DESCRIPTION This DTC is
stored when the driving support ECU assembly cannot receive signals from
the forward recognition camera or millimeter wave radar sensor
assembly. |
DTC No. | Detection Item |
DTC Detection Condition | Trouble Area | |
U1002 | Lost Communication with Gateway Module |
After
the engine switch is turned on, communication between the driving
support ECU assembly and any of the following components is abnormal for
2 seconds or more
- Forward recognition camera
- Millimeter wave radar sensor assembly
|
- CAN bus main line, CAN bus branch line or connector
- Forward recognition camera
- Millimeter wave radar sensor assembly
- Driving support ECU assembly
- No. 8 CAN junction connector
| WIRING DIAGRAM
 CAUTION / NOTICE / HINT
NOTICE:
- Before measuring the resistance of the CAN bus, turn the engine switch
off and leave the vehicle for 1 minute or more without operating the key
or any switches, or opening or closing the doors. After that,
disconnect the cable from the negative (-) battery terminal and leave
the vehicle for 1 minute or more before measuring the resistance.
- After turning the engine switch off, waiting time may be required before
disconnecting the cable from the negative (-) battery terminal.
Therefore, make sure to read the disconnecting the cable from the
negative (-) battery terminal notices before proceeding with work.
Click here 
- When replacing the millimeter wave radar sensor assembly, always replace
it with a new one. If a millimeter wave radar sensor assembly which was
installed to another vehicle is used, the information stored in the
millimeter wave radar sensor assembly will not match the information
from the vehicle. As a result, a DTC may be stored.
- When the millimeter wave radar sensor assembly is replaced with a new
one, adjustment of the radar sensor beam axis must be performed.
Click here
- When replacing the forward recognition camera, always replace it with a
new one. If a forward recognition camera which was installed to another
vehicle is used, the information stored in the forward recognition
camera will not match the information from the vehicle. As a result, a
DTC may be stored.
- If the forward recognition camera has been replaced with a new one, be sure to perform forward recognition camera adjustment.
Click here
HINT:
- Operating the engine switch, any other switches or a door triggers
related ECU and sensor communication on the CAN. This communication will
cause the resistance value to change.
- Even after DTCs are cleared, if a DTC is stored again after driving the
vehicle for a while, the malfunction may be occurring due to vibration
of the vehicle. In such a case, wiggling the ECUs or wire harness while
performing the inspection below may help determine the cause of the
malfunction.
PROCEDURE |
1. | CHECK CAN BUS LINE (MALFUNCTION CONFIRMATION) |
(a) Turn the engine switch off. (b) Disconnect the cable from the negative (-) battery terminal.
| (c) Measure the resistance according to the value(s) in the table below.
Standard Resistance: |
Tester Connection | Condition |
Specified Condition | Result | |
G39-8 (CA1P) - G39-9 (CA1N) |
Cable disconnected from negative (-) battery terminal |
54 to 69 Ω | Below 54 Ω:
Short circuit between bus lines | |
70 Ω or more: Open circuit in a main bus line or driving support ECU assembly branch line | |
G39-8 (CA1P) - G39-28 (GND) |
Cable disconnected from negative (-) battery terminal |
200 Ω or higher | Below 200 Ω:
Ground short | |
G39-9 (CA1N) - G39-28 (GND) |
Cable disconnected from negative (-) battery terminal |
200 Ω or higher | Below 200 Ω:
Ground short | |
G39-8 (CA1P) - G39-7 (B) |
Cable disconnected from negative (-) battery terminal |
6 kΩ or higher | Below 6 kΩ:
+B short | |
G39-9 (CA1N) - G39-7 (B) |
Cable disconnected from negative (-) battery terminal |
6 kΩ or higher | Below 6 kΩ:
+B short | |
 |
|
*a | Component with harness connected
(Driving Support ECU Assembly) | | |
|
Result | Proceed to | |
OK | A | |
NG (Open circuit in main line or Driving support ECU assembly branch line) |
B | | NG (Short circuit between main lines) |
C | | NG (Short to +B or ground) |
D |
| B |
 | GO TO STEP 3 |
| C |
| GO TO STEP 8 |
| D |
| GO TO STEP 12 |
|
A |
 | |
(a) Clear the DTCs. Body Electrical > Pre-Collision 2 > Clear DTCs
(b) Make sure that the DTC detection conditions are met. HINT: If the detection conditions are not met, the system cannot detect the malfunction.
(c) Check for DTCs. Body Electrical > Pre-Collision 2 > Trouble Codes
|
Result | Proceed to | |
DTC U1002 is not output |
A | | DTC U1002 is output |
B |
| A |
| USE SIMULATION METHOD TO CHECK |
| B |
| REPLACE DRIVING SUPPORT ECU ASSEMBLY |
| 3. |
CHECK FOR OPEN IN CAN BUS BRANCH LINES (DRIVING SUPPORT ECU ASSEMBLY) |
| (a) Disconnect the G39 driving support ECU assembly connector. |
 |
|
*a | Front view of wire harness connector
(to Driving Support ECU Assembly) | | |
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance: |
Tester Connection | Condition |
Specified Condition | |
G39-8 (CA1P) - G39-9 (CA1N) |
Cable disconnected from negative (-) battery terminal |
108 to 132 Ω | HINT: If
the resistance is between 108 and 132 Ω, there may be an open in a CAN
bus main line. If the value is 132 Ω or more, there may be an open in a
CAN bus branch line between the No. 8 CAN junction connector and the
driving support ECU assembly or a connector may be disconnected. (c) Connect the G39 driving support ECU assembly connector.
| NG |
| GO TO STEP 7 |
|
OK | |
| |
| 4. |
CHECK FOR OPEN IN CAN BUS MAIN LINES (NO. 8 CAN JUNCTION CONNECTOR) |
| (a) Disconnect the G92 No. 8 CAN junction connector. |
 |
|
*a | Front view of wire harness connector
(to No. 8 CAN Junction Connector) | |
*b | to Forward Recognition Camera | |
*c | to Millimeter Wave Radar Sensor Assembly | | |
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance: |
Tester Connection | Condition |
Specified Condition | Connected to | |
G92-6 - G92-17 | Cable disconnected from negative (-) battery terminal |
108 to 132 Ω | Forward Recognition Camera | |
G92-5 - G92-16 | Cable disconnected from negative (-) battery terminal |
108 to 132 Ω | Millimeter Wave Radar Sensor Assembly |
(c) Connect the G92 No. 8 CAN junction connector.
|
Result | Proceed to | |
OK | A | |
NG (Forward Recognition Camera Main Line) |
B | | NG (Millimeter Wave Radar Sensor Assembly Main Line) |
C |
| A |
| REPLACE NO. 8 CAN JUNCTION CONNECTOR |
| C |
| GO TO STEP 6 |
|
B | |
| |
| 5. |
CHECK FOR OPEN IN CAN BUS MAIN LINES (FORWARD RECOGNITION CAMERA) |
| (a) Disconnect the O5 forward recognition camera connector. |
 |
|
*a | Front view of wire harness connector
(to Forward Recognition Camera) | | |
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance: |
Tester Connection | Condition |
Specified Condition | |
O5-6 (CANH) - O5-12 (CANL) |
Cable disconnected from negative (-) battery terminal |
108 to 132 Ω | (c) Connect the O5 forward recognition camera connector.
| OK |
| REPLACE FORWARD RECOGNITION CAMERA |
| NG |
| REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 8 CAN JUNCTION CONNECTOR - FORWARD RECOGNITION CAMERA) |
| 6. |
CHECK FOR OPEN IN CAN BUS MAIN LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY) |
| (a) Disconnect the A25 millimeter wave radar sensor assembly connector. |
 |
|
*a | Front view of wire harness connector
(to Millimeter Wave Radar Sensor Assembly) | | |
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance: |
Tester Connection | Condition |
Specified Condition | |
A25-5 (CA1P) - A25-6 (CA1N) |
Cable disconnected from negative (-) battery terminal |
108 to 132 Ω | (c) Connect the A25 millimeter wave radar sensor assembly connector.
| OK |
| REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY |
| NG |
| REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 8 CAN JUNCTION CONNECTOR - MILLIMETER WAVE RADAR SENSOR ASSEMBLY) |
| 7. |
CHECK FOR OPEN IN CAN BUS BRANCH LINES (NO. 8 CAN JUNCTION CONNECTOR - DRIVING SUPPORT ECU ASSEMBLY) |
| (a) Disconnect the G39 driving support ECU assembly connector. |
|
|
|
*a | Front view of wire harness connector
(to Driving Support ECU Assembly) | | |
| (b) Disconnect the G92 No. 8 CAN junction connector. |
 |
|
*a | Front view of wire harness connector
(to No. 8 CAN Junction Connector) | |
*b | to Driving Support ECU Assembly | | |
(c) Measure the resistance according to the value(s) in the table below.
Standard Resistance: |
Tester Connection | Condition |
Specified Condition | |
G92-7 - G39-8 (CA1P) |
Cable disconnected from negative (-) battery terminal |
Below 1 Ω | |
G92-18 - G39-9 (CA1N) |
Cable disconnected from negative (-) battery terminal |
Below 1 Ω | (d) Connect the G92 No. 8 CAN junction connector.
(e) Connect the G39 driving support ECU assembly connector.
| OK |
| REPLACE NO. 8 CAN JUNCTION CONNECTOR |
| NG |
| REPAIR OR REPLACE CAN BUS BRANCH WIRE (NO. 8 CAN JUNCTION CONNECTOR - DRIVING SUPPORT ECU ASSEMBLY) |
| 8. |
CHECK FOR SHORT BETWEEN CAN BUS LINES (FORWARD RECOGNITION CAMERA) |
| (a) Disconnect the O5 forward recognition camera connector. |
|
|
|
*a | Front view of wire harness connector
(to Forward Recognition Camera) | | |
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance: |
Tester Connection | Condition |
Specified Condition | |
O5-6 (CANH) - O5-12 (CANL) |
Cable disconnected from negative (-) battery terminal |
108 to 132 Ω | (c) Connect the O5 forward recognition camera connector.
| OK |
| REPLACE FORWARD RECOGNITION CAMERA |
|
NG | |
| |
| 9. |
CHECK FOR SHORT BETWEEN CAN BUS LINES (NO. 8 CAN JUNCTION CONNECTOR) |
| (a) Disconnect the G92 No. 8 CAN junction connector. |
 |
|
*a | Front view of wire harness connector
(to No. 8 CAN Junction Connector) | |
*b | to Forward Recognition Camera | |
*c | to Millimeter Wave Radar Sensor Assembly | |
*d | to Driving Support ECU Assembly | | |
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance: |
Tester Connection | Condition |
Specified Condition | Connected to | |
G92-6 - G92-17 | Cable disconnected from negative (-) battery terminal |
108 to 132 Ω | Forward Recognition Camera | |
G92-5 - G92-16 | Cable disconnected from negative (-) battery terminal |
108 to 132 Ω | Millimeter Wave Radar Sensor Assembly | |
G92-7 - G92-18 | Cable disconnected from negative (-) battery terminal |
200 Ω or higher | Driving Support ECU Assembly |
(c) Connect the G92 No. 8 CAN junction connector.
|
Result | Proceed to | |
OK | A | |
NG (Forward Recognition Camera Main Line) |
B | | NG (Millimeter Wave Radar Sensor Assembly Main Line) |
C | | NG (Driving Support ECU Assembly Branch Line) |
D |
| A |
| REPLACE NO. 8 CAN JUNCTION CONNECTOR |
| B |
| REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 8 CAN JUNCTION CONNECTOR - FORWARD RECOGNITION CAMERA) |
| D |
| GO TO STEP 11 |
|
C | |
| |
| 10. |
CHECK FOR SHORT BETWEEN CAN BUS LINES (MILLIMETER WAVE RADAR SENSOR ASSEMBLY) |
| (a) Disconnect the A25 millimeter wave radar sensor assembly connector. |
|
|
|
*a | Front view of wire harness connector
(to Millimeter Wave Radar Sensor Assembly) | | |
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance: |
Tester Connection | Condition |
Specified Condition | |
A25-5 (CA1P) - A25-6 (CA1N) |
Cable disconnected from negative (-) battery terminal |
108 to 132 Ω | (c) Connect the A25 millimeter wave radar sensor assembly connector.
| OK |
| REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY |
| NG |
| REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 8 CAN JUNCTION CONNECTOR - MILLIMETER WAVE RADAR SENSOR ASSEMBLY) |
| 11. |
CHECK FOR SHORT BETWEEN CAN BUS LINES (DRIVING SUPPORT ECU ASSEMBLY) |
| (a) Disconnect the G39 driving support ECU assembly connector. |
|
|
|
*a | Front view of wire harness connector
(to Driving Support ECU Assembly) | | |
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance: |
Tester Connection | Condition |
Specified Condition | |
G39-8 (CA1P) - G39-9 (CA1N) |
Cable disconnected from negative (-) battery terminal |
54 to 69 Ω | (c) Connect the G39 driving support ECU assembly connector.
| OK |
| REPLACE DRIVING SUPPORT ECU ASSEMBLY |
| NG |
| REPAIR OR REPLACE CAN BUS BRANCH LINE OR CONNECTOR (NO. 8 CAN JUNCTION CONNECTOR - DRIVING SUPPORT ECU ASSEMBLY) |
| 12. |
CHECK FOR SHORT IN CAN BUS LINE (FORWARD RECOGNITION CAMERA) |
(a) Disconnect the O5 forward recognition camera connector.
|
*1 | DLC3 |
- | - | |
*a | Front view of wire harness connector
(to Forward Recognition Camera) |
- | - |
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance: |
Tester Connection | Condition |
Specified Condition | |
O5-6 (CANH) - G45-4 (CG) |
Cable disconnected from negative (-) battery terminal |
200 Ω or higher | |
O5-12 (CANL) - G45-4 (CG) |
Cable disconnected from negative (-) battery terminal |
200 Ω or higher | |
O5-6 (CANH) - G45-16 (BAT) |
Cable disconnected from negative (-) battery terminal |
6 kΩ or higher | |
O5-12 (CANL) - G45-16 (BAT) |
Cable disconnected from negative (-) battery terminal |
6 kΩ or higher | (c) Connect the O5 forward recognition camera connector.
| OK |
| REPLACE FORWARD RECOGNITION CAMERA |
|
NG | |
| |
| 13. |
CHECK FOR SHORT IN CAN BUS LINE (NO. 8 CAN JUNCTION CONNECTOR) |
(a) Disconnect the G92 No. 8 CAN junction connector.
|
*1 | DLC3 |
- | - | |
*a | Front view of wire harness connector
(to No. 8 CAN Junction Connector) |
*b | to Forward Recognition Camera | |
*c | to Millimeter Wave Radar Sensor Assembly |
*d | to Driving Support ECU Assembly |
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance: |
Tester Connection | Condition |
Specified Condition | Connected to | |
G92-6 - G45-4 (CG) |
Cable disconnected from negative (-) battery terminal |
200 Ω or higher |
Forward Recognition Camera | |
G92-17 - G45-4 (CG) | |
G92-6 - G45-16 (BAT) |
6 kΩ or higher | |
G92-17 - G45-16 (BAT) | |
G92-5 - G45-4 (CG) |
Cable disconnected from negative (-) battery terminal |
200 Ω or higher |
Millimeter Wave Radar Sensor Assembly | |
G92-16 - G45-4 (CG) | |
G92-5 - G45-16 (BAT) |
6 kΩ or higher | |
G92-16 - G45-16 (BAT) | |
G92-7 - G45-4 (CG) |
Cable disconnected from negative (-) battery terminal |
200 Ω or higher |
Driving Support ECU Assembly | |
G92-18 - G45-4 (CG) | |
G92-7 - G45-16 (BAT) |
6 kΩ or higher | |
G92-18 - G45-16 (BAT) | (c) Connect the G92 No. 8 CAN junction connector.
|
Result | Proceed to | |
OK | A | |
NG (Forward Recognition Camera Main Line) |
B | | NG (Millimeter Wave Radar Sensor Assembly Main Line) |
C | | NG (Driving Support ECU Assembly Branch Line) |
D |
| A |
| REPLACE NO. 8 CAN JUNCTION CONNECTOR |
| B |
| REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 8 CAN JUNCTION CONNECTOR - FORWARD RECOGNITION CAMERA) |
| D |
| GO TO STEP 15 |
|
C | |
| |
| 14. |
CHECK FOR SHORT IN CAN BUS LINE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY) |
(a) Disconnect the A25 millimeter wave radar sensor assembly connector.
|
*1 | DLC3 |
- | - | |
*a | Front view of wire harness connector
(to Millimeter Wave Radar Sensor Assembly) |
- | - |
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance: |
Tester Connection | Condition |
Specified Condition | |
A25-5 (CA1P) - G45-4 (CG) |
Cable disconnected from negative (-) battery terminal |
200 Ω or higher | |
A25-6 (CA1N) - G45-4 (CG) |
Cable disconnected from negative (-) battery terminal |
200 Ω or higher | |
A25-5 (CA1P) - G45-16 (BAT) |
Cable disconnected from negative (-) battery terminal |
6 kΩ or higher | |
A25-6 (CA1N) - G45-16 (BAT) |
Cable disconnected from negative (-) battery terminal |
6 kΩ or higher | (c) Connect the A25 millimeter wave radar sensor assembly connector.
| OK |
| REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY |
| NG |
| REPAIR OR REPLACE CAN BUS MAIN LINE OR CONNECTOR (NO. 8 CAN JUNCTION CONNECTOR - MILLIMETER WAVE RADAR SENSOR ASSEMBLY) |
| 15. |
CHECK FOR SHORT IN CAN BUS LINE (DRIVING SUPPORT ECU ASSEMBLY) |
(a) Disconnect the G39 driving support ECU assembly connector.
|
*1 | DLC3 |
- | - | |
*a | Front view of wire harness connector
(to Driving Support ECU Assembly) |
- | - |
(b) Measure the resistance according to the value(s) in the table below.
Standard Resistance: |
Tester Connection | Condition |
Specified Condition | |
G39-8 (CA1P) - G45-4 (CG) |
Cable disconnected from negative (-) battery terminal |
200 Ω or higher | |
G39-9 (CA1N) - G45-4 (CG) |
Cable disconnected from negative (-) battery terminal |
200 Ω or higher | |
G39-8 (CA1P) - G45-16 (BAT) |
Cable disconnected from negative (-) battery terminal |
6 kΩ or higher | |
G39-9 (CA1N) - G45-16 (BAT) |
Cable disconnected from negative (-) battery terminal |
6 kΩ or higher | (c) Connect the G39 driving support ECU assembly connector.
| OK |
| REPLACE DRIVING SUPPORT ECU ASSEMBLY |
| NG |
| REPAIR OR REPLACE CAN BUS BRANCH LINE OR CONNECTOR (NO. 8 CAN JUNCTION CONNECTOR - DRIVING SUPPORT ECU ASSEMBLY) | | 
