERATOR PEDAL ACT) INFOID:0000000014222343
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
[V]
It displays the power supply voltage that the accelerator pedal actuator read out G
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:0000000014222344
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-273, "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:
• Never perform the active test while driving.
• 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:0000000014222345
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-276, "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:
• Never perform the active test while driving.
• 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:0000000014222346
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
ADAS MALFUNCTION
Indicates ADAS control unit status
[Off/On] D
DR ASSIST BUZZ MALF
Indicates driver assistance control buzzer module status
[Off/On]
DR ASSIST BUZZ STATUS E
Indicates driver assistance control buzzer sound status
[1/2/3/1, 2/2, 4/1, 4/4]
ACTIVE TEST F
CAUTION:
Never perform ACTIVE TEST while driving the vehicle.
Item list G
Active test item Description

Sounds a buzzer used for following systems by arbitrarily operating ON/OFF H
BUZZER 1 (ADAS)
I
BUZZER 2 (ADAS)
• Distance Control Assist (DCA) J
BUZZER 3 (ADAS)
Sounds a buzzer used for following systems by arbitrarily operating ON/OFF K
BUZZER 4 (ADAS)
BUZZER 1 (ADAS)
L
Off Stops transmitting the warning buzzer signal below to end of the test
BUZZER 1 (ADAS) M
On Transmits the warning buzzer signal to the warning buzzer
BUZZER 2 (ADAS)
N
BUZZER 2 (ADAS)
On Transmits the warning buzzer signal to the warning buzzer DAS
BUZZER 3 (ADAS)
P
BUZZER 3 (ADAS)
BUZZER 4 (ADAS)


BUZZER 4 (ADAS)
ECU IDENTIFICATION
Displays driver assistance buzzer control module parts number.

DIAGNOSIS SYSTEM (LANE CAMERA UNIT)
A
CONSULT Function (LANE CAMERA) INFOID:0000000014222347
APPLICATION ITEMS B
CONSULT performs the following functions by communicating with the lane camera unit.
Diagnosis mode Description C

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 D
Ecu Identification Displays lane camera unit part number
CAN Diag Support Monitor Displays a reception/transmission state of chassis communication
E
WORK SUPPORT
Work support items Description F

AUTO AIM Outputs camera unit, calculates dislocation of the camera, and displays adjustment direction.
NOTE:
AIM CHECK
The item is displayed, but it is not used. G

Refer to DAS-283, "DTC Index". H
FREEZE FRAME DATA (FFD)
Lane camera unit records the following vehicle condition at the time a particular DTC is detected, and displays
on CONSULT. I
CONSULT screen item

Description
(Indication/Unit)
J
ODO/TRIP METER
Vehicle speed of the moment a particular DTC is detected.
(km/h)
DATA MONITOR K
NOTE:
to this vehicle, refer to CONSULT display items. L
Monitored item
Description
(Unit)
M
CAMERA HIGH TEMP
Displays status of lane camera unit high temperature judgment.
(NORMAL/HIGH)
WIPER N
Displays the wiper operating status.
(Off/Lo/Hi)
TURN SIGNAL
Displays status of “Turn signal” received from BCM via CAN communication.
(Off/LH/ RH/LH&RH)
DAS
VEHICLE SPEED Displays vehicle speed received from ABS actuator and electric unit (control unit) via CAN com-
(km/h) munication.
DRIVER ASSIST SYSTEM SET NOTE:
(NO REQ) The item is indicated, but not monitored.
P
BRAKE OPERATION STATUS
Displays the brake operating status.
(Off/On/CNFRM/UNKWN)
AIMING DONE
Displays status that camera aiming is done.
(not finished/finished)
AIMING RESULT
Displays result of camera aiming.
(NOK/OK)

Monitored item
Description
(Unit)
STEERING ANGLE
Displays the steering angle sent from the steering angle sensor.
(deg)
YAW RATE
Displays the yaw rate.
(deg/s)
FCTRY AIM YAW
Displays the yaw angle result of camera aiming.
(deg)
FCTRY AIM ROL
Displays the roll angle result of camera aiming.
(deg)
FCTRY AIM PIT
Displays the pitch angle result of camera aiming.
(deg)
LDW FUNCTION
Displays LDW function status.
(NORMAL/MALF)
LDW SETTING DISPLAY NOTE:
(NTHNG) The item is indicated, but not monitored.
DRIVER ASSIST SYSTEM BZZR NOTE:
LDW LEFT
Displays the deviating status on the LH side lane.
(Off/On)
LDW RIGHT
Displays the deviating status on the RH side lane.
(Off/On)
LDW STATUS DISPLAY NOTE:
(Off/ON/TMP MF/ MF) The item is indicated, but not monitored.
NOTE:
HBA FUNCTION
The item is indicated, but not monitored.
DISTANCE
Displays the distance between the vehicle and an object detected by the lane camera unit.
(m)
RELATIVE SPEED
Displays the relative velocity to an object detected by the lane camera unit.
(m/s)
HBA REQUEST NOTE:
LOW BEAM STATUS NOTE:
(Off) The item is indicated, but not monitored.
HIGH BEAM STATUS NOTE:
(Off) The item is indicated, but not monitored.
NOTE:
NO-ENTRY SIGN DISPLAY
The item is indicated, but not monitored.

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

ADAS CONTROL UNIT
B

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
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
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
• 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
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
When ICC system is deactivated Off
B
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 C
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 D
• Press SET/COAST switch
Displays the dis-
Drive the vehicle and activate tance from the E
control mode cle
F
RELATIVE SPD the vehicle-to-vehicle distance ative speed.
G
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 H
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
I
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) J
When the PFCW system is ON On
FCW SYSTEM ON Ignition switch ON
When the PFCW system is OFF Off
Display the ac- K
celerator pedal
APA TEMP Engine running actuator inte-
grated motor
L
temperature
Power supply
voltage value of
APA PWR Ignition switch ON M
accelerator ped-
al actuator
LDW SYSTEM ON Ignition switch ON N
LDW ON LAMP Ignition switch ON
DAS
Start the engine and press dy- LDP ON indicator lamp ON On
LDP ON IND
(When LDP system setting is LDP ON indicator lamp OFF Off
ON) P
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

ADAS CONTROL UNIT
• 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
LDP SYSTEM ON
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
Vehicle turning right Negative value
SIDE G While driving
Vehicle turning left Positive value
FUNC ITEM Ignition switch ON FUNC3
FUNC ITEM (FCW) Engine running On
FUNC ITEM (LDW) Engine running On
FUNC ITEM (BSW) Engine running On
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

ADAS CONTROL UNIT
A
On
switch is ON
FCW SELECT Ignition switch ON
Off B
switch is OFF
On
ON
LDW SELECT Ignition switch ON C
Off
OFF
“Blind Spot Warning” set with the integral switch is ON On
BSW SELECT Ignition switch ON D
“Blind Spot Warning” set with the integral switch is OFF Off
When drive mode select switch position is STANDARD STD
When drive mode select switch position is in SPORT SPORT E
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- F
STD
AL
A signal other than those above is input ERROR
G
When warning systems switch is pressed On
WARN SYS SW Ignition switch ON
When warning systems switch is not pressed Off
When the BSW system is malfunctioning On H
BSW/BSI WARN LMP Engine running
When the BSW system is normal Off
Blind Spot Intervention warning ON On
BSI ON IND Engine running
Blind Spot Intervention warning OFF Off I
When the BSW system is ON On
BSW SYSTEM ON Ignition switch ON
When the BSW system is OFF Off
J
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) K
When the FEB/PFCW system is ON On
FCW SYSTEM ON Engine running
When the FEB/PFCW system is OFF Off
L
When the BCI system is ON On
BCI SYSTEM ON Engine running
When the BCI system is OFF Off
NOTE: M
BCI SWITCH Off
BATTERY CIRCUIT NOTE:
Off
OFF The item is indicated, but not used N
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 DAS
LDW ON INDICATOR Engine running
LDW system display OFF Off
LDW WARNING INDI- When the LDW system is malfunctioning On

Engine running P
CATOR When the LDW system is normal Off
When the vehicle is normal NOREQ
SYSTEM CANCEL When the wheel is slipping SLIP

Engine running
MESSAGE When the drive mode selector is SNOW mode SNOW
When the VDC is OFF VDC OFF

ADAS CONTROL UNIT
Lane camera unit high temperature warning display ON On
CAMERA HI TEMP
Engine running Lane camera unit high temperature warning display
MSG Off
OFF
ITS SETTING
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 Engine running
BSW system display OFF Off
SIDE RADAR BLOCK Front bumper or side radar is dirty On

Engine running
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
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
TERMINAL LAYOUT
PHYSICAL VALUES
JSOIA0705ZZ

ADAS CONTROL UNIT
Terminal No. A
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ − Signal name
Output
B
1
(B)
2 C
(W)
Ignition
5
Ground — switch — 0V
(B) D
ON
6
ITS communication high — — — —
(L)
E
7
ITS communication low — — — —
(Y)
8
Chassis communication high — — — — F
(L)
9
Ground Chassis communication low — — — —
(Y)
12 G
(R)
Ignition — Battery voltage
17 H
ICC brake hold relay drive signal Output switch
(G) At “STOP LAMP” test of “Active test” 0V
ON
Ignition When warning systems switch is not pressed Battery voltage
18
Warning systems switch Input switch I
(BR) When warning systems switch is pressed 0V
ON
Ignition Warning systems ON indicator ON 0V
19
Warning systems ON indicator Output switch
(W) Warning systems ON indicator OFF Battery voltage J
ON
Ignition When BCI OFF switch is not pressed Battery voltage
22
BCI OFF switch Input switch
(BG) When BCI OFF switch is pressed 0V K
ON
L
System Buzzer Warning lamp/Warning display Description M

High-
tone N
High-
tone
DAS
High-
tone
P
High-
tone
High-
tone

ADAS CONTROL UNIT
Low-
tone
Low-
tone
High-
ing indicator
tone

• U1507: LOST COMM (SIDE RDR R)
1
• U1508: LOST COMM (SIDE RDR L)
• 1CA0A: CONFIG UNFINISHED
2 • U1000: CAN COMM CIRCUIT
• U1010: CONTROL UNIT (CAN)
• C1B00: CAMERA UNIT MALF
3 • C1B53: SIDE RDR R MALF
• C1B54: SIDE RDR L MALF
• C1B84: DIST SEN MALFUNCTION
• 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
4 • C1A39: STRG SEN CIR • U150C: VDC CAN CIRC 3
• C1A40: SYSTEM SW CIR • U150D: TCM CAN CIRC 3
• C1B01: CAM AIMING INCMP • U150E: BCM CAN CIRC 3
• C1B03: CAM ABNRMAL TMP DETCT • U1512: HVAC CAN CIRC3
• C1B56: SONAR CIRCUIT • U1513: METER CAN CIRC 3
• C1B57: AVM CIRCUIT • U1514: STRG SEN CAN CIRC 3
• C1B58: DR ASSIST BUZZER CIRCUIT • U1515: ICC SENSOR CAN CIRC 3
• C1B82: DIST SEN OFF-CENTER • U1516: CAM CAN CIR 3
• C1B85: DIST SEN ABNORMAL TEMP • U1517: APA CAN CIRC 3
• C1B86: DIST SEN PWR SUP CIR • U1518: SIDE RDR L CAN CIRC 3
• C1F01: APA MOTOR MALF • U1519: SIDE RDR R CAN CIRC 3
• C1F05: APA PWR SUPLY CIR • U1521: SONAR CAN COMMUNICATION 2
• U1530: DR ASSIST BUZZER CAN CIR 1

ADAS CONTROL UNIT
A
5 • C1A03: VHCL SPEED SE CIRC
6 • C1A15: GEAR POSITION
7 • C1A00: CONTROL UNIT B
C
• B: Conventional (fixed speed) cruise control mode D
• F: Blind Spot Warning (BSW)/Blind Spot Intervention (BSI)/Rear Cross Traffic Alert (RCTA) E
DTC Fail-safe
F
CONSULT System
display
NO DTC IS DE- G
TECTED. FUR-
NO DTC IS DETECTED. FURTHER TESTING
THER TESTING 55 — —
MAY BE REQUIRED
MAY BE RE-
QUIRED H
C1A0A 41 CONFIG UNFINISHED A, B, C, D, E, F, G, H DAS-68
C1A00 0 CONTROL UNIT A, B, C, D, E, F, G, H DAS-69
I
C1A01 1 POWER SUPPLY CIR A, B, C, D, E, F, G, H DAS-70
C1A02 2 POWER SUPPLY CIR 2 A, B, C, D, E, F, G, H DAS-70
C1A03 3 VHCL SPEED SE CIRC A, B, C, D, E, F, G, H DAS-71 J
C1A04 4 ABS/TCS/VDC CIRC A, B, C, D, E, F, G, H DAS-73
C1A05 5 BRAKE SW/STOP L SW A, B, C, D, G, H DAS-75
C1A06 6 OPERATION SW CIRC A, B, C, D, E, H DAS-80
K
C1A13 13 STOP LAMP RLY FIX A, B, C, D, E, G DAS-82

C1A14 14 ECM CIRCUIT A, B, C, D, E DAS-89 L
C1A15 15 GEAR POSITION A, B, C, D, E DAS-91
C1A24 24 NP RANGE A, B, C, D, E, F, G DAS-93
C1A26 26 ECD MODE MALF A, B, C, D, G DAS-95 M
C1A27 27 ECD PWR SUPLY CIR A, B, C, D, G DAS-97
C1A33 33 CAN TRANSMISSION ERR A, B, C, D, E DAS-99
N
C1A34 34 COMMAND ERROR A, B, C, D, E DAS-100
C1A35 35 APA CIR A, C, D, E DAS-101
C1A36 36 APA CAN COMM CIR A, C, D, E DAS-102 DAS
P
C1A39 39 STRG SEN CIR A, B, C, D, E, F, G DAS-105
C1A40 40 SYSTEM SW CIR G DAS-105
C1B00 81 CAMERA UNIT MALF F, H DAS-108
C1B01 82 CAM AIMING INCMP F, H DAS-109
C1B03 83 ABNRML TMP DETCT F, H DAS-110
C1B53 84 SIDE RDR R MALF F, G DAS-111

ADAS CONTROL UNIT
DTC Fail-safe
CONSULT System
display
C1B54 85 SIDE RDR L MALF F, G DAS-112
C1B56 86 SONAR CIRCUIT G DAS-113
C1B57 87 AVM CIRCUIT G DAS-114
C1A58 182 DR ASSIST BUZZER CIRCUIT DAS-115
C1B82 12 DIST SEN OFF-CENTER A, C, D, E DAS-116
C1B83 16 DIST SEN BLOCKED A, C, D, E DAS-117
C1B84 17 DIST SEN MALFUNCTION A, C, D, E DAS-118
C1B85 21 DIST SEN ABNORMAL TEMP A, C, D, E DAS-119
C1B86 80 DIST SEN PWR SUP CIR A, C, D, E DAS-120
C1F01 91 APA MOTOR MALF A, C, D, E DAS-122
C1F02 92 APA C/U MALF A, C, D, E DAS-123
C1F05 95 APA PWR SUPLY CIR A, C, D, E DAS-124
U0121 127 VDC CAN CIR 2 A, B, C, D, E, F, G, H DAS-125
U0401 120 ECM CAN CIR 1 A, B, C, D, E, F, G DAS-128
U0402 122 TCM CAN CIR 1 A, B, C, D, E, F, G, H DAS-129
U0415 126 VDC CAN CIR 1 A, B, C, D, E, F, G, H DAS-131
U0424 156 HVAC CAN CIR 1 DAS-133
NOTE 100 CAN COMM CIRCUIT A, B, C, D, E, F, G, H DAS-135
U1000
U1010 110 CONTROL UNIT (CAN) A, B, C, D, E, F, G, H DAS-137
U150B 157 ECM CAN CIRC 3 A, B, C, D, E, F, G, H DAS-138
U150C 158 VDC CAN CIRC 3 A, B, C, D, E, F, G, H DAS-140
U150D 159 TCM CAN CIRC 3 A, B, C, D, E, F, G, H DAS-142
U150E 160 BCM CAN CIRC 3 A, B, C, D, F, G, H DAS-144
U1500 145 CAM CAN CIR2 F, H DAS-145
U1501 146 CAM CAN CIR 1 F, H DAS-146
U1502 147 ICC SEN CAN COMM CIR A, C, D, E DAS-147
U1507 154 LOST COMM (SIDE RDR R) F, G DAS-152
U1508 155 LOST COMM (SIDE RDR L) F, G DAS-153
U1512 162 HVAC CAN CIRC3 DAS-154

ADAS CONTROL UNIT
• A: Vehicle-to-vehicle distance control mode A
• E: Predictive Forward Collision Warning (PFCW) B
C
DTC Fail-safe
CONSULT System
display D
U1513 163 METER CAN CIRC 3 A, B, C, D, E, F, G, H DAS-155
U1514 164 STRG SEN CAN CIRC 3 A, B, C, D, E, F, G DAS-156
U1515 165 ICC SENSOR CAN CIRC 3 A, C, D, E DAS-157 E
U1516 166 CAM CAN CIRC 3 F, H DAS-158
U1517 167 APA CAN CIRC 3 A, C, D, E DAS-159
F
U1518 168 SIDE RDR L CAN CIRC 3 F, G DAS-160
U1519 169 SIDE RDR R CAN CIRC 3 F, G DAS-161
U1521 177 SONAR CAN COMMUNICATION 2 G DAS-163 G
H
U1530 183 DR ASSIST BUZZER CAN CIR1 DAS-168 I
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 J
communication with the ADAS control unit becomes inoperable.
DAS

ICC SENSOR
ICC SENSOR

Value of vehicle
VHCL SPEED SE While driving speed signal
(wheel speed)
Vehicle stopped 0.0
YAW RATE While driving Vehicle turning right Positive value
Vehicle turning left Negative value
Power supply
PWR SUP MONI Ignition switch ON voltage value of
ICC sensor
Displays the dis-
Drive the vehicle and activate tance from the
control mode cle

RELATIVE SPD the vehicle-to-vehicle distance ative speed
NOTE:
RADAR OFFSET —
The item is indicated, but not used
NOTE:
RADAR HEIGHT —
The item is indicated, but not used
When setting the steering wheel in straight-ahead posi-
0.0
tion
STEERING ANGLE Ignition switch ON
When turning the steering wheel 90° rightward +90
When turning the steering wheel 90° leftward -90
Steering wheel
STRG ANGLE
Ignition switch ON At the time of turning the steering wheel turning speed is
SPEED
displayed
Horizontal cor-
L/R ADJUST Ignition switch ON At the completion of radar alignment adjustment rection value is
displayed
Vertical correc-
U/D ADJUST Ignition switch ON At the completion of radar alignment adjustment tion value is dis-
played
TERMINAL LAYOUT
JSOIA1678ZZ
PHYSICAL VALUES

ICC SENSOR
Terminal No. A
Description
(Wire color) Reference value
Condition Standard value
Input/ (Approx.)
+ – Signal name
Output
B
1 8
Ignition power supply Input Ignition switch ON 9.5 - 16 V Battery voltage
(P) (B)
3 C
ITS communication-L — — — —
(L)
—
6
ITS communication-H — — — —
(Y)
D
8
Ground Ground — Ignition switch ON 0 - 0.1 V 0V
(B)
Fail-safe (ICC Sensor) INFOID:0000000014224832 E
If a malfunction occurs in the ICC sensor, ADAS control unit cancels control, sounds a beep, and turns ON the
ICC system warning lamp in the combination meter.
F
If multiple DTCs are detected simultaneously, check them one by one depending on the following DTC inspec- G

H
• U1000: CAN COMM CIRCUIT
1
2 • C1A50: ADAS MALFUNCTION
I
DAS

ICC SENSOR
• C1A01: POWER SUPPLY CIR
• C1A02: POWER SUPPLY CIR 2
• C1A03: VHCL SPEED CIRC
• C1A04: ABS/TCS/VDC CIRC
• C1A05: BRAKE SW/STOP L SW
• C1A06: OPERATION SW
• C1A13: STOP LSMP RLY FIX
• C1A14: ECM CIRCUIT
• C1A15: GEAR POSITION
• C1A23: UNIT LOW TEMP
• C1A24: NP RANGE
• C1A26: ECD MODE MALF
• C1A27: ECD PWR SUPLY CIR
• C1A33: CAN TRANSMISSION ERR
• C1A34: COMMAND ERROR
• C1A35: APA CIR
• C1A36: APA CAN COMM CIR
• C1A37: APA CAN CIR2
• C1A38: APA CAN CIR1
• C1A39: STRG SEN CIR
3
• C1B58: DR ASSIST BUZZER CIRCUIT
• C1B83: DIST SEN BLOCKED
• C1F01: APA MOTOR MALF
• C1F05: APA PWR SUPLY CIR
• U0104: ADAS CAN CIR1
• U0121: VDC CAN CIR2
• U0126: STRG SEN CAN CIR1
• U0235: ICC SENSOR CAN CIR1
• U0401: ECM CAN CIR2
• U0402: TCM CAN CIR2
• U0415: VDC CAN CIR1
• U150B: ECM CAN CIR3
• U150C: VDC CAN CIRC3
• U150D: TCM CAN CIRC3
• U150E:BCM CAN CIRC3
• U1513: METER CAN CIRC3
• U1514: STRG SEN CAN CIRC3
• U1515: ICC SENSOR CAN CIRC3
• U1517: APA CAN CIRC3
4 • C1A00: CONTROL UNIT
NOTE:

ICC SENSOR
×: Applicable
DTC Fail-safe function A

B
Forward Emergency Braking (FEB)

Forward Collision Warning (FCW)
Distance Control Assist (DCA)
C
CONSULT display Reference
CONSULT
CCS-96, "ICC F
C1A00 CONTROL UNIT ON × × × × × SENSOR :
DTC Logic"
CCS-98, "ICC G
C1A01 POWER SUPPLY CIR ON × × × × × SENSOR :
DTC Logic"
CCS-98, "ICC H
C1A02 POWER SUPPLY CIR2 ON × × × × × SENSOR :
DTC Logic"
CCS-100,
C1A03 VHCL_SPEED SE CIRC ON × × × × × I
"DTC Logic"
CCS-102,
C1A04 ABS/TCS/VDC_CIRC ON × × × × ×
"DTC Logic"
CCS-104,
J
C1A05 BRAKE_SW/STOP_L_SW ON × × × × ×
"DTC Logic"
CCS-109,
C1A06 OPERATION_SW_CIRC ON × × × × × K
"DTC Logic"
CCS-112,
C1A13 STOP_LAMP_RLY_FIX ON × × × × ×
"DTC Logic"
CCS-118, L
C1A14 ECM_CIRCUIT ON × × × × ×
"DTC Logic"
CCS-119,
C1A15 GEAR_POSITION ON × × × × ×
"DTC Logic" M
CCS-121,
C1A23 UNIT HIGH TEMP ON × × × × ×
"DTC Logic"
CCS-122, N
C1A24 NP_RANGE ON × × × × ×
"DTC Logic"
CCS-124,
C1A26 ECD_MODE_MALF ON × × × × ×
"DTC Logic" DAS
CCS-126,
C1A27 ECD_PWR_SUPLY_CIR ON × × × × ×
"DTC Logic"
C1A33 CAN TRANSMISSION ERROR ON × × × × ×

CCS-128, P
"DTC Logic"
CCS-129,
C1A34 COMMAND ERROR ON × × × × ×
"DTC Logic"
CCS-130,
C1A35 APA CIR ON × × × × ×
"DTC Logic"

ICC SENSOR
DTC Fail-safe function


CONSULT display Reference
CONSULT
CCS-131,
C1A36 APA CAN COMM CIR ON × × × × ×
"DTC Logic"
CCS-132,
C1A37 APA CAN CIR2 ON × × × × ×
"DTC Logic"
CCS-133,
C1A38 APA CAN CIR2 ON × × × × ×
"DTC Logic"
CCS-135,
"ICC SEN-
C1A39 STRG SEN CIR ON × × × × ×
SOR : DTC
Logic"
CCS-169,
C1B58 DR ASSIST BUZZER CIRCUIT ON × × × × ×
"DTC Logic"
CCS-137,
C1B83 DIST SEN BLOCKED ON × × × × ×
"DTC Logic"
CCS-138,
C1F01 APA MOTOR MALF ON × × × × ×
"DTC Logic"
CCS-139,
C1F02 APA C/U MALF ON × × × × ×
"DTC Logic"
CCS-140,
C1F05 APA PWR SUPLY CIR ON × × × × ×
"DTC Logic"
CCS-142,
"ICC SEN-
U0121 VDC CAN CIR2 ON × × × × ×
SOR : DTC
Logic"
CCS-144,
"ICC SEN-
U0126 STRG SEN CAN CIR1 ON × × × × ×
SOR : DTC
Logic"
CCS-146,
U0235 ICC SENSOR CAN CIR1 ON × × × × ×
"DTC Logic"
CCS-147,
U0401 ECM CAN CIR1 ON × × × × ×
"DTC Logic"
CCS-148,
U0402 TCM CAN CIRC1 ON × × × × ×
"DTC Logic"
CCS-151,
"ICC SEN-
U0415 VDC CAN CIR1 ON × × × × ×
SOR : DTC
Logic"

ICC SENSOR
DTC Fail-safe function
A


B

CONSULT display Reference C
CONSULT
CCS-153,
"ICC SEN- F
U0428 STRG SEN CAN CIR2 ON × × × × ×
SOR : DTC
Logic"
CCS-155, G
"ICC SEN-
U1000 CAN COMM CIRCUIT ON × × × × ×
SOR : DTC
Logic"
H
CCS-157,
"ICC SEN-
U1010 CONTROL UNIT (CAN) ON × × × × ×
SOR : DTC
Logic" I
CCS-158,
U150B ECM CAN CIRC3 ON × × × × ×
"DTC Logic"
CCS-160, J
U150C VDC CAN CIRC3 ON × × × × ×
"DTC Logic"
CCS-162,
U150D TCM CAN CIRC3 ON × × × × ×
"DTC Logic" K
CCS-164,
U150E BCM CAN CIRC3 ON × × × × ×
"DTC Logic"
CCS-165, L
U1513 METER CAN CIRC# ON × × × × ×
"DTC Logic"
CCS-166,
U1514 STRG SEN CAN CIRC3 ON × × × × ×
"DTC Logic" M
CCS-167,
U1515 ICC SENSOR CAN CIRC3 ON × × × × ×
"DTC Logic"
CCS-168, N
U1517 APA CAN CIRC3 ON × × × × ×
"DTC Logic"
DAS

ACCELERATOR PEDAL ACTUATOR

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
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) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
B
1
Battery power supply Input Ignition switch OFF Battery voltage
(BG)
2 C
(R)
3
ITS communication high — — —
(BG)
D
4 Sensor power supply (Accelerator pedal position
— — —
(L/G) sensor 1)
Ground
5
Sensor ground (Accelerator pedal position sensor 1) — — — E
(W)
(6)
Accelerator pedal position sensor 1 — — —
(W/L)
F
7
Ground — Ignition switch ON 0V
(GR)
9
ITS communication low — — — G
(Y)
10 Sensor power supply (Accelerator pedal position
— — —
(L/Y) sensor 2)
H
11
Sensor ground (Accelerator pedal position sensor 2) — — —
(O)
(12)
Accelerator pedal position sensor 2 — — — I
(O/L)
J

K

1
L
2 • C1F02: APA C/U MALF
• C1F01: APA MOTOR MALF
3
• C1F05: APA PWR SUPLY CIR
M
×: Applicable N
CONSULT display Fail-safe function Reference
C1F01: APA MOTOR MALF × DAS-341
DAS
C1F02: APA C/U MALF × DAS-342
C1F05: APA PWR SUPLY CIR × DAS-343
U1000: CAN COMM CIRCUIT × DAS-349 P
U1010: CONTROL UNIT (CAN) × DAS-354

SIDE RADAR LH
SIDE RADAR LH

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) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
2
Ground Ground — — 0V
(B)
3
— ITS communication-L — — —
(Y)
4
— ITS communication-H — — —
(L)
5
Ground Ignition power supply Input Ignition switch ON Battery voltage
(R)
6 Blind Spot Warning/Blind Spot Approx. 2 sec. after ignition switch OFF ⇒ ON
Ground Output 6V
(W) Intervention indicator (bulb check)


SIDE RADAR LH
ing/Blind Spot Intervention malfunction in information display. A
Blind Spot Warning (BSW) B
• The blocked condition may also be caused by objects such as ice, frost or dirt obstructing the side radar. C

Blind Spot Intervention malfunction in information display. Also, under the following conditions, the operation D
• The blocked condition may also be caused by objects such as ice, frost or dirt obstructing the side radar. E
the following conditions, the operation may be temporarily cancelled. F
Rear Cross Traffic Alert (RCTA) G
• The side radar may be blocked by temporary ambient conditions such as splashing water, mist or fog. H
I
If some DTCs are displayed at the same time, perform inspections one by one based on the following priority
chart.
J
1
K
• U0104: ADAS CAN CIR 1
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

Rear Cross Traffic Alert/ BCI DAS
C1B50 SIDE RDR MALFUNCTION × × DAS-334
C1B51 BSW/BSI IND SHORT CIR × × DAS-335 P
C1B52 BSW/BSI IND OPEN CIR × × DAS-337
C1B55 RADAR BLOCKAGE × × DAS-339
U1000 CAN COMM CIRCUIT × × DAS-351
U1010 CONTROL UNIT (CAN) × × DAS-355

SIDE RADAR LH
Fail-safe
DTC Blind Spot Warning/ Reference page

Rear Cross Traffic Alert/ BCI
U0104 ADAS CAN CIR1 × × DAS-344

SIDE RADAR RH
SIDE RADAR RH
A
VALUES ON THE DIAGNOSIS TOOL B

CONSULT MONITOR ITEM
Monitor Item Condition Value/Status
C
NOTE:
BEAM DISTANCE —
NOTE:
BEAM POSITION — D
Side radar is normal. Off
SIDE RADAR MALF
Side radar is malfunctioning. On
E
Side radar is not blocked. Off
BLOCKAGE COND
Side radar is blocked. On
ACTIVATE OPE
NOTE:
—
F
Radar does not detect a vehicle. Off
VEHICLE DETECT
Radar detects a vehicle. On G
TERMINAL LAYOUT
H
JSOIA0244ZZ
K
PHYSICAL VALUES
Terminal No. L
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
M
1
Ground Right/Left switching signal Input — 0V
(B)
2
Ground Ground — — 0V N
(B)
3
— ITS communication-L — — —
(Y)
DAS
4
— ITS communication-H — — —
(L)
5
Ground Ignition power supply Input Ignition switch ON Battery voltage P
(R)
6 Blind Spot Warning/Blind Spot Approx. 2 sec. after ignition switch OFF ⇒ ON
Ground Output 6V
(W) Intervention indicator (bulb check)

SIDE RADAR RH
ing/Blind Spot Intervention malfunction in information display.
Blind Spot Intervention malfunction in information display. Also, under the following conditions, the operation
the following conditions, the operation may be temporarily cancelled.
Rear Cross Traffic Alert (RCTA)
If some DTCs are displayed at the same time, perform inspections one by one based on the following priority
chart.

1
2
3 C1B50: SIDE RDR MALFUNCTION
• C1B51: BSW/BSI IND SHORT CIR
4 • C1B52: BSW/BSI IND OPEN CIR
• C1B55: RADAR BLOCKAGE
×: Applicable
Fail-safe
DTC Blind Spot Warning/Rear Reference page

Cross Traffic Alert/Blind Spot BCI
Intervention warning
C1B50 SIDE RDR MALFUNCTION × × DAS-334
C1B51 BSW/BSI IND SHORT CIR × × DAS-335
C1B52 BSW/BSI IND OPEN CIR × × DAS-337
C1B55 RADAR BLOCKAGE × × DAS-339
U1000 CAN COMM CIRCUIT × × DAS-352
U1010 CONTROL UNIT (CAN) × × DAS-356

SIDE RADAR RH
Fail-safe
A
DTC Blind Spot Warning/Rear Reference page
Cross Traffic Alert/Blind Spot BCI
Intervention warning
U0104 ADAS CAN CIR1 × × DAS-344 B
DAS

DRIVER ASSISTANCE BUZZER CONTROL MODULE

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
When the ADAS control unit malfunction On
ADAS MALFUNCTION Ignition switch ON
When the ADAS control unit normal Off

A
When the driver assistance control mod-
On
ule malfunction
DR ASSIST BUZZ MALF Ignition switch ON
When the driver assistance control mod-
Off B
ule normal
Except for the warning condition Off
LDW/LDP//Blind Spot Warning/Blind
Spot Intervention system warning in 1 C
progress
ICC/PFCW/DCA system warning in
2
progress D
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 E
tem warning in progress
ICC/PFCW/DCA system warning in
2, 4
progress. F
LDW/LDP//Blind Spot Warning/Blind
Spot Intervention/PFCW system warning 1, 4
in progress
G
PFCW system 4
TERMINAL LAYOUT
H
JSOIA0705ZZ
K
PHYSICAL VALUES
L
DAS

Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
1
Ground — — — —
(B)
2 ITS communication
— — — —
(L) high
3 Ignition
Ignition power supply Input — Battery voltage
(LG) switch ON
5 ITS communication
— — — —
(Y) low
6
(Y) Ground
9
(L)
10
(Y)
12
Warning buzzer signal — — — —
(G)
18
(L)
24 Warning buzzer Ignition
Output — —
(W) ground switch ON

1
2 • U0104: ADAS CAN CIR2
3 • C1B20: CONTROL MODULE
NOTE:
• IGN counter is displayed in FFD (Freeze Frame Data).
×: Applicable
DTC Reference
C1B20 CONTROL MODULE DAS-332
U0104 ADAS CAN CIR2 DAS-345
U1000 CAN COMM CIRCUIT DAS-352
U1010 CONTROL UNIT (CAN) DAS-357

LANE CAMERA UNIT
LANE CAMERA UNIT
A
VALUE ON THE DIAGNOSIS TOOL B

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

When the temperature around lane camera unit is adequate NORMAL D
CAMERA HIGH TEMP
When the temperate around the lane camera unit is high HIGH
Wiper position is High Hi
WIPER Ignition switch ON Wiper position is Low Lo E
Wiper position is OFF Off
F
Turn signal lamp LH blinking LH
TURN SIGNAL
Turn signal lamps OFF Off G
VEHICLE SPEED While drive km/h
NOTE:
DRIVER ASSIST SYSTEM SET NO REQ H
When brake pedal is depressed Off
When brake pedal is depressed On
BRAKE OPERATION STATUS I
When brake pedal is securely depressed CNFRM
When brake pedal operation is not judged UNKWN
Camera aiming is completed finished J
AIMING DONE
Camera aiming is not adjusted not finished
Camera aiming is completed OK
AIMING RESULT K
Camera aiming is not completed NOK
When driving straight Approx. 0.0 deg
STEERING ANGLE Value of steering L
When steering wheel is steered
angle (deg)
Vehicle stopped Approx. 0 deg/s
YAW RATE Turning right Negative value M
Turning left Positive value
FCTRY AIM YAW Camera aiming is completed 0 ± 3.0 deg
N
FCTRY AIM ROL Camera aiming is completed 0 ± 3.0 deg
FCTRY AIM PIT Camera aiming is completed 0 ± 3.0 deg
When LDW function is ON NORMAL DAS
LDW FUNCTION
When LDW function malfunction is detected MALF
NOTE:
LDW SETTING DISPLAY NTHNG
The item is displayed, but it is not monitored P
DRIVER ASSIST SYSTEM NOTE:
NO REQ
BZZR The item is displayed, but it is not monitored
Left side lane maker is not detected Off
LDW LEFT
Left side lane maker is detected On

LANE CAMERA UNIT
Right side lane maker is not detected Off
LDW RIGHT
Right side lane maker is detected On
NOTE:
LDW STATUS DISPLAY Off
NOTE:
HBA FUNCTION —
Displays dis-
When the lane camera detects an object
tance from vehi-
Drive the vehicle and FEB sys- to be controlled
DISTANCE cle ahead
tem ON
When the lane camera does not detect an
0.0 m
object to be controlled
When the lane camera detects an object Displays relative
Drive the vehicle and FEB sys- to be controlled velocity
RELATIVE SPEED
tem ON When the lane camera does not detect an
0.0 m/s
object to be controlled
NOTE:
HBA REQUEST —
NOTE:
LOW BEAM STATUS —
NOTE:
HIGH BEAM STATUS —
NOTE:
NO-ENTRY SIGN DISPLAY —
TERMINAL LAYOUT
ALOIA0415ZZ
PHYSICAL VALUES
Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
1
Ground — — 0V
(B)
3
(LG)
Ground
5
ITS communication high — — —
(BR)
6
ITS communication low — — —
(Y)
Fail-safe (Lane Camera Unit) INFOID:0000000014222371

LANE CAMERA UNIT
If a malfunction occurs in the lane camera unit, ADAS control unit cancels control, and turns ON the lane A
departure warning lamp in the combination meter.
If a malfunction occurs in the lane camera unit, ADAS control unit cancels control, sounds a beep, and turns B
ON the lane departure warning lamp in the combination meter.
TEMPORARY DISABLED STATUS AT HIGH TEMPERATURE
C
automatically. And the lane departure warning lamp (yellow) in the combination meter will blinks.
• When interior temperature is reduced, the system will resume operation automatically and the lane depar- D
ture warning lamp (yellow) in the combination meter will stop blinking.
E
automatically. And the buzzer sounds and lane departure warning lamp (yellow) in the combination meter
will blinks.
• When interior temperature is reduced, the system will resume when dynamic driver assistance switch is F
turned OFF and turned ON and the lane departure warning lamp (yellow) in the combination meter will stop
blinking.
G
tion priority chart. H

• U1000: CAN COMM CIRCUIT I
1
• C1B01: CAM AIMING INCMP
2 • C1B03: ABNRML TEMP DETECT
J
• C1B09: POWER SUPPLY CIRCUIT
3 C1B00: CAMERA UNIT MALF

K
×: Applicable
Warning display Fail-safe L

LDW system warning
LDP system warning
system warning
M
LDW/LDP
DTC
Reference
C1B00 CAMERA UNIT MALF ON ON ON × × DAS-328

DAS
C1B01 CAM AIMING INCMP ON ON ON × × DAS-329
Message Message Message
C1B03 ABNRML TEMP DETECT ↓ ↓ ↓ × × DAS-330
Blink OFF OFF P
C1B09 POWER SUPPLY CIRCUIT ON ON × × × DAS-331
U1000 CAN COMM CIRCUIT ON ON ON × × DAS-350
U1010 CONTROL UNIT (CAN) ON ON ON × × DAS-137

< WIRING DIAGRAM > [DRIVER ASSISTANCE SYSTEM]
WIRING DIAGRAM
Wiring Diagram INFOID:0000000014224820
AAOWA0150GB

DAS
AAOWA0151GB

AAOWA0152GB

DAS
AAOWA0153GB

AAOIA0475GB

DAS
AAOIA0476GB

AAOIA0477GB

DAS
AAOIA0478GB

AAOIA0479GB

DAS
AAOIA0480GB

AAOIA0481GB

DAS
AAOIA0482GB

AAOIA0483GB

DAS
AAOIA0484GB

AAOIA0485GB

DAS
AAOIA0486GB

AAOIA0487GB

DAS
AAOIA0500GB

AAOIA0564GB

DAS
AAOIA0636GB

AAOIA0637GB

DAS
AAOIA0638GB

DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [DRIVER ASSISTANCE SYSTEM]
BASIC INSPECTION
Work Flow INFOID:0000000014222375
OVERALL SEQUENCE
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- A
tomer mentioned this symptom”.
>> GO TO 2. B
2.SELF-DIAGNOSIS WITH CONSULT
C
2. Check if the DTC is detected on the self-diagnosis results of following.
- “ICC/ADAS”
- “LASER/RADAR”
- “ACCELE PEDAL ACT” D
- “LANE CAMERA”
- “SIDE RADAR LEFT”
- “SIDE RADAR RIGHT” E
- “BSW/BUZZER”
YES >> GO TO 5. F
NO >> GO TO 3.
3.ACTION TEST
Perform Following system action test to check the operation status. Refer to DAS-318, "DCA : Description". G
Check if any other malfunctions occur.
>> GO TO 4. H
4.SYMPTOM DIAGNOSIS
Perform the applicable diagnosis according to the diagnosis chart by symptom. Refer to DAS-371, "Symptom I
Table".
>> GO TO 6. J
5.TROUBLE DIAGNOSIS BY DTC
1. Check the DTC in the self-diagnosis results.
2. Perform trouble diagnosis for the detected DTC following. K
- “ICC/ADAS”: Refer to DAS-261, "DTC Index"
- “LASER/RADAR” Refer to DAS-266, "DTC Index"
- “ACCELE PEDAL ACT”: Refer to DAS-271, "DTC Index" L
- “LANE CAMERA”: Refer toDAS-283, "DTC Index"
- “SIDE RADAR LEFT”: Refer to DAS-273, "DTC Index"
- “SIDE RADAR RIGHT”: Refer to DAS-276, "DTC Index"
M
- “BSW/BUZZER”: Refer to DAS-280, "DTC Index"
NOTE:
If “DTC: U1000” is detected, first diagnose the CAN communication system or ITS communication system.
N
>> GO TO 6.
6.MALFUNCTIONING PART REPAIR DAS
Repair or replace the identified malfunctioning parts.
>> GO TO 7. P
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”
- “LASER/RADAR”

- “ACCELE PEDAL ACT”
- “LANE CAMERA”
- “SIDE RADAR LEFT”
- “SIDE RADAR RIGHT”
- “BSW/BUZZER”
YES >> GO TO 5.
NO >> GO TO 8.
8.REPAIR CHECK (ACTION TEST)
Perform the Following system action test. Check that the malfunction symptom is solved or no other symp-
toms occur.
• DCA
• LDW/LDP
• Blind Spot Warning/Blind Spot Intervention
• BCI
Is there a malfunction symptom?
YES >> GO TO 4.

ADDITIONAL SERVICE WHEN REPLACING ICC SENSOR
ADDITIONAL SERVICE WHEN REPLACING ICC SENSOR
A
• Always perform the radar alignment after removing and installing or replacing the ICC sensor. B
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. C
1.RADAR ALIGNMENT D
Perform the radar alignment. Refer to CCS-82, "Description".

E
>> GO TO 2.
2.DCA SYSTEM ACTION TEST
F
1. Perform the DCA system action test. Refer to DAS-318, "DCA : Description".
2. Check that the DCA system operates normally.
G
>> INSPECTION END
DAS

ADDITIONAL SERVICE WHEN REPLACING ACCELERATOR PEDAL ASSEM-
BLY
ADDITIONAL SERVICE WHEN REPLACING ACCELERATOR PEDAL AS-
SEMBLY
• 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.
1.ACCELERATOR PEDAL RELEASED POSITION LEARNING

Perform accelerator pedal released position learning. Refer to DAS-310, "Description".
>> GO TO 2.
2.DCA SYSTEM ACTION TEST
1. Perform the DCA system action test. Refer to DAS-318, "DCA : Description".
2. Check that the DCA system operates normally.
>> INSPECTION END

ADDITIONAL SERVICE WHEN REPLACING LANE CAMERA UNIT
ADDITIONAL SERVICE WHEN REPLACING LANE CAMERA UNIT
A
Always adjust the camera aiming after removing and installing or replacing the lane camera unit. B
CAUTION:
The system does not operate normally unless the camera aiming adjustment is performed. Always
perform it.
C
1.CAMERA AIMING ADJUSTMENT D

Perform the camera aiming adjustment. Refer to DAS-315, "Work Procedure (Camera Aiming Adjustment)".
>> GO TO 2. E
Perform the self-diagnosis of lane camera unit with CONSULT. Check if any DTC is detected. F
YES >> Perform the trouble diagnosis for the detected DTC. Refer to DAS-283, "DTC Index"
NO >> GO TO 3. G
3.LDW/LDP SYSTEM ACTION TEST
1. Perform the LDW/LDP system action test. Refer to DAS-319, "LDW/LDP : Description".
2. Check that the LDW/LDP system operates normally. H
>> GO TO 4.
I
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-321, "BSW/
RCTA : Description". J
2. Check that the Blind Spot Warning/Blind Spot Intervention system operates normally.
>> WORK END K
DAS

PRE-INSPECTION FOR DIAGNOSIS
PRE-INSPECTION FOR DIAGNOSIS
LANE CAMERA UNIT
LANE CAMERA UNIT : Inspection Procedure INFOID:0000000014222382
1.CHECK CAMERA LENS AND WINDSHIELD

Are camera lens and windshield contaminated with foreign materials?
YES >> Clean camera lens and windshield.
NO >> GO TO 2.
2.CHECK LANE CAMERA UNIT INSTALLATION CONDITION
Check lane camera unit installation condition (installation position, properly tightened, a bent bracket).
Is it properly installed?
YES >> GO TO 3.
NO >> Install lane camera unit properly, and perform camera aiming. Refer to DAS-313, "Description".
3.CHECK VEHICLE HEIGHT
Check vehicle height. Refer to FSU-23, "Wheelarch Height".
Is vehicle height appropriate?
NO >> Repair vehicle to appropriate height.

CAMERA AIMING ADJUSTMENT
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.
• Follow the CONSULT when performing the camera aiming. (Camera aiming adjustment cannot be
operated without CONSULT.) C
Work Procedure (Preparation) INFOID:0000000014222384
1.PERFORM SELF-DIAGNOSIS D
Perform self-diagnosis of ADAS control unit and lane camera unit.

Is any DTC detected? E
Except “C1B01”>>Perform diagnosis on the detected DTC and repair or replace the applicable item. Refer to
DAS-40, "DTC Index" (ICC/ADAS) or DAS-283, "DTC Index" (LANE CAMERA).
“C1B01” or no DTC>>GO TO 2. F
2.PREPARATION BEFORE CAMERA AIMING ADJUSTMENT
1. Perform pre-inspection for diagnosis. Refer to DAS-312, "LANE CAMERA UNIT : Inspection Procedure".
2. Adjust the tire pressure to the specified pressure value. G
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. H
6. Clean the windshield.
7. Completely clear off the instrument panel.
I
>> GO TO 3.
3. PREPARATION OF AIMING ADJUSTMENT JIG
J
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-316, "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. K
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. L
DAS
JPOIA0011ZZ

Board String Cone

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

Height of a target center (H) : 1,450 mm (57.09 in)
Width between a right target cen- : 600 mm (23.62 in)
ter from a left target center (W)
>> Go to DAS-314, "Work Procedure (Target Setting)".

Work Procedure (Target Setting) INFOID:0000000014222385
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.
• 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
PKIB4694E
“A”–“E” (“C”–“F”) : 3,000 mm (118.11 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.
JSOIA0360GB

3. Mark point “E” on the line “LH” at the positions 3,000 mm (118.11 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. A
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 3,000 mm (118.11 in) from point “C”.
B
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”. C
8. Place a target on either side of point “X”. Each distance from point “X” must be equal each other.
JSOIA1663GB H
Dt : 3,000 mm (118.11 in)

I
>> Go to DAS-315, "Work Procedure (Camera Aiming Adjustment)".
Work Procedure (Camera Aiming Adjustment) INFOID:0000000014222386
J
CAUTION:
Perform the adjustment under unloaded vehicle condition.
1.CHECK VEHICLE HEIGHT K
Measure the wheelarch height. Calculate “Dh”.

L
Dh [mm] = (Hfl + Hfr) ÷ 2 − 821 mm (32.32 in)
where,
Hfl: Front left wheelarch height [mm] M
Hfr: Front right wheelarch height [mm]
NOTE:
“Dh” may be calculated as a minus value. N
JSOIA0361ZZ
>> GO TO 2.
DAS
2.CAMERA AIMING ADJUSTMENT
CAUTION:
Operate CONSULT outside the vehicle, and close all the doors. (To retain vehicle attitude appropri- P
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”.
5. Input “Dh”, and then select “Start”.
CAUTION:
Never change “Ht” and “Dt”.
6. Confirm the displayed item.
- “Normally Completed”: Select “Completion”.
- “SUSPENSION”, “X AIMING NG Y”, “ABNORMALLY COMPLETED”: Perform the following services.
Displayed item Possible cause Service procedure

Temporary malfunction in internal processing of the lane
— Go back to Step 1
camera unit.
00H Routine not ac- Position the target appro-
Lane camera unit malfunction.
SUSPENSION tivated priately again. Perform
• Temporary malfunction in internal processing of the the aiming again. Refer
10H Writing error lane camera unit. to DAS-314, "Work Pro-
• Lane camera unit malfunction. cedure (Target Setting)"
X AIMING NG Y • A target is not-yet-placed. Position the target appro-

—
(X: 0 - 7, Y: 1 - 8) (The lane camera unit cannot detect a target.) priately again. Perform
• The position of the lane camera unit is not correct. the aiming again. Refer
ABNORMALLY COM- • Inappropriate work environment. to DAS-313, "Work Pro-
—
PLETED • Inappropriate vehicle condition. cedure (Preparation)".
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-
283, "DTC Index".
NO >> GO TO 4.
4.ACTION TEST
Test the LDW/LDP system operation by action test. Refer to DAS-319, "LDW/LDP : Description".
>> WORK END

Work Procedure (Target Mark Sample) INFOID:0000000014222387
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:0000000014222388
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:0000000014222389
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-89, "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 information display.
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 DYNAMIC DRIVER ASSISTANCE SWITCH
3. Enable the setting of the DCA system on the information display.
4. Press the dynamic driver assistance switch (1).
5. Check that the DCA system switch indicator (2) on the informa-
tion display illuminates.
6. Check that the DCA system switch indicator turns OFF when the
system is turned OFF by pressing the dynamic driver assistance
switch.
7. Check that the DCA system switch indicator turns OFF when the
engine starts again.
NOTE:
The DCA system switch indicator does not illuminate even when the
dynamic driver assistance switch is turned ON within approximately
ALOIA0094ZZ
5 seconds after starting the engine.
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:0000000014222390
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-171, "Precaution for LDW/LDP System Service". C
- System description for LDW: Refer to DAS-187, "LDW : System Description".
- System description for LDP: Refer to DAS-190, "LDP : System Description".
- Handling precaution: Refer to DAS-223, "Precautions for Lane Departure Warning/Lane Departure D
Prevention".
LDW/LDP : Inspection Procedure INFOID:0000000014222391
E
WARNING:
CAUTION: F
• Fully understand the following items well before the road test;
- Precautions: Refer to DAS-171, "Precaution for LDW/LDP System Service".
- System description for LDW: Refer to DAS-187, "LDW : System Description".
G
- System description for LDP: Refer to DAS-190, "LDP : System Description".
- Handling precaution: Refer to DAS-223, "Precautions for Lane Departure Warning/Lane Departure
Prevention".
1.CHECK LDW SYSTEM SETTING H

2. Check that the LDW system setting can be enabled/disabled in the vehicle information display. I
J
>> GO TO 2.
2.ACTION TEST FOR LDW
1. Enable the setting of the LDW system in the vehicle information display. K
2. Turn warning systems switch ON (warning systems ON indicator is ON).
NOTE:
LDP system is OFF. L
3. Check the LDW operation according to the following table.
Warning sys-
Indication on the combination M
Vehicle condition/ Driver's operation Action tems ON indi- Buzzer
meter
cator
Less than
Approx. 60 N
Close to lane marker No action ON OFF —
km/h (40
MPH)
Orange (Blink) DAS
Warning
• Buzzer sounds Short contin-
Approx. 70 Close to lane marker ON P
• Warning lamp uous beeps
km/h (45 blinks
MPH) or
more
ALOIA0104ZZ

• Turn signal ON (Deviate No action ON OFF —
side)
NOTE:
ACTION TEST
After the operating conditions of warning are satisfied, the warning continues until the vehicle speed
reaches approximately 60 km/h (40 MPH). Refer to DAS-190, "LDP : System Description".
>> GO TO 3.
3.CHECK LDP SYSTEM SETTING
2. Check that the LDP system setting can be enabled/disabled in the vehicle information display.
>> GO TO 4.
4.ACTION TEST FOR LDP
1. Enable the setting of the LDP system in the vehicle information display.
2. Turn dynamic driver assistance switch ON (LDP ON indicator lamp is ON).
NOTE:
LDW system is OFF.
3. Check the LDP operation according to the following table.
Less than Ap-

prox. 60 km/h Close to lane marker No action —
(40 MPH)
ALOIA0136GB

ACTION TEST
A
Warning and yawing

• Buzzer sounds Short continu- B
Close to lane marker
• Warning lamp blinks ous beeps
• Brake control
C
ALOIA0135GB
D
• Turn signal ON (Deviate No action —
side)
E
Approx. 70 ALOIA0136GB
km/h (45
MPH) or more F
Warning
Close to lane marker with Short continu-
• Buzzer sounds G
soft braking ous beeps
• Warning lamp blinks
ALOIA0135GB
H
• VDC OFF Switch
OFF ⇒ ON Cancellation
(VDC system ON ⇒ • Buzzer sounds
OFF) • Each message is displayed I
• SNOW mode switch NOTE: Each message is displayed Beep
OFF ⇒ ON When dynamic driver assis-
• Road condition is wet tance switch is ON ⇒ OFF, J
• Lane camera tempera- message is turned OFF.
ture is high
NOTE:
K
After the operating conditions are satisfied, the control continues until the vehicle speed reaches approxi-
mately 60 km/h (40 MPH). Refer to DAS-190, "LDP : System Description".
L
>> INSPECTION END
BSW/RCTA
BSW/RCTA : Description INFOID:0000000014222392
M
Always perform the Blind Spot Warning/Rear Cross Traffic Alert and Blind Spot Intervention system action test
to check that the system operates normally after replacing the lane camera unit, replacing the side radar left N
(right), or repairing any Blind Spot Warning/Rear Cross Traffic Alert/Blind Spot Intervention system malfunc-
tion.
NOTE:
Perform the Blind Spot Intervention system action test after checking that the LDP system operates normally DAS
because the Blind Spot Intervention system shares components with the LDP system.
WARNING:
Be careful of traffic conditions and safety around the vehicle when performing road test. P
CAUTION:
Fully understand the following items well before the road test;
• Precautions: Refer to DAS-172, "Precaution for Blind Spot Warning/Blind Spot Intervention System
Service".
• System description for Blind Spot Warning: Refer to DAS-193, "BSW : System Description".
• System description for Rear Cross Traffic Alert: Refer to DAS-196, "RCTA : System Description".

ACTION TEST
• System description for Blind Spot Intervention: Refer to DAS-199, "BLIND SPOT INTERVENTION :
System Description".
• Normal operating condition: Refer to DAS-394, "Description".
BSW/RCTA : Work Procedure INFOID:0000000014222393
WARNING:
CAUTION:
• Precautions: Refer to DAS-172, "Precaution for Blind Spot Warning/Blind Spot Intervention System
Service".
• System description for Blind Spot Warning: Refer to DAS-193, "BSW : System Description".
• System description for Rear Cross Traffic Alert: Refer to DAS-196, "RCTA : System Description".
• System description for Blind Spot Intervention: Refer to DAS-199, "BLIND SPOT INTERVENTION :
System Description".
1.LDW/LDP SYSTEM ACTION TEST
Perform the LDW/LDP system action test. Refer to DAS-319, "LDW/LDP : Inspection Procedure".
>> GO TO 2.
2.CHECK BSW SYSTEM SETTING
2. Check that the BSW system setting can be enabled/disabled in the vehicle information display.
>> GO TO 3.
3.BSW SYSTEM ACTION TEST
1. Enable the setting of the BSW system in the vehicle information display.
2. Turn warning systems switch ON (warning systems ON indicator is ON).
NOTE:
Blind Spot Intervention system is OFF.
3. Check BSW operation according to the following table.

Status of ve-
Warning Vehicle speed hicle detec- Indication on the
Turn signal
condition
indicator [km/h (MPH)] detection tervention indicator
area
OFF — — — OFF OFF

ACTION TEST
A
Status of ve-
Warning Vehicle speed hicle detec- Indication on the
Turn signal
condition
indicator [km/h (MPH)] detection tervention indicator B
area
Less than ap-
prox. — — OFF OFF
29 (18)
C
Vehicle is
— OFF OFF
absent
D
Vehicle is
OFF ON OFF
detected
Blink Short continuous beep
E
Before turn
signal oper-
ON ates
Approx. Vehicle is F
32 (20) detected
or more ON
(vehicle de- JSOIA0251GB JSOIA0252GB
G
tected direc- Blink
tion)
Vehicle is
detected af- H
OFF
ter turn sig-
nal operates
I
JSOIA0251GB
NOTE:
• If vehicle speed exceeds approximately 32 km/h (20MPH), BSW function operates until the vehicle speed becomes lower than J
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 Intervention system is turned
K
on by pushing the dynamic driver assistance switch, BSW system also be turned on even if the BSW system is turned off. How-
ever, at this time the warning systems ON indicator remains OFF.
L
>> GO TO 4.
4.CHECK BLIND SPOT INTERVENTION SYSTEM SETTING
1. Start the engine. M
2. Check that the Blind Spot Intervention system setting can be enabled/disabled in the vehicle information
display.
3. Turn OFF the ignition switch and wait for 5 seconds or more. 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 in the vehicle information display.
4. Press the dynamic driver assistance switch.
5. Check that the Blind Spot Intervention ON indicator on the combination meter illuminates.
6. Check that the Blind Spot Intervention ON indicator turns OFF when the system is turned OFF by pressing
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 ON indicator does not illuminate even when the dynamic driver assistance
switch is turned ON within approximately 5 seconds after starting the engine.
>> Inspection End.

BCI
BCI : Description INFOID:0000000014222394
Always perform the Backup Collision Intervention system action test to check that the system operates nor-
mally after replacing the side radar (left or right), or repairing any Backup Collision Intervention system mal-
function.
WARNING:
CAUTION:
• Precautions: Refer to DAS-172, "Precaution for Backup Collision Intervention".
• System description for Backup Collision Intervention: Refer to DAS-203, "BCI : System Description".
BCI : Work Procedure INFOID:0000000014222395
WARNING:
CAUTION:
• Precautions: Refer to DAS-172, "Precaution for Backup Collision Intervention".
• System description for Backup Collision Intervention: Refer to DAS-203, "BCI : System Description".
1.CHECK BCI SYSTEM SETTING
2. Check that the BCI system setting can be enabled/disabled in the meter setting.
>> GO TO 2.
2.ACTION TEST FOR BCI
1. Enable the setting of the BCI system in the meter setting.
2. Turn BCI OFF switch OFF (Backup Collision Intervention system ON indicator is ON).
3. Check the BCI operation according to the following table.

ACTION TEST
Indication on the combination A

Vehicle condition Action Buzzer
meter
• Chime sound
B
(single beep)
• Flashes Blind
spot warning
indicator light C
If the radar detects an ap-
on the side the
proaching vehicle from the single beep
approaching
side.
vehicle is de-
0 MPH (0 km/
tected. D
• Yellow rectan-
h) ALOIA0112ZZ
gular frame ap-
R range
pears in the
display. E
F
No approaching vehicle No action —
G
ALOIA0112ZZ
NOTE:
H
After the operating conditions of warning are satisfied, the warning continues until the vehicle speed
reaches a speed above 5 MPH (8 km/h). Refer to DAS-203, "BCI : System Description".
I
>> GO TO 3.
3.CHECK BCI SYSTEM SETTING
2. Check that the BCI system setting can be enabled/disabled on the information display.
4. Check that the previous setting is saved when the engine starts again. K
>> GO TO 4.
4.ACTION TEST FOR BCI L
1. Enable the setting of the BCI system on the information display.

2. Turn BCI OFF switch OFF (BCI ON indicator lamp is ON).
3. Check the BCI operation according to the following table. M
DAS

ACTION TEST
Backup Colli-
sion Interven- Warning
Vehicle condition Indication on the combination meter
tion buzzer
indicator
Shift lever in reverse ON OFF
ALOIA0112ZZ
OFF (orange)
When DTC is detected OFF Beep
ALOIA0081ZZ
When radar blockage is detected ON Beep Unavailable: Side Radar Obstruction

When the accelerator pedal actuator detects that
ON Beep Unavailable: High Accelerator Temp.
the internal motor temperature is high
Unless the driver overrides it and turns it off, the

BCI system is always set to ON everytime the en- OFF —
gine is started and the shifter placed in reverse.
ALOIA0085ZZ
The BCI system is turned off temporarily by push-

ing the BCI switch. The BCI OFF display appears
on the meter display. When the selector lever is OFF —
switched into R again the BCI system is turned
on.
ALOIA0086ZZ
NOTE:
After the operating conditions are satisfied, the control continues until the vehicle reaches a speed above
approximately 5 MPH (8 km/h). Refer to DAS-203, "BCI : System Description".
>> Inspection End.

C1A07 CVT
< DTC/CIRCUIT DIAGNOSIS > [DRIVER ASSISTANCE SYSTEM]
DTC/CIRCUIT DIAGNOSIS A
C1A07 CVT
B
DTC DETECTION LOGIC

C
DTC
play)
D
C1A07 CVT MSG CIRCUIT If ICC sensor detects an error signal that is received from TCM via CAN com-
(7) (CVT msg circuit) munication
POSSIBLE CAUSE E
TCM
FAIL-SAFE
The following systems are canceled: F

CONSULT H
3. Select “Self Diagnostic Result” mode of “LASER/RADAR”. I
4. Check if the “C1A07” is detected as the current malfunction in “Self Diagnostic Result” mode of “LASER/
RADAR”.
J
Diagnosis Procedure INFOID:0000000014224837 K
1.CHECK ICC SENSOR SELF-DIAGNOSIS RESULT

Check if “U1000” is also detected with “C1A07” in “Self Diagnostic Result” mode of “LASER/RADAR”. L
Refer to CCS-157, "ICC SENSOR : Description". M
NO >> GO TO 2.
2.CHECK TCM SELF DIAGNOSTIC RESULTS N
CONSULT
Check if any DTC is detected in “Self Diagnostic Result” mode of “TRANSMISSION”.
TM-64, "DTC Index" (RE0F10E). or TM-291, "DTC Index" (RE0F10J)
NO >> Replace the ICC sensor. Refer to CCS-188, "Removal and Installation".
P

LANE CAMERA UNIT
LANE CAMERA UNIT : DTC Logic INFOID:0000000014222398
DTC DETECTION LOGIC
DTC Trouble diagnosis name DTC detecting condition

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”.
YES >> Refer to DAS-328, "LANE CAMERA UNIT : Diagnosis Procedure".
LANE CAMERA UNIT : Diagnosis Procedure INFOID:0000000014222399

Check if any DTC other than “C1B00” is detected in “Self Diagnostic Result” of “LANE CAMERA”.

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
• Lane Departure Warning (LDW)/Lane Departure Prevention (LDP) F
G
ERA”.
1.CAMERA AIMING ADJUSTMENT K

1. Perform the camera aiming. Refer to DAS-313, "Description".
3. Perform “All DTC Reading”. L
4. Check if the “C1B01” is detected in “Self Diagnostic Result” of “LANE CAMERA”.
YES >> Replace the lane camera unit. Refer to DAS-409, "Removal and Installation". M
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.
4. Check if the “C1B03” is detected in “Self Diagnostic Result” of “LANE CAMERA”.
YES >> Replace the lane camera unit. Refer to DAS-409, "Removal and Installation".

C1B09 POWER SUPPLY CIRCUIT
C1B09 POWER SUPPLY CIRCUIT
A
CONSULT screen terms

DTC DTC detecting condition
(Trouble diagnosis content) C
POWER SUPPLY CIRCUIT
C1B09 Lane camera unit ignition voltage is greater than 16 V for 5 seconds
(Power supply circuit)
D
POSSIBLE CAUSE
• Lane camera unit
• Power supply circuit E
FAIL-SAFE
The following functions are suspended. F
• LDW
1.PERFORM DTC CONFIRMATION PROCEDURE G

2. Turn the LDW system ON.
4. Check if the “C1B09” is detected as the current malfunction on the self-diagnosis results of “LANE CAM-
ERA”.
1.CHECK LANE CAMERA UNIT SUPPLY AND GROUND CIRCUIT K
Check power supply and ground circuit of lane camera unit. Refer to DAS-360, "LANE CAMERA UNIT : Diag-
nosis Procedure".
L
NO >> Repair or replace harness or connectors. M
DAS

C1B20 CONTROL MODULE
DRIVER ASSISTANCE BUZZER CONTROL MODULE : DTC Logic INFOID:0000000014222406
DTC DETECTION LOGIC

• If driver assistance buzzer control module is malfunctioning
CONTROL MODULE
C1B20 • Malfunction is detected buzzer signal circuits between driver assistance
(Control module)
buzzer control module and driver assistance buzzer
POSSIBLE CAUSE
• Driver assistance buzzer control module
• Driver assistance buzzer
• Driver assistance buzzer circuit
FAIL-SAFE
None
3. Check if the “C1B20” is detected as the current malfunction in “Self Diagnostic Result” of “BSW/BUZZER”.
YES >> Refer to DAS-332, "DRIVER ASSISTANCE BUZZER CONTROL MODULE : Diagnosis Proce-
dure".
DRIVER ASSISTANCE BUZZER CONTROL MODULE : Diagnosis Procedure
INFOID:0000000014222407

Check if any DTC other than “C1B20” is detected in “Self Diagnostic Result” of “BSW/BUZZER”.
NO >> GO TO 2.
2.CHECK WARNING BUZZER SIGNAL CIRCUIT FOR OPEN
2. Disconnect the warning buzzer connector.
3. Disconnect the driver assistance buzzer control module connector.
4. Check continuity between the driver assistance buzzer control module harness connector and warning
buzzer harness connector.
Driver assistance buzzer control module Warning buzzer

Continuity
12 1
M198 M199 Yes
24 2

YES >> GO TO 3. A
3.CHECK WARNING BUZZER SIGNAL CIRCUIT FOR SHORT
B
Check continuity between the driver assistance buzzer control module harness connector and ground.
Driver assistance buzzer control module C

Continuity
Connector Terminal
Ground
12
M198 No
24 D

YES >> GO TO 4. E
4.CHECK WARNING BUZZER
Check warning buzzer. Refer to DAS-333, "DRIVER ASSISTANCE BUZZER CONTROL MODULE : Compo- F
nent Inspection".
YES >> Replace the driver assistance buzzer control module. Refer to DAS-404, "Removal and Installa- G
tion".
NO >> Replace the warning buzzer. Refer to DAS-405, "Removal and Installation".
H
DRIVER ASSISTANCE BUZZER CONTROL MODULE : Component Inspection
INFOID:0000000014222408
1.CHECK WARNING BUZZER I

2. Disconnect warning buzzer connector.
3. Check resistance between warning buzzer terminals. J
Terminal Resistance
K
1 2 Approx. 6 Ω
YES >> INSPECTION END L
NO >> Replace warning buzzer. Refer to DAS-405, "Removal and Installation".
DAS

C1B50 SIDE RADAR MALFUNCTION
C1B50 SIDE RADAR MALFUNCTION
SIDE RADAR
SIDE RADAR : DTC LOGIC INFOID:0000000014222409
DTC DETECTION LOGIC

SIDE RDR MALFUNCTION
C1B50 Side radar malfunction
(Side radar malfunction)
POSSIBLE CAUSE
Side radar
FAIL-SAFE
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?
YES >> Refer to DAS-334, "SIDE RADAR : Diagnosis Procedure".
SIDE RADAR : Diagnosis Procedure INFOID:0000000014222410
1.CHECK SELF-DIAGNOSIS RESULT

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-
276, "DTC Index" (SIDE RADAR RIGHT) or DAS-273, "DTC Index" (SIDE RADAR LEFT).
NO >> Replace the side radar. Refer to DAS-170, "Removal and Installation".

C1B51 BLIND SPOT WARNING/BLIND SPOT INTERVENTION INDICATOR
SHORT CIRCUIT
A
SHORT CIRCUIT
SIDE RADAR
B
SIDE RADAR : DTC Logic INFOID:0000000014222411

BSW/BSI IND SHORT CIR D
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 E
• Blind Spot Warning/Blind Spot Intervention indicator circuit.
• Blind Spot Warning/Blind Spot Intervention indicator.
• Side radar. F
FAIL-SAFE
• Blind Spot Warning (BSW) G
• Back-up Collision Intervention (BCI) H
J
RIGHT/LEFT”.
YES >> Refer to DAS-335, "SIDE RADAR : Diagnosis Procedure". K
SIDE RADAR : Diagnosis Procedure INFOID:0000000014222412 L
Regarding Wiring Diagram information, refer to DAS-284, "Wiring Diagram". M
1.CHECK BLIND SPOT WARNING/BLIND SPOT INTERVENTION INDICATOR CIRCUIT FOR SHORT
N
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. DAS
Side radar
Continuity P
Connector Terminal
Ground
B416 (LH)
6 No
B109 (RH)
YES >> GO TO 2.

SHORT CIRCUIT
2.REPLACE THE SIDE RADAR

1. Replace the side radar. Refer to DAS-402, "Removal and Installation".
3. Check if the “C1B51” is detected in “Self Diagnostic Result” of “SIDE RADAR RIGHT/LEFT”
Is the DTC “C1B51” detected?
YES >> Replace the side radar. Refer to DAS-402, "Removal and Installation".

OPEN CIRCUIT
A
OPEN CIRCUIT
SIDE RADAR
B

BSW/BSI IND OPEN CIR D
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 E
• Blind Spot Warning/Blind Spot Intervention indicator circuit.
• Blind Spot Warning/Blind Spot Intervention indicator.
• Side radar. F
FAIL-SAFE
• Blind Spot Warning (BSW) G
• Back-up Collision Intervention (BCI) H
J
RIGHT/LEFT”.
YES >> Refer to DAS-337, "SIDE RADAR : Diagnosis Procedure". K
SIDE RADAR : Diagnosis Procedure INFOID:0000000014222414 L
Regarding Wiring Diagram information, refer to DAS-284, "Wiring Diagram". M
1.CHECK BLIND SPOT WARNING/BLIND SPOT INTERVENTION INDICATOR CIRCUIT FOR OPEN 1
N
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 DAS
indicator harness connector.
Side radar Blind Spot Warning/Blind Spot Intervention indicator P

Continuity
B416 (LH) D21 (LH)
6 1 Yes
B109 (RH) D111 (RH)
YES >> GO TO 2.

OPEN CIRCUIT
2.CHECK BLIND SPOT WARNING/BLIND SPOT INTERVENTION INDICATOR CIRCUIT FOR OPEN 2
Check continuity between Blind Spot Warning/Blind Spot Intervention indicator harness connector and ground.

Continuity
Connector Terminal
Ground
D21 (LH)
4 Yes
D111 (RH)
YES >> GO TO 3.
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
ground.
Blind Spot Warning/Blind Spot Intervention indicator Voltage

Condition
Connector Terminal (Approx.)
Ground
D21 (LH) Ignition switch
1 OFF ⇒ ON 6V
D111 (RH) (Approx. 2 sec.)
YES >> Replace Blind Spot Warning/Blind Spot Intervention indicator. Refer to DAS-403, "Removal and
Installation".
NO >> Replace side radar. Refer to DAS-402, "Removal and Installation".

C1B55 RADAR BLOCKAGE
A
SIDE RADAR
B
DTC DETECTION LOGIC
C
DTC No. Trouble diagnosis name DTC detecting condition
RADAR BLOCKAGE
C1B55 Side radar is blocked.
(Radar blockage)
D
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”.)
E
• 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 F
a false blockage warning. A false blocked condition either self-clears or clears after an ignition cycle.
POSSIBLE CAUSE
G
Stain or foreign materials is deposited.
FAIL-SAFE
The following systems are canceled. H
• Back-up Collision Intervention (BCI) I

1.PERFORM DTC CONFIRMATION PROCEDURE J
3. Perform “All DTC Reading” with CONSULT. K
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? L
NO-2 >> Confirmation after repair: INSPECTION END M
1.CHECK THE REAR BUMPER N

Check rear bumper near the side radar contaminated with foreign materials.
DAS
>> GO TO 2.
2.CHECK THE SIDE RADAR
Check side radar and the side radar outskirts contaminated with foreign materials. P
>> 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
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.
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”.

A
ACCELERATOR PEDAL ACTUATOR : DTC Logic INFOID:0000000014222417
B
DTC DETECTION LOGIC
DTC Trouble diagnosis name DTC detecting condition C

APA MOTOR MALF
C1F01 (Accelerator pedal actuator motor If the accelerator pedal actuator motor error is detected
malfunction) D
POSSIBLE CAUSE
Accelerator pedal actuator integrated motor malfunction
E
FAIL-SAFE
G
H
3. Slowly depress the accelerator pedal completely, and then release it.
4. Repeat step 3 several times. I
6. Check if the DTC “C1F01” is detected as the current malfunction on the self-diagnosis results of “ICC/
ADAS” or “ACCELE PEDAL ACT”. J
YES >> Refer to DAS-341, "ACCELERATOR PEDAL ACTUATOR : Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-50, "Intermittent Incident". K
ACCELERATOR PEDAL ACTUATOR : Diagnosis Procedure INFOID:0000000014222418
L
Perform DTC confirmation procedure. If “C1F01” is detected, replace the accelerator pedal assembly. Refer to
DAS-400, "Removal and Installation". M
>> INSPECTION END

N
DAS

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)
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 “ACCELE
PEDAL ACT” or “ICC/ADAS”.

PEDAL ACT” or “ICC/ADAS”.
YES >> Replace the accelerator pedal assembly. Refer to DAS-400, "Removal and Installation".

A
B
DTC DETECTION LOGIC
DTC Trouble diagnosis name DTC detecting condition C

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
E
FAIL-SAFE
• Back-up Collision Intervention (BCI) G

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 toDAS-343, "ACCELERATOR PEDAL
ACTUATOR : Diagnosis Procedure".
M
YES >> Replace the accelerator pedal assembly. Refer to DAS-400, "Removal and Installation".
NO >> Repair or replace the malfunctioning parts.
N
DAS

U0104 ADAS CAN 1
U0104 ADAS CAN 1
SIDE RADAR
DTC DETECTION LOGIC

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.
POSSIBLE CAUSE
ADAS control unit
FAIL-SAFE
YES >> Perform diagnosis of applicable. Refer to DAS-351, "SIDE RADAR LH : DTC Logic" (SIDE
RADAR LH) or DAS-352, "SIDE RADAR RH : DTC Logic" (SIDE RADAR RH).
NO >> GO TO 2.
4. Check if the U0104 is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR
RIGHT/LEFT”.
Is the DTC “U0104” detected?

NO >> GO TO 2.
Check if any DTC is detected in “Self Diagnostic Result” of “ICC/ADAS”.
NO >> Replace side radar LH or RH. Refer to DAS-402, "Removal and Installation"

U0104 ADAS CAN 1
A
DTC DETECTION LOGIC
DTC Trouble diagnosis name DTC detecting condition B

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
C
POSSIBLE CAUSE
ADAS control unit
FAIL-SAFE D
None
E
CHECK DTC PRIORITY
F
YES >> Perform diagnosis of applicable. Refer to DAS-352, "DRIVER ASSISTANCE BUZZER CONTROL G
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-345, "DRIVER ASSISTANCE BUZZER CONTROL MODULE : Diagnosis Proce- J
dure".
K
INFOID:0000000014222426
L
Is applicable DTC detected? M
YES >> Perform diagnosis of applicable. Refer to DAS-352, "DRIVER ASSISTANCE BUZZER CONTROL
NO >> GO TO 2. N
DAS
NO >> Replace the driver assistance buzzer control module. Refer to DAS-404, "Removal and Installa- P
tion".

LANE CAMERA UNIT
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)
POSSIBLE CAUSE
FAIL-SAFE
YES >> Perform diagnosis of applicable. Refer to DAS-350, "LANE CAMERA UNIT : DTC Logic".
NO >> GO TO 2.
4. Check if the “U0126” is detected as the current malfunction in “Self Diagnostic Result” of “LANE CAM-
ERA”.

NO >> GO TO 2.

U0405 ADAS CAN 2
U0405 ADAS CAN 2
A
SIDE RADAR
B
DTC DETECTION LOGIC
C
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.
D
POSSIBLE CAUSE
ADAS control unit.
E
FAIL-SAFE

RADAR LH) or DAS-352, "SIDE RADAR RH : DTC Logic" (SIDE RADAR RH). I
NO >> GO TO 2.
J
4. Check if the U0405 is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR K
RIGHT/LEFT”.
Is the DTC “U0405” detected?
YES >> Refer to DAS-347, "SIDE RADAR : Diagnosis Procedure". L
M

N
YES >> Perform diagnosis of applicable. Refer to DAS-351, "SIDE RADAR LH : DTC Logic" (SIDE DAS
NO >> GO TO 2.
2.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS P
DAS-349, "ACCELERATOR PEDAL ACTUATOR : DTC Logic".
NO >> Replace side radar LH or RH. Refer to DAS-402, "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:0000000014222433
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
DTC CONFIRMATION PROCEDURE I
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:0000000014222436
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”.
SIDE RADAR LH
SIDE RADAR LH : Description INFOID:0000000014222439
CAN COMMUNICATION
vehicle is equipped with many electronic control units, and each control unit shares information and links with
CAN communication signal chart. Refer to LAN-49, "CAN COMMUNICATION SYSTEM : CAN Communica-
tion Signal Chart".
ITS COMMUNICATION
large quantities of data at high speed by connecting plural units with 2 communication lines.
A
SIDE RADAR LH : DTC Logic INFOID:0000000014222440
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
• Back-up Collision Intervention (BCI) F
1.PERFORM DTC CONFIRMATION PROCEDURE G
YES >> Refer to DAS-351, "SIDE RADAR LH : Diagnosis Procedure". I
SIDE RADAR LH : Diagnosis Procedure INFOID:0000000014222441 J

2. Turn the Blind Spot Intervention system ON, and then wait for 30 seconds or more.
4. Check if the “U1000” is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR L
LEFT”.
YES >> Refer to LAN-28, "Trouble Diagnosis Flow Chart". M
SIDE RADAR RH N
SIDE RADAR RH : Description INFOID:0000000014222442
CAN COMMUNICATION DAS

vehicle is equipped with many electronic control units, and each control unit shares information and links with P
CAN communication signal chart. Refer to LAN-49, "CAN COMMUNICATION SYSTEM : CAN Communica-
tion Signal Chart".
ITS COMMUNICATION

large quantities of data at high speed by connecting plural units with 2 communication lines.
SIDE RADAR RH : DTC Logic INFOID:0000000014222443
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-352, "SIDE RADAR RH : Diagnosis Procedure".
SIDE RADAR RH : Diagnosis Procedure INFOID:0000000014222444

2. Turn the Blind Spot Intervention system ON, and then wait for 30 seconds or more.
4. Check if the “U1000” is detected as the current malfunction in “Self Diagnostic Result” of “SIDE RADAR
RIGHT”.
DRIVER ASSISTANCE BUZZER CONTROL MODULE : Description INFOID:0000000014222445
ITS COMMUNICATION
DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition A

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
B
POSSIBLE CAUSE
FAIL-SAFE C
None
1.PERFORM DTC CONFIRMATION PROCEDURE D

2. Turn the MAIN switch of ICC system ON. E
F
dure".
NO-2 >> Confirmation after repair: INSPECTION END G

INFOID:0000000014222447
H
1. Turn the ignition switch ON. I
2. Turn the MAIN switch of ICC system ON, and then wait for 2 seconds or more.
J
DAS

ACCELERATOR PEDAL ACTUATOR : Description INFOID:0000000014222448
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-400, "Removal and Installation".
LANE CAMERA UNIT
LANE CAMERA UNIT : Description INFOID:0000000014222451
DTC DETECTION LOGIC

DTC Trouble diagnosis name DTC detecting condition A

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-50, "Intermittent Incident". G
H
1. Turn the LDP system ON. I
ERA”.
J
K
SIDE RADAR LH
SIDE RADAR LH : Description INFOID:0000000014222454
L
SIDE RADAR LH : DTC Logic INFOID:0000000014222455
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-356, "SIDE RADAR LH : Diagnosis Procedure".
SIDE RADAR LH : Diagnosis Procedure INFOID:0000000014222456

LEFT”.
YES >> Replace the side radar LH. DAS-402, "Removal and Installation".
SIDE RADAR RH
SIDE RADAR RH : Description INFOID:0000000014222457
SIDE RADAR RH : DTC Logic INFOID:0000000014222458
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-357, "SIDE RADAR RH : Diagnosis Procedure".

A
2. Perform “All DTC Reading” with CONSULT. B
RIGHT”.
Is “U1010” detected as the current malfunction? C
YES >> Replace the side radar RH. DAS-402, "Removal and Installation".
DRIVER ASSISTANCE BUZZER CONTROL MODULE D
DRIVER ASSISTANCE BUZZER CONTROL MODULE : Description INFOID:0000000014222460
E
F
DTC DETECTION LOGIC
DTC Trouble diagnosis name DTC detecting condition G

CONTROL UNIT (CAN) If driver assistance buzzer control module detects malfunction by CAN control-
U1010
[Control unit (CAN)] ler initial diagnosis
H
POSSIBLE CAUSE
FAIL-SAFE I
None
J
2. Turn the MAIN switch of ICC system ON. K
Is “U1000” detected as the current malfunction? L
dure".
NO-2 >> Confirmation after repair: INSPECTION END M

INFOID:0000000014222462
N
1. Turn the MAIN switch of ICC system ON. DAS
P
YES >> Replace the driver assistance buzzer control module. Refer to DAS-404, "Removal and Installa-
tion".

1.CHECK FUSES
Check that the following fuses are not blown:

Battery power supply 75 (15A)
Is the fuse blown?
NO >> GO TO 2.
2.CHECK ACCELERATOR PEDAL ACTUATOR POWER SUPPLY CIRCUIT
Check voltage between accelerator pedal actuator harness connector and ground.
Terminal
Condition
(+) (–) Voltage
Accelerator pedal actuator (Approx.)
Ignition switch
Connector Terminal
Ground
1 OFF
E74 Battery voltage
2 ON
YES >> GO TO 3.
NO >> Repair the accelerator pedal actuator power supply circuit.
3.CHECK ACCELERATOR PEDAL ACTUATOR GROUND CIRCUIT
2. Disconnect the accelerator pedal actuator connector.
3. Check for continuity between accelerator pedal actuator harness connector and ground.

Continuity
E74 7 Yes
NO >> Repair the accelerator pedal actuator ground circuit.
SIDE RADAR LH
SIDE RADAR LH : Diagnosis Procedure INFOID:0000000014222464
1.CHECK FUSES
A
Is the fuse blown? B
NO >> GO TO 2.
2.CHECK POWER SUPPLY CIRCUIT C

2. Disconnect the side radar LH connector. D
3. Check voltage between side radar LH harness connector and ground.
Terminals E
Condition
(+) (−) Voltage
Side radar LH (Approx.)
Ignition switch
Connector Terminal F
Ground
OFF 0V
B416 5
ON Battery voltage
G
YES >> GO TO 3.
NO >> Repair the side radar LH power supply circuit. H
3.CHECK GROUND CIRCUIT
Check continuity between side radar LH harness connectors and ground.
I
Side radar LH
Continuity
Connector Terminal Ground J
B416 2 Yes
YES >> INSPECTION END K
NO >> Repair the side radar LH ground circuit.
SIDE RADAR RH
L
M
1.CHECK FUSES N

DAS
Is the fuse blown? P
NO >> GO TO 2.
2.CHECK POWER SUPPLY CIRCUIT
2. Disconnect the side radar RH connector.
3. Check voltage between side radar RH harness connector and ground.

Terminals
Condition
(+) (−) Voltage
Side radar RH (Approx.)
Ignition switch
Connector Terminal
Ground
OFF 0V
B109 5
ON Battery voltage
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
B109 2 Yes
NO >> Repair the side radar RH ground circuit.
LANE CAMERA UNIT
1.CHECK FUSES
Check that the following fuse is not blown.

Is the fuse blown?
NO >> 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 switch
Connector Terminal
Ground
OFF 0V
R6 3
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. A
3. Check for continuity between lane camera unit harness connector and ground.
Lane camera unit B

Continuity
R6 1 Yes
C
NO >> Repair the lane camera unit ground circuit.
D
INFOID:0000000014222467 E
Regarding Wiring Diagram information, refer to DAS-284, "Wiring Diagram". F
1.CHECK FUSES G

H
Is the fuse blown?
YES >> Replace the blown fuse after repairing the affected circuit. I
NO >> GO TO 2.
2.CHECK DRIVER ASSISTANCE BUZZER CONTROL MODULE POWER SUPPLY CIRCUIT
J
Check voltage between driver assistance buzzer control module harness connector and ground.
Terminal K
Condition
(+) (–) Voltage
Driver assistance buzzer control module (Approx.)
Ignition switch L
M198 3 ON Battery voltage
Is the inspection result normal? M
YES >> GO TO 3.
NO >> Repair the driver assistance buzzer control module power supply circuit.
3.CHECK DRIVER ASSISTANCE BUZZER CONTROL MODULE GROUND CIRCUIT N
2. Disconnect the driver assistance buzzer control module.
3. Check for continuity between driver assistance buzzer control module harness connector and ground. DAS

Continuity P
M198 1 Yes
NO >> Repair the driver assistance buzzer control module ground circuit.

RIGHT/LEFT SWITCHING SIGNAL CIRCUIT
RIGHT/LEFT SWITCHING SIGNAL CIRCUIT
1.CHECK CONNECTOR
2. Check the terminals and connectors of the side radar RH for damage, bend and short (unit side and con-
nector side).
YES >> GO TO 2.
NO >> Repair the terminal or connector.
2.CHECK CONTINUITY RIGHT/LEFT SWITCHING SIGNAL CIRCUIT
1. Disconnect side radar RH connector.
2. Check continuity between side radar RH harness connectors and ground.
Side radar RH
Continuity
B109 1 Yes
NO >> Repair harness or connector.

WARNING BUZZER CIRCUIT
A
Component Function Check INFOID:0000000014222469
1.CHECK WARNING BUZZER B

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

Off : Warning buzzer is not activated. D
NO >> Refer to DAS-363, "Diagnosis Procedure". E

G
1.CHECK WARNING BUZZER SIGNAL CIRCUIT FOR OPEN
H
2. Disconnect the warning buzzer connector.
3. Disconnect the driver assistance buzzer control module connector.
4. Check continuity between the driver assistance buzzer control module harness connector and warning
buzzer harness connector. I
Driver assistance buzzer control module Warning buzzer

Continuity J
12 1
M198 M199 Yes
24 2
K
YES >> GO TO 2.
NO >> Repair the harnesses or connectors. L
2.CHECK WARNING BUZZER SIGNAL CIRCUIT FOR SHORT
Check continuity between the driver assistance buzzer control module harness connector and ground.
M

Continuity
Connector Terminal N
Ground
12
M198 No
24
DAS
YES >> GO TO 3.
3.CHECK WARNING BUZZER SIGNAL P
1. Connect the warning 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.


Voltage
Terminal Condition
Connector (Approx.)
+ -
At “BUZZER 1” test
of “Active test”
JSOIA0949ZZ
M199 12 24
JSOIA0950ZZ
JSOIA0951ZZ

YES >> Replace the warning buzzer. Refer to DAS-405, "Removal and Installation".
NO >> Replace the driver assistance buzzer control module. Refer to DAS-404, "Removal and Installa-
tion".

BCI SWITCH CIRCUIT
BCI SWITCH CIRCUIT
A
1.CHECK BCI SYSTEM SWITCH INPUT SIGNAL B

2. Select the DATA MONITOR item “BCI SWITCH” of “ICC/ADAS” with CONSULT.
3. While operating the BCI OFF switch, check the monitor status. C
Monitor item Condition Monitor status

BCI OFF switch is pressed On D
BCI SWITCH
BCI OFF switch is not pressed OFF
Is the inspection result normal? E
YES >> BCI OFF switch circuit is normal.
NO >> Refer to DAS-365, "Diagnosis Procedure".
Diagnosis Procedure INFOID:0000000014222472 F
Regarding Wiring Diagram information, refer to DAS-284, "Wiring Diagram". G
1.CHECK METER CONTROL SWITCH (BCI OFF SWITCH) SIGNAL INPUT H

I
Terminals
Condition
(+) (−) Voltage
(Approx.)
J
ADAS control unit
BCI OFF switch
Connector Terminal
Ground
Pressed 0V K
B104 22
Released Battery voltage
L
NO >> GO TO 2.
2.CHECK METER CONTROL SWITCH (BCI OFF SWITCH) M
2. Remove meter control switch (BCI OFF switch).
3. Check meter control switch (BCI OFF switch). Refer to DAS-366, "Component Inspection".
N
YES >> GO TO 3.
NO >> Replace the meter control switch (BCI OFF switch). Refer to DAS-414, "Removal and Installa- DAS
tion".
3.CHECK METER CONTROL SWITCH (BCI OFF SWITCH) CIRCUIT FOR OPEN
1. Disconnect the ADAS control unit connector. P
2. Check continuity between the ADAS control unit harness connector and meter control switch (BCI OFF
switch) harness connector.
ADAS control unit Meter control switch (BCI OFF switch)

Continuity
B104 22 M27 6 Yes

BCI SWITCH CIRCUIT
YES >> GO TO 4.
4.CHECK METER CONTROL SWITCH (BCI OFF SWITCH) CIRCUIT FOR SHORT
ADAS control unit

Continuity
B104 22 No
1.CHECK METER CONTROL SWITCH (BCI OFF SWITCH)

Check continuity of BCI OFF switch terminals.

When BCI OFF switch is pressed Yes
2 6
When BCI OFF switch is released No
NO >> Replace meter control switch (BCI OFF switch). Refer to DAS-414, "Removal and Installation".

WARNING SYSTEMS SWITCH CIRCUIT
A
1.CHECK WARNING SYSTEM SWITCH INPUT SIGNAL B

2. Select the DATA MONITOR item “WARN SYS SW” of “ICC/ADAS” with CONSULT.
3. While operating the warning system switch, check the monitor status. C
Monitor item Condition Monitor status

Warning system switch is pressed On D
WARN SYS SW
Warning system switch is not pressed OFF
Is the inspection result normal? E
YES >> Warning system switch circuit is normal.
NO >> Refer to DAS-367, "Diagnosis Procedure".
Diagnosis Procedure INFOID:0000000014222475 F
Regarding Wiring Diagram information, refer to DAS-284, "Wiring Diagram". G
1.CHECK WARNING SYSTEM SWITCH SIGNAL INPUT H

I
Terminals
Condition
(+) (−) Voltage
(Approx.)
J
ADAS control unit
Warning system switch
Connector Terminal
Ground
Pressed 0V K
B104 18
Released 12 V
L
NO >> GO TO 2.
2.CHECK WARNING SYSTEM SWITCH M
2. Remove warning system switch. Refer to DAS-408, "Removal and Installation".
3. Check warning system switch. Refer to DAS-366, "Component Inspection".
N
YES >> GO TO 3.
NO >> Replace the warning system switch. Refer to DAS-408, "Removal and Installation". DAS
3.CHECK WARNING SYSTEM SWITCH GROUND CIRCUIT
Check continuity between warning system switch harness connector terminal and the ground.
P
Warning system switch
Continuity
M126 8 Yes
YES >> GO TO 4.

NO >> Repair harness or connector.
4.CHECK WARNING SYSTEM SWITCH SIGNAL INPUT CIRCUIT FOR OPEN
2. Check continuity between the ADAS control unit harness connector and warning system switch harness
connector.
ADAS control unit Warning system switch

Continuity
B104 18 M126 6 Yes
YES >> GO TO 5.
5.CHECK WARNING SYSTEM SWITCH SIGNAL INPUT CIRCUIT FOR SHORT
ADAS control unit

Continuity
B104 18 No
1.CHECK WARNING SYSTEM SWITCH

Check continuity of warning system switch.

When warning system switch is pressed Yes
6 8
When warning system switch is released No
YES >> INSPECTION END.
NO >> Replace warning systems switch. Refer to DAS-408, "Removal and Installation".

WARNING SYSTEMS ON INDICATOR CIRCUIT
A
1.CHECK WARNING SYSTEMS ON INDICATOR B

2. Select the active test item “WARNING SYSTEM IND” of “ICC/ADAS” with CONSULT.
3. While operating the test item, check the operation. C
On : Warning systems ON indicator illuminates

Off : Warning systems ON indicator is turned OFF D
NO >> Refer to DAS-369, "Diagnosis Procedure". E

G
1.CHECK WARNING ON INDICATOR POWER SUPPLY CIRCUIT
1. Turn ignition switch OFF. H
2. Disconnect warning system switch connector.
4. Check voltage between warning system switch harness connector and ground.
I
Terminals
(+) (−) Voltage J
Warning system switch (Approx.)

M126 5 Battery voltage K
YES >> GO TO 2.
L
NO >> Repair the warning systems ON indicator power supply circuit.
2.CHECK WARNING SYSTEMS ON INDICATOR SIGNAL FOR OPEN
1. Turn ignition switch OFF. M
2. Disconnect the ADAS control unit harness connector.
3. Check continuity between the ADAS control unit harness connector and warning system switch harness
connector. N
ADAS control unit Warning system switch

Continuity
Connector Terminal Connector Terminal DAS
B104 19 M126 3 Yes
P
YES >> GO TO 3.
3.CHECK WARNING SYSTEMS ON INDICATOR SIGNAL CIRCUIT FOR SHORT

ADAS control unit

Continuity
B104 19 No
YES >> GO TO 4.
4.CHECK WARNING SYSTEMS ON INDICATOR
Check the warning systems ON indicator. Refer to DAS-370, "Component Inspection".
NO >> Replace warning system switch. DAS-408, "Removal and Installation".
1.CHECK WARNING SYSTEMS ON INDICATOR

Apply battery voltage to warning system switch terminals 5 and 3, and then check if the warning systems ON
indicator illuminates.
Terminals
Condition Warning systems ON indicator
(+) (-)
When the battery voltage is applied On
5 3
When the battery voltage is not applied Off
NO >> Replace the warning system switch. Refer to DAS-408, "Removal and Installation".

DRIVER ASSISTANCE SYSTEM SYMPTOMS
< SYMPTOM DIAGNOSIS > [DRIVER ASSISTANCE SYSTEM]
SYMPTOM DIAGNOSIS A
Symptom Table INFOID:0000000014222480
B
DCA
CAUTION: C
Perform the self-diagnosis with CONSULT before the symptom diagnosis. Perform the trouble diagno-
sis if any DTC is detected.
NOTE:
Refer to the operation condition of the DCA system. Refer to DAS-182, "DCA : System Description". D
Symptoms Reference page

Switch does not turn ON E
Refer to DAS-383, "DCA : Description".
Switch does not turn OFF
DCA system setting cannot be turned ON on the
Operation information display F
Refer to DAS-375, "DCA : Description".
DCA system setting cannot be turned OFF on the
information display
G
DCA system not activated (switch is ON) Refer to DAS-378, "DCA : Description".
Information display is not illuminated (vehicle
Refer to MWI-9, "METER SYSTEM : System Description".
Display/Chime ahead indicator)
H
Chime does not sound Refer to DAS-381, "Description".
No force generated for putting back the accelera-
Control Refer to DAS-386, "Description".
tor pedal
I
Frequently cannot detect the vehicle ahead
Refer to DAS-387, "Description".
Detection zone is short
Detection of lead System misidentifies a vehicle even though there • Adjust ICC sensor aiming: Refer to CCS-82, "Descrip- J
vehicle is no vehicle ahead tion".
• Perform action test. Refer to DAS-318, "DCA : Descrip-
System misidentifies a vehicle in the next lane tion".
K
System does not detect the vehicle ahead at all Refer to DAS-389, "Description".
BLIND SPOT WARNING/REAR CROSS TRAFFIC ALERT/BLIND SPOT INTERVENTION

CAUTION: L
Perform the self-diagnosis with CONSULT before the symptom diagnosis. Perform the trouble diagno-
NOTE: M
Refer to the operation condition of the Blind Spot Warning/Blind Spot Intervention system.
• Blind Spot Warning system: DAS-193, "BSW : System Description".
• Rear Cross Traffic Alert system: DAS-196, "RCTA : System Description".
• Blind Spot Intervention system: DAS-199, "BLIND SPOT INTERVENTION : System Description". N
DAS

Symptom Possible cause Inspection item/Reference page

• Blind Spot Warning/Blind Spot
Intervention warning lamp
Blind Spot Warning/Blind signal (CAN)
Spot Intervention warning - Combination meter • ADAS control unit Active test
lamp (orange) does not illu- - ADAS control unit “BSW/BSI WARNING LAMP”
minate • Blind Spot Warning/Blind Spot and “BSI ON INDICATOR”.
Intervention warning lamp Refer to DAS-229, "CONSULT
(combination meter) Function (ICC/ADAS)".
• ADAS control unit Data moni-
• Blind Spot Intervention ON in-
tor “BSW/BSI WARN LMP”
dicator lamp signal (CAN)
Blind Spot Intervention ON and “BSI ON IND”.
- Combination meter
indicator (Green) does not il- Refer to DAS-229, "CONSULT
- ADAS control unit
luminate Function (ICC/ADAS)"
• Blind Spot Intervention ON in-
• Combination meter Data mon-
dicator (combination meter)
itor “BSI IND”
Blind Spot Intervention ON Refer to MWI-17, "CONSULT
indicator (Green) and Blind Function (METER/M&A)"
• Combination meter
Spot Warning/Blind Spot In-
tervention warning lamp (or-
Indicator/warning lamps do not il- ange) do not illuminate
luminate when ignition switch All of indicator/warning
OFF ⇒ ON. lamps do not illuminate;
• Blind Spot Warning/Blind
• Power supply and ground cir-
Spot Intervention warning Power supply and ground circuit
cuit of ADAS control unit
lamp of ADAS control unit. Refer to
• Blind Spot Intervention ON DAS-169, "Diagnosis Procedure"
• Combination meter
indicator
• Warning systems ON indi-
cator
• Harness between ADAS con-
Warning systems ON indica- trol unit and warning systems Warning systems ON indicator
tor (on the warning systems switch circuit. Refer to DAS-369, "Diag-
switch) does not illuminate • Warning systems switch nosis Procedure"
• Harness between side radar Perform self-diagnosis of side ra-
and Blind Spot Warning/Blind dar. Refer to DAS-246, "CON-
Blind Spot Warning/Blind
Spot Intervention indicator SULT Function (SIDE RADAR
• Side radar LH/RH LEFT)" or DAS-247, "CONSULT
does not turn ON
• Blind Spot Warning/Blind Spot Function (SIDE RADAR
Intervention indicator RIGHT)".
• Warning systems switch cir-
cuit.
• Harness between ADAS con- Refer to DAS-367, "Diagnosis
trol unit and waning systems Procedure".
Warning systems ON indica-
switch • BSW system setting cannot be
tor is not turned ON ⇔ OFF
• Harness between warning turned ON/OFF on the infor-
when operating warning sys-
systems switch and ground mation display.
tems switch
• ADAS control unit Refer to DAS-376, "BLIND
BSW system is not activated. • Warning systems switch SPOT WARNING/BLIND
(Indicator/warning lamps illumi- SPOT INTERVENTION : De-
nate when ignition switch OFF ⇒ scription"
ON.) • Power supply and ground cir-
Power supply and ground circuit
cuit of driver assistance buzz-
of Driver assistance buzzer con-
er control module
trol module. Refer to DAS-361,
• Harness between the driver
"DRIVER ASSISTANCE BUZZ-
Buzzer is not sounding assistance buzzer control
ER CONTROL MODULE : Diag-
module and warning buzzer
nosis Procedure"
• Warning buzzer
Warning buzzer circuit. Refer to
• Driver assistance buzzer con-
DAS-363, "Diagnosis Procedure"
trol module

A
• Dynamic driver assistance
switch does not turn ON/OFF.
Refer to DAS-383, "DCA : De-
scription" B
Blind Spot Intervention ON
• Dynamic driver assistance • Blind Spot Intervention system
indicator is not turned ON
switch setting cannot be turned ON/
⇔OFF when operating dy-
• Combination meter OFF on the information dis-
namic driver assistance
switch.
• ADAS control unit play. C
Blind Spot Intervention system is Refer to DAS-376, "BLIND
not activated. SPOT WARNING/BLIND
(BSW system is functioning nor- SPOT INTERVENTION : De-
mally) scription" D
• Check “Cause of auto-cancel
2”. Refer to DAS-19, "CON-
Warning is functioning but
SULT Function (ICC/ADAS)" E
— • Check normal operating condi-
yawing is not functioning.
tion.
Refer to DAS-394, "Descrip-
tion" F
Blind Spot Intervention functions are not timely.(BSW system is
functioning normally.)
(Example) G
• Camera aiming adjustment Camera aiming adjustment. Re-
• Does not function when approaching a lane marker while Blind
• Lane camera unit fer to DAS-313, "Description".
Spot Warning/Blind Spot Intervention indicator lamp is illumi-
nated.
• Functions when driving in the middle of lane. H
BCI
CAUTION:
Perform the self-diagnosis with CONSULT before the symptom diagnosis. Perform the trouble diagno- I
NOTE:
Refer to the operation condition of the BCI system. Refer to DAS-203, "BCI : System Description". J
DAS

• ADAS control unit Active test
“BCI ON INDICATOR”.
• Backup Collision Intervention Refer to DAS-19, "CONSULT
ON indicator lamp signal Function (ICC/ADAS)".
(CAN) • ADAS control unit Data moni-
Backup Collision Interven-
- Combination meter tor “BCI WARN LMP”.
tion ON indicator (Green)
- ADAS control unit Refer to DAS-19, "CONSULT
does not illuminate
• Backup Collision Intervention Function (ICC/ADAS)"
ON indicator (combination • Combination meter Data mon-
meter) itor “BCI W/L”.
Refer to MWI-17, "CONSULT
Function (METER/M&A)"
All of indicator/warning
lamps do not illuminate;
• Backup Collision Interven- • Power supply and ground cir-
Indicator/warning lamps do not il- tion warning lamp cuit of ADAS control unit
of ADAS control unit. Refer to
luminate when ignition switch • Backup Collision Interven- • ADAS control unit
OFF ⇒ ON. tion ON indicator • Combination meter
• Warning systems ON indi-
cator
• Harness between side radar Perform self-diagnosis of side ra-
and Backup Collision Inter- dar. Refer to DAS-246, "CON-
Backup Collision Interven-
vention indicator SULT Function (SIDE RADAR
tion indicator does not turn
• Side radar LH/RH LEFT)" or DAS-247, "CONSULT
ON
• Backup Collision Intervention Function (SIDE RADAR
indicator RIGHT)".
• Buzzer power supply circuit.
• Harness between sonar con-
trol unit and sonar buzzer
Refer to sonar buzzer for repair
Sonar buzzer is not sounding • Harness between sonar
AV-265, "Diagnosis Procedure"
buzzer and ground.
• Sonar buzzer
• Sonar control unit
• Power supply and ground cir-
cuit of driver assistance buzz-
of Driver assistance buzzer con-
er control module
trol module. Refer to DAS-361,
• Harness between the driver
Warning buzzer is not sound- "DRIVER ASSISTANCE BUZZ-
assistance buzzer control
ing ER CONTROL MODULE : Diag-
module and warning buzzer
nosis Procedure"
• Warning buzzer
Warning buzzer circuit. Refer to
• Driver assistance buzzer con-
trol module

SYSTEM SETTINGS CANNOT BE TURNED ON/OFF IN VEHICLE INFORMATION
DISPLAY
SYSTEM SETTINGS CANNOT BE TURNED ON/OFF IN VEHICLE INFOR-
A
MATION DISPLAY
DCA
B
The system setting cannot be turned ON/OFF in the combination meter information display using the steering
switch. C
DCA : Diagnosis Procedure INFOID:0000000014222482
D
1.CHECK DCA SYSTEM SETTING
2. After starting the engine wait for 5 seconds or more. E
3. Check that DCA system setting on the information display is ON.
Is DCA system setting ON?
YES >> GO TO 2. F
NO >> Enable the DCA system setting.
2.DYNAMIC DRIVER ASSISTANCE SWITCH INSPECTION
1. Start the engine. G
2. Check that “DYNA ASIST SW” operates normally in “DATA MONITOR” of “ICC/ADAS” with CONSULT.
H
YES >> GO TO 3.
NO >> GO TO 5.
3.CHECK DCA SYSTEM SWITCH INDICATOR CIRCUIT I
2. Select the active test item “DCA INDICATOR” of “ICC/ADAS” with CONSULT.
3. Check if the DCA system switch indicator illuminates when the test item is operated.
J
YES >> GO TO 6.
NO >> GO TO 4. K
4.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-26, "DTC Index". L
YES >> GO TO 7.
NO >> GO TO 6. M
5.CHECK STEERING SWITCH CIRCUIT
Check the steering switch circuit. Refer to MWI-83, "Diagnosis Procedure". N
YES >> GO TO 6.
NO >> GO TO 7. DAS
2. Check if the DTC is detected in self-diagnosis results of “ICC/ADAS”. Refer to DAS-261, "DTC Index". P
YES >> GO TO 7.
NO >> GO TO 8.
7.REPAIR OR REPLACE MALFUNCTIONING PARTS.
Repair or replace malfunctioning parts.

DISPLAY
>> GO TO 8.
8.CHECK DCA SYSTEM
1. Erase “self-diagnosis result”, and then perform “All DTC Reading” again after performing the action test.
(Refer to DAS-318, "DCA : Description" for action test.)
2. Check that the DCA system is normal.
>> INSPECTION END

LDW/LDP
LDW/LDP : Description INFOID:0000000014222483
switch.
LDW/LDP : Diagnosis Procedure INFOID:0000000014222484
1.CHECK LDP SYSTEM SETTING

2. Check that the LDP system setting can be turned ON/OFF in the combination meter information display
using the steering switch.
NO >> GO TO 2.
Check the steering switch. Refer to MWI-83, "Diagnosis Procedure".
YES >> GO TO 3.
NO >> Repair or replace harness or connector.
3.CHECK STEERING SWITCH RESISTANCE
Check the steering switch resistance. Refer to MWI-83, "Component Inspection".
YES >> Replace combination meter. Refer to MWI-94, "Removal and Installation".
NO >> Replace steering switch. Refer to AV-137, "Removal and Installation".
BLIND SPOT WARNING/BLIND SPOT INTERVENTION
BLIND SPOT WARNING/BLIND SPOT INTERVENTION : Description INFOID:0000000014222485
switch.
BLIND SPOT WARNING/BLIND SPOT INTERVENTION : Diagnosis Procedure
INFOID:0000000014222486
1.CHECK BSW SYSTEM SETTING

2. Check that the BSW system setting can be turned ON/OFF in the combination meter information display
using the steering switch.
NO >> GO TO 2.
Check the steering switch. Refer to MWI-83, "Diagnosis Procedure".

DISPLAY
YES >> GO TO 3. A
NO >> Repair or replace harness or connector.
B
Check the steering switch resistance. Refer to MWI-83, "Component Inspection".
YES >> Replace combination meter. Refer to MWI-94, "Removal and Installation". C
NO >> Replace steering switch. Refer to AV-137, "Removal and Installation".
BCI
D
BCI : Description INFOID:0000000014222487
switch. E
BCI : Diagnosis Procedure INFOID:0000000014222488
1.CHECK BACK-UP COLLISION INTERVENTION SYSTEM SETTING F

2. Check that the Backup Collision Intervention system setting can be turned ON/OFF in the combination
G
meter information display using the steering switch.
YES >> INSPECTION END H
NO >> GO TO 2.
Check the steering switch. Refer to MWI-83, "Diagnosis Procedure". I
YES >> GO TO 3.
NO >> Repair or replace harness or connector. J
Check the steering switch resistance. Refer to MWI-83, "Component Inspection". K
YES >> Replace combination meter. Refer to MWI-94, "Removal and Installation".
NO >> Replace steering switch. Refer to AV-137, "Removal and Installation". L
DAS

SYSTEM NOT ACTIVATED
DCA
The dynamic driver assistance switch can be turned ON/OFF, but the DCA system does not operate.
NOTE:
Never start the operation under the following conditions.
No operation condition
• When the brake pedal depressed
• When the ICC system is set
• 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
• When the dynamic driver assistance switch is turned to OFF
• When the system malfunction occurs
• When ABS or VDC (including the TCS) operates
• When the VDC is turned OFF
• When the sensor area of the front bumper is dirty and the measurement of the distance between the vehi-
cles becomes difficult
• When ABS warning lamp is ON
• When the SNOW mode switch is turned ON
1.CHECK CAUSE OF AUTOMATIC CANCELLATION

Check if there is any cancellation cause in the “CAUSE OF AUTO-CANCEL” on “WORK SUPPORT” of “ICC/
ADAS” with CONSULT.
Is it displayed?
Not displayed>>GO TO 2.
“OPE SW VOLT CIRC”>>Refer to DAS-80, "DTC Logic".
“VHCL SPD UNMATCH”>>Refer to DAS-71, "DTC Logic".
“IGN LOW VOLT”>>Refer to DAS-70, "DTC Logic".
“CAN COMM ERROR”>>Refer to DAS-135, "DTC Logic".
“ICC SENSOR CAN COMM ERR”>>Refer to DAS-127, "DTC Logic".
“ABS/TCS/VDC CIRC”>>Refer to DAS-73, "DTC Logic".
“ECD CIRCUIT”>>Refer to DAS-95, "DTC Logic".
2.PERFORM ALL OF THE SELF-DIAGNOSIS
2. Check if any DTC is detected in self-diagnosis results of “ICC/ADAS”. Refer to DAS-261, "DTC Index".
YES >> GO TO 3.
NO >> GO TO 4.
3.REPAIR OR REPLACE MALFUNCTIONING PARTS
Repair or replace malfunctioning parts identified by the self-diagnosis result.
>> GO TO 6.
4.CHECK EACH SWITCH AND VEHICLE SPEED SIGNAL
2. Check that the following items operate normally in “DATA MONITOR” of “ICC/ADAS”.
- “VHCL SPEED SE”
- “BRAKE SW”
- “DYNA ASIST SW”
Is there a malfunctioning item?
All items are normal>>GO TO 5.

“VHCL SPEED SE”>>Refer to DAS-71, "DTC Logic".
“BRAKE SW”>>Refer to DAS-75, "DTC Logic". A
“DYNA ASIST SW”>>Refer to DAS-80, "DTC Logic".
B
Replace the ADAS control unit. Refer to DAS-170, "Removal and Installation".
>> GO TO 6.
C
6.CHECK DCA SYSTEM
(Refer to DAS-318, "DCA : Description" for action test.) D
>> INSPECTION END E

BCI
BCI : Description INFOID:0000000014222491 F
The switch does not turn ON

• When the Backup Collision Intervention system setting is ON, the Backup Collision Intervention ON indicator G
does not illuminate even if the BCI OFF switch is depressed.
The switch does not turn OFF
• The Backup Collision Intervention ON indicator does not turn off even if the BCI OFF switch is pressed when H
the Backup Collision Intervention ON indicator illuminates.
BCI : Diagnosis Procedure INFOID:0000000014222492
I
1.CHECK BACKUP COLLISION INTERVENTION SYSTEM SETTING
3. Check that Backup Collision Intervention system setting on the information display is ON.
Is Backup Collision Intervention system setting ON?
K
YES >> GO TO 2.
NO >> Enable the Backup Collision Intervention system setting.
2.BCI OFF SWITCH INSPECTION L
2. Check that “BCI SW” operates normally in “DATA MONITOR” of “ICC/ADAS” with CONSULT.
Is the inspection result normal? M
YES >> GO TO 3.
NO >> GO TO 5.
3.CHECK BACKUP COLLISION INTERVENTION ON INDICATOR CIRCUIT N

2. Select the active test item “BSI ON IND” of “ICC/ADAS” with CONSULT.
DAS
3. Check if the Backup Collision Intervention ON indicator illuminates when the test item is operated.
YES >> GO TO 6.
P
NO >> GO TO 4.
2. Check if the DTC is detected in self-diagnosis results of “METER/M&A”. Refer to MWI-26, "DTC Index".
YES >> GO TO 7.

NO >> GO TO 6.
Check the steering switch circuit. Refer to MWI-83, "Diagnosis Procedure".
YES >> GO TO 6.
NO >> GO TO 7.
2. Check if the DTC is detected in self-diagnosis results of “ICC/ADAS”. Refer to DAS-261, "DTC Index".
YES >> GO TO 7.
NO >> GO TO 8.
>> GO TO 8.
8.CHECK BACKUP COLLISION INTERVENTION SYSTEM
(Refer to DAS-324, "BCI : Description" for action test.)
2. Check that the Backup Collision Intervention system is normal.
>> Inspection End.

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-387, "Descrip-
tion".)
Diagnosis Procedure INFOID:0000000014222494 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-170, "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-135, "DTC Logic". L
>> GO TO 9.
5.PERFORM THE SELF-DIAGNOSIS OF DRIVER ASSISTANCE BUZZER CONTROL MODULE M

2. Check if any DTC is detected in self-diagnosis results of “BSW/BUZZER”. N
YES >> Repair or replace malfunctioning parts. Refer to DAS-280, "DTC Index".
NO >> GO TO 6. DAS
6.CHECK DRIVER ASSISTANCE BUZZER CIRCUIT
Check driver assistance buzzer. Refer to DAS-363, "Component Function Check".
P
YES >> GO TO 8.
NO >> GO TO 7.
7.REPAIR OR REPLACE MALFUNCTIONING PARTS

>> GO TO 9.
>> GO TO 9.
9.CHECK EACH SYSTEM
2. Check if the each system is normal.
>> INSPECTION END

SWITCH DOES NOT TURN ON / SWITCH DOES NOT TURN OFF
A
DCA
B

• When the DCA system setting is ON, the DCA system switch indicator does not illuminate even if the
dynamic driver assistance switch is depressed. C

• The DCA system switch indicator does not turn OFF even if the dynamic driver assistance switch is pressed D
when the DCA system switch indicator illuminates.
NOTE:
The system cannot be operated when setting conventional (fixed speed) cruise control mode.
E
1.CHECK DCA SYSTEM SETTING F

3. Check that DCA system setting on the information display is ON.
G
Is DCA system setting ON?
YES >> GO TO 2.
NO >> Enable the DCA system setting. H
2. Check that “DYNA ASIST SW” operates normally in “DATA MONITOR” of “ICC/ADAS” with CONSULT. I
YES >> GO TO 3.
NO >> GO TO 5. J
3.CHECK DCA SYSTEM SWITCH INDICATOR CIRCUIT
2. Select the active test item “DCA INDICATOR” of “ICC/ADAS” with CONSULT.
3. Check if the DCA system switch indicator illuminates when the test item is operated.
Is the inspection result normal? L
YES >> GO TO 6.
NO >> GO TO 4.
4.PERFORM THE SELF-DIAGNOSIS OF COMBINATION METER M
Is the inspection result normal? N
YES >> GO TO 7.
NO >> GO TO 6.
5.CHECK STEERING SWITCH CIRCUIT DAS
Check the steering switch circuit. Refer to DAS-80, "Diagnosis Procedure".

Is the inspection result normal? P
YES >> GO TO 6.
NO >> GO TO 7.

YES >> GO TO 7.
NO >> GO TO 8.
>> GO TO 8.
8.CHECK DCA SYSTEM
>> INSPECTION END

BLIND SPOT WARNING/BLIND SPOT INTERVENTION
BLIND SPOT WARNING/BLIND SPOT INTERVENTION : Description INFOID:0000000014222497

• When the Blind Spot Intervention system setting is ON, the Blind Spot Intervention ON indicator does not illu-
minate even if the dynamic driver assistance switch is depressed.
• The Blind Spot Intervention ON indicator does not turn off even if the dynamic driver assistance switch is
pressed when the Blind Spot Intervention ON indicator illuminates.
BLIND SPOT WARNING/BLIND SPOT INTERVENTION : Diagnosis Procedure
INFOID:0000000014222498
1.CHECK BLIND SPOT INTERVENTION SYSTEM SETTING

3. Check that Blind Spot Intervention system setting on the information display is ON.
Is Blind Spot Intervention system setting ON?
YES >> GO TO 2.
NO >> Enable the Blind Spot Intervention system setting.
2. Check that “DYNA ASIST SW” operates normally in “DATA MONITOR” of “ICC/ADAS” with CONSULT.
YES >> GO TO 3.
NO >> GO TO 5.
3.CHECK BLIND SPOT INTERVENTION ON INDICATOR CIRCUIT
2. Select the active test item “BSI ON IND” of “ICC/ADAS” with CONSULT.
3. Check if the Blind Spot Intervention ON indicator illuminates when the test item is operated.
YES >> GO TO 6.
NO >> GO TO 4.
YES >> GO TO 7.

NO >> GO TO 6.
5.CHECK STEERING SWITCH CIRCUIT A
Check the steering switch circuit. Refer to DAS-80, "Diagnosis Procedure".

Is the inspection result normal? B
YES >> GO TO 6.
NO >> GO TO 7.
6.PERFORM THE SELF-DIAGNOSIS C
Is any DTC detected? D
YES >> GO TO 7.
NO >> GO TO 8.
7.REPAIR OR REPLACE MALFUNCTIONING PARTS. E

F
>> GO TO 8.
8.CHECK BLIND SPOT INTERVENTION SYSTEM
G
(Refer to DAS-321, "BSW/RCTA : Description" for action test.)
2. Check that the Blind Spot Intervention system is normal.
H
>> INSPECTION END

I
DAS

NO FORCE GENERATED FOR PUTTING BACK THE ACCELERATOR PEDAL
NO FORCE GENERATED FOR PUTTING BACK THE ACCELERATOR
PEDAL
The dynamic driver assistance switch can be turned ON/OFF but the actuation force of accelerator pedal is
not generated.
NOTE:
• 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.

2. Check if any DTC is detected in self-diagnosis results of “ICC/ADAS” or “ACCELE PEDAL ACT“.
YES >> GO TO 2.
NO >> GO TO 3.
2.REPAIR OR REPLACE THE MALFUNCTIONING PARTS
Repair or replace malfunctioning parts. Refer to DAS-261, "DTC Index" (ICC/ADAS) or DAS-271, "DTC Index"
(ACCELE PEDAL ACT).
>> GO TO 5.
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.
Does it operate?
YES >> GO TO 4.
NO >> Replace the accelerator pedal assembly.
4.CHECK VEHICLE AHEAD DETECTION PERFORMANCE
Understand the vehicle ahead detection condition when the malfunction occurred. If the detecting function is
malfunctioning, check according to DAS-387, "Description".
>> INSPECTION END

5.CHECK DCA SYSTEM
2. Check if the DCA system is normal.
>> INSPECTION END

FREQUENTLY CANNOT DETECT THE VEHICLE AHEAD / DETECTION ZONE IS
SHORT
FREQUENTLY CANNOT DETECT THE VEHICLE AHEAD / DETECTION
A
ZONE IS SHORT
B
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 C
the inclination of hill.
D
1.VISUAL CHECK (1)
Check front bumper grille near the ICC sensor for contamination and foreign materials.
E
Do foreign materials adhere?
YES >> GO TO 2.
NO >> GO TO 3.
F
2.WIPE OUT DIRT AND FOREIGN OBJECTS
Wipe out the contamination and/or foreign materials from the front bumper grille near the ICC sensor.
G
>> GO TO 7.
3.VISUAL CHECK (2) H
Check ICC sensor for cracks and/or scratches.
Are there cracks?
YES >> GO TO 5. I
NO >> GO TO 4.
4.PERFORM RADAR ALIGNMENT
J
1. Perform radar alignment. Refer to CCS-82, "Description".
2. Perform action test. Refer to CCS-89, "Description".
3. Check that the vehicle ahead detection performance improves.
Does it improve? K
NO >> GO TO 5.
L
5.REPLACE ICC SENSOR
1. Replace the ICC sensor. Refer to CCS-188, "Removal and Installation".
2. Perform radar alignment. Refer to CCS-82, "Description". M
Does it improve?
N
NO >> GO TO 6.
6.REPLACE ADAS CONTROL UNIT DAS
>> GO TO 7. P
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

THE SYSTEM DOES NOT DETECT THE VEHICLE AHEAD AT ALL
A
When DCA system is active, the DCA system does not perform any control even through there is a vehicle B
ahead.
C
1.CHECK INFORMATION DISPLAY
1. Start the self-diagnosis mode of combination meter. Refer to MWI-17, "Description".
2. Check that the segment of information display is displayed normally. D
YES >> GO TO 2.
NO >> Replace the combination meter. E
2.VISUAL CHECK (1)
Check front bumper grille near the ICC sensor for contamination and/or foreign materials. F
Do foreign materials adhere?
YES >> GO TO 3.
NO >> GO TO 4. G
3.WIPE OUT DIRT AND FOREIGN MATERIALS
Wipe out the contamination and/or foreign materials from the front bumper grille near the ICC sensor.
H
>> GO TO 8.
4.VISUAL CHECK (2) I
Check ICC sensor for cracks and/or scratches.
Are there cracks?
J
YES >> GO TO 6.
NO >> GO TO 5.
5.PERFORM RADAR ALIGNMENT K
1. Perform radar alignment. Refer to CCS-82, "Description".
3. Check that the vehicle ahead detection performance improves. L
Does it improve?
NO >> GO TO 6. M
6.REPLACE ICC SENSOR
1. Replace the ICC sensor. Refer to CCS-188, "Removal and Installation".
2. Perform radar alignment. Refer to CCS-82, "Description". N
Does it improve? DAS
NO >> GO TO 7.
7.REPLACE ADAS CONTROL UNIT P
>> GO TO 8.
8.CHECK DCA SYSTEM

>> INSPECTION END

THE SYSTEM OPERATES EVEN WHEN USING TURN SIGNAL
THE SYSTEM OPERATES EVEN WHEN USING TURN SIGNAL
A
The warning of Lane Departure Warning (LDW) and Lane Departure Prevention (LDP) and the yaw moment B
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. C
• LDW: DAS-187, "LDW : System Description"
• LDP: DAS-190, "LDP : System Description"
D
1.CHECK TURN SIGNAL OPERATION

E
Check that both right and left turn signals are normal.
YES >> GO TO 2. F
NO >> Repair or replace malfunctioning parts. Refer to DAS-371, "Symptom Table".
2. Check if the DTC is detected in self-diagnosis results of “ICC/ADAS” Refer to DAS-261, "DTC Index".
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. H
DAS

LANE DEPARTURE WARNING LAMP DOES NOT TURN ON
LANE DEPARTURE WARNING LAMP DOES NOT TURN ON
The lane departure warning lamp in the combination meter does not turn ON when turning on the ignition
switch
1.CHECK LANE DEPARTURE WARNING LAMP

1. Check that “LANE DEPARTURE W/L” operate normally in “ACTIVE TEST” of “ICC/ADAS”.
2. Operate the test items to check that the lane departure warning lamp blinks
YES >> GO TO 4.
NO >> GO TO 2.
2.CHECK COMBINATION METER
Turn the ignition switch from OFF to ON to check that “LANE W/L” included in “DATA MONITOR” in “METER/
M&A” operates normally.
YES >> Replace the combination meter. Refer to MWI-94, "Removal and Installation".
NO >> GO TO 3.
3.CHECK SELF-DIAGNOSIS RESULTS OF COMBINATION METER
YES >> Repair or replace malfunctioning parts.
NO >> GO TO 4.
4.CHECK SELF-DIAGNOSIS RESULTS OF ADAS CONTROL UNIT
Check if the DTC is detected in self-diagnosis results of “ICC/ADAS” Refer to DAS-40, "DTC Index".

LDP ON INDICATOR LAMP DOES NOT TURNED ON
LDP ON INDICATOR LAMP DOES NOT TURNED ON
A
The LDP ON indicator lamp in the combination meter does not turn ON when turning on the ignition switch B
1.CHECK LDP ON INDICATOR LAMP C

1. Check that “LDP ON IND” operate normally in “ACTIVE TEST” of “ICC/ADAS”.
2. Check if the LDP ON indicator lamp illuminates when operates each test item.
Is the inspection result normal? D
YES >> GO TO 4.
NO >> GO TO 2.
E
2.CHECK COMBINATION METER
Turn the ignition switch from OFF to ON to check that “LDP IND” included in “DATA MONITOR” in “METER/
M&A” operates normally. F
YES >> Replace the combination meter. Refer to MWI-94, "Removal and Installation".
NO >> GO TO 3. G
3.CHECK SELF-DIAGNOSIS RESULTS OF COMBINATION METER
2. Check if the DTC is detected in self-diagnosis results of “METER/M&A” Refer to MWI-26, "DTC Index". H
NO >> GO TO 4. I
4.CHECK SELF-DIAGNOSIS RESULTS OF ADAS CONTROL UNIT

Check if the DTC is detected in self-diagnosis results of “ICC/ADAS” Refer to DAS-40, "DTC Index". J
NO >> Replace the ADAS control unit. Refer to DAS-170, "Removal and Installation". K
DAS

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

• 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.
• 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
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
- 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
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
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.
- 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
- 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
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
- 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-
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
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-
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
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
- 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
B
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 C
manually control the proper distance away from vehicle traveling
ahead.
D
G
JPOIA0221ZZ
- When driving on some roads, such as winding, hilly, curved, nar- H

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- I
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 J
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 K
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- L
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 M
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 N
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
DAS
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.
• Depending on the position of the accelerator pedal, the system may not be able to assist the driver to P
• 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
times.
• The radar sensor does not detect the following objects.
- Pedestrians, animals, or obstacles in the roadway.
- 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.
• 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
- 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.
• 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.
• 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
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
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.
• 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,
etc.
- On roads where the discontinued lane markers are still detectable.
lines remaining after road repairs. (The LDW system could detect these items as lane markers.)
- 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 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. A
B
- When the vehicle is equipped with non-original brake or steering parts or suspension parts. C
• 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: D
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. E
lines remaining after road repairs (The LDP system could detect these items as lane markers.). F
- When rain, snow or dirt adheres to the windshield in front of the lane camera unit. G
- 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.) H
- 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/REAR CROSS TRAFFIC ALERT & BLIND SPOT IN- I
TERVENTION
• The Blind Spot Warning/Rear Cross Traffic Alert and Blind Spot Intervention systems are not a replacement
for proper driving procedure and are not designed to prevent contact with vehicles or objects. When chang- J
ing 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. K
• The RCTA system is integrated into the BSW system. There is not a separate selection in the vehicle infor-
mation display for the RCTA system. When the BSW is disabled, the RCTA system is also disabled.
• The Blind Spot Warning and Blind Spot Intervention systems may not provide the warning or the control for L
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- M
tain objects are present such as:
- Pedestrians, bicycles, animals.
- Several types of vehicles such as motorcycles. N
- 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.
DAS
- 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 P
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.
REAR CROSS TRAFFIC ALERT (RCTA)

• The RCTA system is not a replacement for proper driving procedures and is not designed to prevent contact
with vehicles or objects. When backing out of parking space, always use the side and rear mirrors and turn
and look in the direction driver will move. Never rely solely on the RCTA system.
• The RCTA system is integrated into the BSW system. There is not a separate selection in the vehicle infor-
mation display for the RCTA system. When the BSW is disabled, the RCTA system is also disabled.
• Always check surroundings and turn to check what is behind driver before backing up. The side radar detect
approaching (moving) vehicles. The side radar cannot detect every object such as:
- Pedestrians, bicycles, motorcycles, animals or child operated toy vehicles.
- A vehicle that is passing at speeds greater than approximately 30 km/h (19 MPH).
- A vehicle that is passing at speeds lower than approximately 8 km/h (5 MPH).
• The side radar may not detect approaching vehicles in certain situations:
- When a vehicle parked next to you obstructs the beam of the side radar.
- When the vehicle is parked on inclined ground.
- When an approaching vehicle turns into own vehicle's parking lot aisle.
- When the angle formed by own vehicle and approaching vehicle is small.
• The following conditions may reduce the ability of the radar to detect other vehicles:
- Severe weather
- Road spray
- Ice build up on the vehicle
- Frost build up on the vehicle
- Dirt build up on the vehicle
side radar. These conditions may reduce the ability of the radar to detect other vehicles.
• Excessive noise (e.g. audio system volume, open vehicle window) will interfere with the chime sound, and it
may not be heard.
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 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.
yellow painted lane markers; nonstandard lane markers; lane markers covered with water, dirt, snow, etc.
lines remaining after road repairs.
- When the vehicle is traveling direction does not align with the lane markers.
- 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.
- 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.)
• 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
- When the accelerator pedal is depressed while the assist is provided.
- When the ICC, DCA, predictive forward collision warning or forward emergency braking warnings sound.
- When the hazard warning flashers are operated. A
PRECAUTIONS FOR BACKUP COLLISION INTERVENTION (BCI)
• The Back-up Collision Intervention system is not a replacement for proper driving procedure and is not B
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. C
• 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 D
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. E
• 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: F
- When the vehicle parked next to own vehicle obstructs the beam of the radar sensor.
- When the vehicle is parked on inclined ground. G
- When the vehicle turns around into own vehicle’s aisle.
- When the angle formed by own vehicle and approaching vehicle is small.
H
• 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)]. I
- 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. J
• 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. K
L
DAS

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

ACCELERATOR PEDAL ASSEMBLY
For accelerator pedal assembly removal and installation, refer to ACC-5, "MODELS WITH DISTANCE CON-
TROL ASSIST SYSTEM : Removal and Installation".
CAUTION:
Always perform accelerator pedal released position learning after replacement, removal, or installa-
tion of accelerator pedal assembly, and then check the DCA system operation. Refer to DAS-310,
"Description".

DYNAMIC DRIVER ASSISTANCE SWITCH
DYNAMIC DRIVER ASSISTANCE SWITCH
A
Dynamic driver assistance switch is integrated in the ICC steering switch. Refer to CCS-190, "Removal and B
Installation".
CAUTION:
Always perform the DCA system action test to check that the system operates normally after replacing
the ICC sensor, replacing the accelerator pedal or repairing any DCA system malfunction. Refer to C
DAS-318, "DCA : Description".
DAS

SIDE RADAR
SIDE RADAR
Exploded View INFOID:0000000014222514
AWOIA0021ZZ
1. Retaining inner bracket (LH) 2. Retaining outer bracket (LH) 3. Side radar (LH)
4. Body side (LH) 5. Retaining inner bracket (RH) 6. Retaining outer bracket (RH)
7. Side radar (RH) 8. Body side (RH) A. LH side
B. RH side C. Harness connector (LH) D. Harness connector (RH)
Front
REMOVAL
1. Remove the rear bumper fascia. Refer to EXT-20, "Removal and Installation".
2. Disconnect the harness connector from the side radar.
3. Remove the retaining outer bracket and remove the side radar.
INSTALLATION
CAUTION:
• Do not use the side radar if the lens has flaws.
• Perform Blind Spot Warning system action test after side radar installation is complete. Refer to
DAS-318, "DCA : Description".
NOTE:
• Always lock the side radar connector.
• Do not touch the side radar lens and keep lens area clean.

BLIND SPOT WARNING/BLIND SPOT INTERVENTION INDICATOR
BLIND SPOT WARNING/BLIND SPOT INTERVENTION INDICATOR
A
AWOIA0043ZZ
1. Front door 2. Blind spot warning/blind spot inter- 3. Door mirror corner fin- G
vention indicator isher
A. Blind spot warning/blind spot interven- Clip
tion indicator harness connector H
I
REMOVAL
1. Remove the front door finisher. Refer to INT-15, "Removal and Installation".
2. Remove the door mirror corner finisher using a suitable tool. Refer to DAS-403, "Exploded View". J
3. Disconnect the harness connector from the blind spot warning/blind spot intervention indicator.
4. Remove the blind spot warning/blind spot intervention indicator screws.
K
5. Remove the blind spot warning/blind spot intervention indicator.
INSTALLATION
Installation is in the reverse order of removal. L
DAS

REMOVAL
1. Remove the instrument lower panel LH. Refer to IP-25, "Removal and Installation".
2. Disconnect the harness connector (A) from the driver assistance
buzzer control module (1).
3. Remove screw (B) and remove the buzzer control module.
ALOIA0387ZZ
INSTALLATION

WARNING BUZZER
WARNING BUZZER
A
REMOVAL B
1. Remove the instrument panel. Refer to IP-25, "Removal and Installation".
2. Remove screws (A) from the warning buzzer (1).
C
ALOIA0403ZZ
F
3. Disconnect the harness connector from the warning buzzer.
4. Remove the warning buzzer.
G
INSTALLATION
H
DAS

ICC SENSOR
ICC SENSOR
ALOIA0380ZZ
1. Front bumper reinforcement 2. ICC sensor bracket 3. ICC sensor

A. ICC sensor harness connector B. Refer to INSTALLATION. C. Refer to INSTALLATION.
Front
REMOVAL
1. Remove front bumper fascia. Refer to EXT-17, "Removal and Installation".
2. Disconnect harness connector from ICC sensor.
3. Remove ICC sensor nuts and remove ICC sensor.
4. Remove bolts and remove ICC sensor bracket (if necessary).
INSTALLATION
1. Install ICC sensor bracket and ICC sensor bracket bolts finger-tight (if necessary).
2. Tighten ICC sensor bracket bolts to the specified torque in the
sequence shown.
ICC sensor : 10.0 N·m (1.0 kg-m, 7 ft-lb)

bracket bolts
ALOIA0382ZZ
3. Install ICC sensor and ICC sensor nuts finger-tight.

ICC SENSOR
4. Tighten ICC sensor nuts to the specified torque in the sequence
shown. A
ICC sensor bolts : 5.5 N·m (0.56 kg-m, 49 in-lb)

B
ALOIA0381ZZ
D
5. Installation of the remaining components is in the reverse order of removal.
CAUTION: E
• Perform additional service when replacing the ICC sensor. Refer to DAS-309, "Description".
• Do not drop or shock ICC sensor.
• Make sure ICC sensor harness is installed without any twists. F
DAS

WARNING SYSTEMS SWITCH
WARNING SYSTEMS SWITCH
REMOVAL
1. Remove the instrument lower panel LH. Refer to IP-25, "Removal and Installation".
2. Remove three screws (A, B) that retain the lower switch carrier
(2).
(1) : Upper switch carrier

(C) : Upper switch carrier screws
ALMIA0554ZZ
3. Release upper (B) and lower (C) pawl using a suitable tool (A),
then remove the warning system switch (1) from the lower
switch carrier.
(2) : Heated steering wheel switch (if equipped)

(3) : AC 120V outlet main switch (if equipped)
(4) : Headlamp aiming switch (if equipped)
ALMIA0567ZZ
INSTALLATION

LANE CAMERA UNIT
LANE CAMERA UNIT
A
L
AWOIA0157ZZ
1. Inside mirror 2. Lane camera cover (RH) 3. Lane camera cover (LH) M
4. Lane camera 5. Lane camera cover bracket 6. Lane camera bracket
7. Mirror base 8. Rain sensor (if equipped) Pawl
Front N
DAS
REMOVAL
1. Release clips using suitable tool and remove the lane camera cover (LH).
2. Release clips using suitable tool and remove the lane camera cover (RH). P
3. Release clips using suitable tool and remove the lane camera from the lane camera bracket.

LANE CAMERA UNIT
4. Disconnect harness connector (A) from the lane camera (1) and
remove.
: Pawl
AWOIA0158ZZ
INSTALLATION
CAUTION:
• Do not touch or shock the lane camera lens area or drop the lane camera unit.
• Make sure that the lane camera harness is not twisted after installation.
• Align the lane camera cover clips with the cover bracket holes and install by hand. Do not use exces-
sive force.
• Perform additional service when reinstalling or replacing the lane camera unit. Refer to DAS-311,
"Description".

SONAR SENSOR
SONAR SENSOR
A
REAR SONAR SENSOR B

Removal
1. Remove rear bumper fascia. Refer to EXT-20, "Removal and Installation".
C
2. Disconnect the harness connector from the rear sonar sensor.
3. Release the rear sonar sensor finisher (1) pawls using suitable
tool and remove the rear sonar sensor (2). D
:Pawl
ALNIA1898ZZ
4. Remove the rear sonar sensor finisher from the bumper fascia (if necessary). G
CAUTION:
If the rear sonar sensor finisher is replaced, clean area before installation.
H
Installation
CAUTION:
Verify that the connector direction is within the specification I
shown when assembling the bumper fascia.
(A) : Horizontal position J

(a) : ±10°
JSNIA0325ZZ
L
FRONT SONAR SENSOR (OUTER)

Removal M
1. Remove the front bumper fascia. Refer to EXT-17, "Removal and Installation".
2. Disconnect the harness connector from the front sonar sensor (outer).
3. Release the front sonar sensor finisher (1) pawls using suitable N
tool and remove the front sonar sensor (outer) (2).
:Pawl DAS
ALNIA1898ZZ
4. Remove the front sonar sensor finisher (1) from the bumper fascia (if necessary).
CAUTION:
If the sonar sensor finisher is replaced, clean area before installation.
SONAR SENSOR
Installation
CAUTION:
Verify that the connector direction is within the specification
(A) : Horizontal position

(a) : 10°
JSNIA0325ZZ
FRONT SONAR SENSOR (INNER)

Removal
1. Remove the front bumper fascia. Refer to EXT-17, "Removal and Installation".
2. Disconnect the harness connector from the front sonar sensor (inner).
3. Release the front sonar sensor (inner) finisher (2) pawls using
suitable tool and remove the sensor (1).
:Pawl
ALOIA0392ZZ
4. Remove the sonar sensor finisher from the grille (if necessary).
CAUTION:
If the sonar sensor finisher is replaced, clean area before installation.
Installation
CAUTION:
Verify that the connector direction is within the specification
(A) : Horizontal position

(a) : 10°
JSNIA0325ZZ

SONAR BUZZER
SONAR BUZZER
A
REMOVAL B
1. Remove luggage side lower finisher (LH). Refer to INT-31, "LUGGAGE SIDE LOWER FINISHER :
Removal and Installation".
2. Disconnect harness connector (1) from the sonar buzzer (2). C
3. Remove sonar buzzer screws (A) and the sonar buzzer (2).
ALNIA1334ZZ
F
INSTALLATION
G
DAS

BCI SWITCH
BCI SWITCH
The backup collision intervention (BCI) off switch is serviced as part of the meter control switch. Refer to MWI-
95, "Removal and Installation".

REAR VIEW CAMERA
REAR VIEW CAMERA
A
REMOVAL B
1. Remove back door outer upper finisher. Refer to EXT-45, "Removal and Installation".
2. Remove rear view camera screws (A), then remove rear view
camera (1) from the back door outer upper finisher (2). C
ALNIA1427ZZ
F
INSTALLATION
CAUTION:
G
Perform camera image calibration. Refer to AV-484, "CALIBRATING CAMERA IMAGE (AROUND VIEW
MONITOR) : Description".
DAS

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CRUISE CONTROL & DRIVER ASSISTANCE

PRECAUTION .............................................. 10 CONFIGURATION (ADAS CONTROL UNIT) ... 66

SYSTEM .............................................................12 C1A01 POWER SUPPLY CIRCUIT 1, C1A02

C1A04 ABS/TCS/VDC SYSTEM ...................... 73 M

Revision: April 2016 DAS-1 2016 QX60

Revision: April 2016 DAS-2 2016 QX60

U150C VDC CAN 3 .......................................... 140 Diagnosis Procedure ............................................. 157

Revision: April 2016 DAS-3 2016 QX60

U1525 AVM CAN 3 .......................................... 167 DCA ......................................................................... 182

PRECAUTION ............................................ 171 BLIND SPOT INTERVENTION ............................... 198

Revision: April 2016 DAS-4 2016 QX60

BCI ........................................................................... 219 SIDE RADAR LH ............................................. 272

Revision: April 2016 DAS-5 2016 QX60

Revision: April 2016 DAS-7 2016 QX60

BCI ............................................................................379 SIDE RADAR .................................................... 402

ICC SENSOR .................................................... 406 SONAR BUZZER ............................................ 413

Revision: April 2016 DAS-9 2016 QX60

• Bypass connection is not allowed at the repaired area.

Revision: April 2016 DAS-10 2016 QX60

• ADAS control unit is installed behind the storage box. K

Revision: April 2016 DAS-11 2016 QX60

ADAS CONTROL UNIT INPUT/OUTPUT SIGNAL ITEM

Revision: April 2016 DAS-12 2016 QX60

Transmit unit Signal name Description A

Revision: April 2016 DAS-13 2016 QX60

Output Signal Item

Reception unit Signal name Description

ABS actuator Transmits a brake fluid pressure control signal to acti-

Revision: April 2016 DAS-14 2016 QX60

• Transmits a signal to turn ON the FEB indicator

Revision: April 2016 DAS-15 2016 QX60

Fail-safe (ADAS Control Unit) INFOID:0000000014235999

System Buzzer Warning lamp/Warning display Description

Revision: April 2016 DAS-16 2016 QX60

Revision: April 2016 DAS-17 2016 QX60

Assumed abnormal part Inspection item

5. Turn ignition switch OFF, and finish the diagnosis. K

Diagnosis mode Description M

Revision: April 2016 DAS-19 2016 QX60

Work support items Description

Forward Emergency Braking

Cause of cancellation Description

OPERATING ABS × × × ABS function was operated

Revision: April 2016 DAS-20 2016 QX60

Display Items for The Cause of Automatic Cancellation 3

Cause of cancellation Description

Revision: April 2016 DAS-21 2016 QX60

Back-up Collision Intervention

BRAKE IS OPERATED × Brake pedal was operated

SELF DIAGNOSTIC RESULT

Revision: April 2016 DAS-22 2016 QX60

Revision: April 2016 DAS-23 2016 QX60

Revision: April 2016 DAS-24 2016 QX60

FUNC ITEM (FCW)

Revision: April 2016 DAS-25 2016 QX60

Revision: April 2016 DAS-26 2016 QX60

Test item Description

• MAIN switch indicator

Revision: April 2016 DAS-27 2016 QX60