DTC C1A20: Object Recognition ECU [09/2015 - ]: Procedure

1. Replace the object recognition ECU (Refer to REMOVAL [09/2015 - ] ).

Result:  NEXT

NEXT 

See step  2

1. Adjust the object recognition camera (Refer to ADJUSTMENT [09/2015 - ] ).

Result:  NEXT

NEXT 

See step  3

1. Clear DTCs (Refer to DTC CHECK / CLEAR [09/2015 - ] ).
2. Make sure the following conditions are met:
   • Pre-collision system:

     The engine switch is on (IG).

   • Radar cruise control system:

     The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the distance control switch is on.

   • Lane keeping assist system:

     The vehicle is being driven at a speed of approximately 50 km/h (31 mph) or more and the lane keeping assist main switch is on.

3. Check for DTCs (Refer to DTC CHECK / CLEAR [09/2015 - ] ).

   OK

   DTC C1A20 is not output.

   NOTE:

   When replacing the driving support ECU assembly, always replace it with a new one and be sure to perform initialization (Refer to INITIALIZATION [09/2015 - ] ). If an ECU which was installed to another vehicle is used, the information stored in the ECU will not match the information from the vehicle, and as a result, a DTC may be stored.

Result:  OK

OK 

END (OBJECT RECOGNITION ECU IS DEFECTIVE) 

Result:  NG

NG 

REPLACE DRIVING SUPPORT ECU ASSEMBLY 

(Refer to REMOVAL [09/2015 - ] )