Cruise Control System: Section

CRUISE CONTROL
SECTION
CRUISE CONTROL SYSTEM
CCS B
E
CONTENTS
ICC (FULL SPEED RANGE) System Diagram ......................................................24 F
System Description ..................................................24
BASIC INSPECTION ................................... 11 Component Parts Location ......................................27
Component Description ...........................................28 G
DIAGNOSIS AND REPAIR WORK FLOW ........11
Work Flow ............................................................... 11 VEHICLE-TO-VEHICLE DISTANCE CON-
TROL MODE FUNCTION .................................. 29
INSPECTION AND ADJUSTMENT ....................13 System Diagram ......................................................29 H
ADDITIONAL SERVICE WHEN REPLACING System Description ..................................................29

CONTROL UNIT (ICC SENSOR INTEGRATED Component Parts Location ......................................36
UNIT) .......................................................................... 13 Component Description ...........................................37 I
ADDITIONAL SERVICE WHEN REPLACING CONVENTIONAL (FIXED SPEED) CRUISE
CONTROL UNIT (ICC SENSOR INTEGRATED
CONTROL MODE FUNCTION .......................... 38
UNIT) : Description .................................................. 13 J
System Diagram ......................................................38
ADDITIONAL SERVICE WHEN REPLACING
System Description ..................................................38
Component Parts Location ......................................42
UNIT) : Special Repair Requirement ....................... 13 K
Component Description ...........................................43
LASER BEAM AIMING ADJUSTMENT .................... 13
LASER BEAM AIMING ADJUSTMENT : Descrip-
DIAGNOSIS SYSTEM (ICC SENSOR INTE-
tion .......................................................................... 13 GRATED UNIT) ................................................. 44 L
LASER BEAM AIMING ADJUSTMENT : Special Diagnosis Description ..............................................44
Repair Requirement (Preparation) .......................... 14 CONSULT-III Function (ICC) ...................................45
LASER BEAM AIMING ADJUSTMENT : Special M
DTC/CIRCUIT DIAGNOSIS ......................... 52
Repair Requirement (Setting The ICC Target
Board) ..................................................................... 14 C1A00 CONTROL UNIT ................................... 52
LASER BEAM AIMING ADJUSTMENT : Special Description ...............................................................52 N
Repair Requirement (Laser Beam Aiming Adjust- DTC Logic ................................................................52
ment) ....................................................................... 17 Diagnosis Procedure ...............................................52
Special Repair Requirement ....................................52
ACTION TEST ........................................................... 18 CCS
ACTION TEST : Description ................................... 18 C1A01 POWER SUPPLY CIRCUIT 1, C1A02
ACTION TEST : Special Repair Requirement (Ve- POWER SUPPLY CIRCUIT 2 ........................... 54
hicle-To-Vehicle Distance Control Mode) ................ 18
Description ...............................................................54 P
ACTION TEST : Special Repair Requirement
DTC Logic ................................................................54
[Conventional (Fixed Speed) Cruise Control
Diagnosis Procedure ...............................................54
Mode] ...................................................................... 21
Special Repair Requirement ....................................54
SYSTEM DESCRIPTION ............................. 24 C1A03 VEHICLE SPEED SENSOR .................. 56
ICC (FULL SPEED RANGE) ..............................24 Description ...............................................................56
DTC Logic ................................................................56
Revision: 2009 March CCS-1 2009 FX35/FX50

Diagnosis Procedure .............................................. 56 Component Inspection ............................................ 85
Special Repair Requirement ................................... 57 Special Repair Requirement ................................... 86
C1A04 ABS/TCS/VDC SYSTEM ....................... 58 C1A14 ECM ....................................................... 87

Description .............................................................. 58 Description .............................................................. 87
DTC Logic ............................................................... 58 DTC Logic ............................................................... 87
Diagnosis Procedure .............................................. 58 Diagnosis Procedure ............................................... 87
Special Repair Requirement ................................... 58 Special Repair Requirement ................................... 87
C1A05 BRAKE SW/STOP LAMP SW ............... 60 C1A15 GEAR POSITION .................................. 89

Description .............................................................. 60 Description .............................................................. 89
DTC Logic ............................................................... 60 DTC Logic ............................................................... 89
Diagnosis Procedure .............................................. 60 Diagnosis Procedure ............................................... 89
Component Inspection (ICC Brake Switch) ............ 63 Special Repair Requirement ................................... 90
Component Inspection (Stop Lamp Switch) ........... 63
Special Repair Requirement ................................... 64 C1A16 RADAR STAIN ...................................... 92
Description .............................................................. 92
C1A06 OPERATION SW ................................... 65 DTC Logic ............................................................... 92
Description .............................................................. 65 Diagnosis Procedure ............................................... 92
DTC Logic ............................................................... 65 Special Repair Requirement ................................... 92
Diagnosis Procedure .............................................. 65
Component Inspection ............................................ 66 C1A18 LASER AIMING INCMP ........................ 94
Special Repair Requirement ................................... 67 Description .............................................................. 94
DTC Logic ............................................................... 94
C1A08 PRESSURE SENSOR ........................... 68 Diagnosis Procedure ............................................... 94
Description .............................................................. 68 Special Repair Requirement ................................... 94
DTC Logic ............................................................... 68
Diagnosis Procedure .............................................. 68 C1A21 UNIT HIGH TEMP .................................. 96
Special Repair Requirement ................................... 69 Description .............................................................. 96
DTC Logic ............................................................... 96
C1A09 BOOSTER SOLENOID .......................... 70 Diagnosis Procedure ............................................... 96
Description .............................................................. 70 Special Repair Requirement ................................... 96
DTC Logic ............................................................... 70
Diagnosis Procedure .............................................. 70 C1A22 BCU CIRCUIT ........................................ 98
Component Inspection ............................................ 71 Description .............................................................. 98
Special Repair Requirement ................................... 71 DTC Logic ............................................................... 98
Diagnosis Procedure ............................................... 98
C1A10 RELEASE SWITCH ............................... 73 Special Repair Requirement ................................. 101
Description .............................................................. 73
DTC Logic ............................................................... 73 C1A24 NP RANGE ........................................... 102
Diagnosis Procedure .............................................. 73 Description ............................................................ 102
Component Inspection ............................................ 74 DTC Logic ............................................................. 102
Special Repair Requirement ................................... 75 Diagnosis Procedure ............................................. 102
Special Repair Requirement ................................. 103
C1A11 PRESSURE CONTROL ......................... 76
Description .............................................................. 76 C1A28 BCU POWER SUPPLY CIRCUIT,
DTC Logic ............................................................... 76 C1A29 BCU POWER SUPPLY CIRCUIT2 ....... 104
Diagnosis Procedure .............................................. 76 Description ............................................................ 104
Component Inspection ............................................ 77 DTC Logic ............................................................. 104
C1A12 LASER BEAM OFF CENTER ............... 79
Description .............................................................. 79 C1A30 BCU CAN COMM CIRC ....................... 106
DTC Logic ............................................................... 79 Description ............................................................ 106
Diagnosis Procedure .............................................. 79 DTC Logic ............................................................. 106
C1A13 STOP LAMP RELAY ............................. 80
Description .............................................................. 80 C1A31 BCU INTERNAL MALF ........................ 107
DTC Logic ............................................................... 80 Description ............................................................ 107
Diagnosis Procedure .............................................. 80 DTC Logic ............................................................. 107

Diagnosis Procedure ............................................. 107 DTC Logic .............................................................. 129
Special Repair Requirement ................................. 107 Diagnosis Procedure ............................................. 129 A
Special Repair Requirement .................................. 129
C1A32 IBA FLAG STUCK ............................... 109
Description ............................................................ 109 U0415 VDC CAN 1 .......................................... 131
DTC Logic ............................................................. 109 Description ............................................................. 131 B
Special Repair Requirement ................................. 109 Diagnosis Procedure ............................................. 131
Special Repair Requirement .................................. 131 C
C1A33 CAN TRANSMISSION ERROR ........... 111
Description ............................................................ 111 U0418 BCU CAN 1 .......................................... 133
DTC Logic ............................................................. 111 Description ............................................................. 133
D
C1A34 COMMAND ERROR ............................. 113 E
Description ............................................................ 113 U0428 STRG SEN CAN 2 ............................... 135
Diagnosis Procedure ............................................. 113 DTC Logic .............................................................. 135 F
C1A39 STEERING ANGLE SENSOR .............. 115
Description ............................................................ 115 U1000 CAN COMM CIRCUIT ......................... 137 G
Special Repair Requirement ................................. 115 Diagnosis Procedure ............................................. 137 H
C1A40 SYSTEM SWITCH CIRCUIT ................ 117
Description ............................................................ 117 U1010 CONTROL UNIT (CAN) ....................... 139
DTC Logic ............................................................. 117 Description ............................................................. 139 I
Component Inspection (DCA Switch) .................... 119 Diagnosis Procedure ............................................. 139
Component Inspection (IBA OFF Switch) ............. 120 Special Repair Requirement .................................. 139 J
POWER SUPPLY AND GROUND CIRCUIT .. 140
U0121 VDC CAN 2 ........................................... 121
Description ............................................................ 121 ICC SENSOR INTEGRATED UNIT ......................... 140 K
DTC Logic ............................................................. 121 ICC SENSOR INTEGRATED UNIT : Diagnosis
Diagnosis Procedure ............................................. 121 Procedure .............................................................. 140
Special Repair Requirement ................................. 121 L
BRAKE BOOSTER CONTROL UNIT ...................... 140
U0126 STRG SEN CAN 1 ................................ 123 BRAKE BOOSTER CONTROL UNIT : Diagnosis
Procedure .............................................................. 140
Description ............................................................ 123
M
DTC Logic ............................................................. 123 ICC WARNING CHIME CIRCUIT .................... 142
Diagnosis Procedure ............................................. 123 Description ............................................................. 142
Special Repair Requirement ................................. 123 Component Function Check .................................. 142
N
U0129 BCU CAN 2 ........................................... 125 Diagnosis Procedure ............................................. 142
Component Inspection ........................................... 143
Description ............................................................ 125
DTC Logic ............................................................. 125 ECU DIAGNOSIS INFORMATION ............ 144 CCS
Diagnosis Procedure ............................................. 125
Special Repair Requirement ................................. 125 ICC SENSOR INTEGRATED UNIT ................. 144
Reference Value .................................................... 144
U0401 ECM CAN 1 ........................................... 127 Wiring Diagram - INTELLIGENT CRUISE CON-
P
Description ............................................................ 127 TROL (FULL SPEED RANGE) - ............................ 148
DTC Logic ............................................................. 127
Fail-Safe ................................................................ 157
DTC Inspection Priority Chart ................................ 157
DTC Index ............................................................. 158
U0402 TCM CAN 1 ........................................... 129 BRAKE BOOSTER CONTROL UNIT ............. 161
Description ............................................................ 129
Reference Value .................................................... 161

SYMPTOM DIAGNOSIS ............................ 163 REMOVAL AND INSTALLATION ............. 180
INTELLIGENT CRUISE CONTROL (FULL ICC SENSOR INTEGRATED UNIT .................. 180
SPEED RANGE) SYSTEM SYMPTOMS ......... 163 Exploded View ...................................................... 180
Symptom Table .....................................................163 Removal and Installation ....................................... 180
MAIN SWITCH DOES NOT TURN ON, MAIN BRAKE BOOSTER CONTROL UNIT .............. 181
SWITCH DOES NOT TURN OFF .................... 164 Exploded View ...................................................... 181
Description .............................................................164 Removal and Installation ....................................... 181
Diagnosis Procedure .............................................164
ICC WARNING CHIME ..................................... 182
ICC SYSTEM CANNOT BE SET (MAIN Exploded View ...................................................... 182
SWITCH TURNS ON/OFF) .............................. 165 Removal and Installation ....................................... 182
Description .............................................................165
ICC STEERING SWITCH ................................. 183
Exploded View ...................................................... 183
ICC STEERING SWITCH (OTHER THAN DCA
MAIN SWITCH) DOES NOT FUNCTION ........ 167
Description .............................................................167 BASIC INSPECTION ................................. 184
Diagnosis Procedure .............................................167 DIAGNOSIS AND REPAIR WORK FLOW ....... 184
ICC SYSTEM DOES NOT CANCEL WHEN A/ Work Flow ............................................................. 184
T SELECTOR LEVER SETS ON "N" .............. 168 INSPECTION AND ADJUSTMENT .................. 186
Description .............................................................168
Diagnosis Procedure .............................................168 ADDITIONAL SERVICE WHEN REPLACING
CHIME DOES NOT SOUND ............................ 169 UNIT) ....................................................................... 186
Description .............................................................169 ADDITIONAL SERVICE WHEN REPLACING
Diagnosis Procedure .............................................169 CONTROL UNIT (ICC SENSOR INTEGRATED
UNIT) : Description ............................................... 186
DRIVING FORCE IS HUNTING ....................... 171
Description .............................................................171
UNIT) : Special Repair Requirement .................... 186
FREQUENTLY CANNOT DETECT THE VEHI- ADDITIONAL SERVICE WHEN REPLACING
CLE AHEAD / DETECTION ZONE IS SHORT. 172 CONTROL UNIT (ACCELERATOR PEDAL AS-
Description .............................................................172 SEMBLY) ................................................................. 186
Diagnosis Procedure .............................................172 ADDITIONAL SERVICE WHEN REPLACING
THE SYSTEM DOES NOT DETECT THE VE- CONTROL UNIT (ACCELERATOR PEDAL AS-
SEMBLY) : Description ......................................... 186
HICLE AHEAD AT ALL ................................... 173
Description .............................................................173
CONTROL UNIT (ACCELERATOR PEDAL AS-
SEMBLY) : Special Repair Requirement .............. 186
NORMAL OPERATING CONDITION .............. 174 ACTION TEST ......................................................... 186
Description .............................................................174
ACTION TEST : Description ................................. 187
PRECAUTION ............................................ 177 ACTION TEST : Special Repair Requirement
(Distance Control Assist) ...................................... 187
PRECAUTIONS ............................................... 177
Precaution for Supplemental Restraint System SYSTEM DESCRIPTION .......................... 188
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN- DISTANCE CONTROL ASSIST SYSTEM ....... 188
SIONER" ................................................................177
System Diagram ................................................... 188
Precautions For Harness Repair ...........................177
System Description ............................................... 188
ICC System Service ..............................................178
Component Parts Location ................................... 194
PREPARATION .......................................... 179 Component Description ........................................ 195
PREPARATION ............................................... 179 DIAGNOSIS SYSTEM (ICC SENSOR INTE-

Special Service Tools ............................................179 GRATED UNIT) ................................................ 196
Diagnosis Description ........................................... 196
CONSULT-III Function (ICC) ................................ 197

DIAGNOSIS SYSTEM (ACCELERATOR Description ............................................................. 227
PEDAL ACTUATOR) ....................................... 204 DTC Logic .............................................................. 227 A
CONSULT-III Function (ACCELE PEDAL ACT) .. 204 Diagnosis Procedure ............................................. 227
Component Inspection ........................................... 228
DTC/CIRCUIT DIAGNOSIS ....................... 206 Special Repair Requirement .................................. 228 B
C1A00 CONTROL UNIT ................................... 206 C1A12 LASER BEAM OFF CENTER ............. 230
Description ............................................................ 206 Description ............................................................. 230
DTC Logic ............................................................. 206 DTC Logic .............................................................. 230 C
Diagnosis Procedure ............................................. 206 Diagnosis Procedure ............................................. 230
Special Repair Requirement ................................. 206 Special Repair Requirement .................................. 230
D
C1A01 POWER SUPPLY CIRCUIT 1, C1A02 C1A13 STOP LAMP RELAY .......................... 231
POWER SUPPLY CIRCUIT 2 .......................... 208 Description ............................................................. 231
Description ............................................................ 208 DTC Logic .............................................................. 231
DTC Logic ............................................................. 208 Diagnosis Procedure ............................................. 231 E
Diagnosis Procedure ............................................. 208 Component Inspection ........................................... 236
F
C1A03 VEHICLE SPEED SENSOR ................. 210 C1A14 ECM ..................................................... 238
DTC Logic ............................................................. 210 DTC Logic .............................................................. 238
Diagnosis Procedure ............................................. 210 Diagnosis Procedure ............................................. 238 G
C1A04 ABS/TCS/VDC SYSTEM ...................... 212 C1A15 GEAR POSITION ................................ 240 H
I
C1A05 BRAKE SW/STOP LAMP SW ............. 214 C1A16 RADAR STAIN .................................... 243
Description ............................................................ 214 Description ............................................................. 243 J
Component Inspection (ICC Brake Switch) ........... 217 Special Repair Requirement .................................. 243 K
Component Inspection (Stop Lamp Switch) .......... 217
Special Repair Requirement ................................. 218 C1A18 LASER AIMING INCMP ...................... 245
Description ............................................................. 245
C1A08 PRESSURE SENSOR .......................... 219 DTC Logic .............................................................. 245 L
Description ............................................................ 219 Diagnosis Procedure ............................................. 245
DTC Logic ............................................................. 219 Special Repair Requirement .................................. 245
Diagnosis Procedure ............................................. 219 M
Special Repair Requirement ................................. 220 C1A21 UNIT HIGH TEMP ............................... 247
Description ............................................................. 247
C1A09 BOOSTER SOLENOID ........................ 221 DTC Logic .............................................................. 247
Description ............................................................ 221 Diagnosis Procedure ............................................. 247 N
DTC Logic ............................................................. 221 Special Repair Requirement .................................. 247
Component Inspection .......................................... 222 C1A22 BCU CIRCUIT ..................................... 249 CCS
Special Repair Requirement ................................. 222 Description ............................................................. 249
DTC Logic .............................................................. 249
C1A10 RELEASE SWITCH .............................. 224 Diagnosis Procedure ............................................. 249
Description ............................................................ 224 Special Repair Requirement .................................. 252 P
DTC logic .............................................................. 224
Diagnosis Procedure ............................................. 224 C1A24 NP RANGE .......................................... 253
Component Inspection .......................................... 225 Description ............................................................. 253
Special Repair Requirement ................................. 226 DTC Logic .............................................................. 253
C1A11 PRESSURE CONTROL ....................... 227 Special Repair Requirement .................................. 254

C1A28 BCU POWER SUPPLY CIRCUIT, Diagnosis Procedure ............................................. 271
C1A29 BCU POWER SUPPLY CIRCUIT2 ...... 255 Special Repair Requirement ................................. 271
Description .............................................................255
DTC Logic ..............................................................255
C1A39 STEERING ANGLE SENSOR .............. 273
Description ............................................................ 273
DTC Logic ............................................................. 273
Special Repair Requirement ..................................255
C1A30 BCU CAN COMM CIRC ...................... 257 Special Repair Requirement ................................. 273
Description .............................................................257
DTC Logic ..............................................................257
C1A40 SYSTEM SWITCH CIRCUIT ................ 275
Description ............................................................ 275
DTC Logic ............................................................. 275
C1A31 BCU INTERNAL MALF ....................... 258 Component Inspection (DCA Switch) ................... 277
Description .............................................................258 Component Inspection (IBA OFF Switch) ............. 278
DTC Logic ..............................................................258 Special Repair Requirement ................................. 278
C1F01 ACCELERATOR PEDAL ACTUATOR.. 279
Description ............................................................ 279
C1A32 IBA FLAG STUCK ............................... 260 DTC Logic ............................................................. 279
Description .............................................................260 Diagnosis Procedure ............................................. 279
Description ............................................................ 281
C1A33 CAN TRANSMISSION ERROR ........... 262 DTC Logic ............................................................. 281
Description ............................................................ 282
C1A34 COMMAND ERROR ............................ 264 DTC Logic ............................................................. 282
C1F05 ACCELERATOR PEDAL ACTUATOR
POWER SUPPLY CIRCUIT .............................. 284
C1A35 ACCELERATOR PEDAL ACTUATOR. 266 Description ............................................................ 284
Description .............................................................266 DTC Logic ............................................................. 284
DTC Logic ..............................................................266 Diagnosis Procedure ............................................. 284
Diagnosis Procedure .............................................266 Special Repair Requirement ................................. 284
C1F06 CAN CIRCUIT2 ..................................... 286
C1A36 ACCELERATOR PEDAL ACTUATOR Description ............................................................ 286
CAN COMM ..................................................... 267 DTC Logic ............................................................. 286
C1F07 CAN CIRCUIT1 ..................................... 288
Description ............................................................ 288
C1A37 ACCELERATOR PEDAL ACTUATOR DTC Logic ............................................................. 288
CAN 2 ............................................................... 269 Diagnosis Procedure ............................................. 288
Description .............................................................269 Special Repair Requirement ................................. 288
DTC Logic ..............................................................269
U0121 VDC CAN 2 ........................................... 290
Description ............................................................ 290
DTC Logic ............................................................. 290
C1A38 ACCELERATOR PEDAL ACTUATOR Diagnosis Procedure ............................................. 290
CAN 1 ............................................................... 271 Special Repair Requirement ................................. 290
Description .............................................................271 U0126 STRG SEN CAN 1 ................................ 292
DTC Logic ..............................................................271

Description ............................................................ 292 U1010 CONTROL UNIT (CAN) ....................... 309
DTC Logic ............................................................. 292 A
Diagnosis Procedure ............................................. 292 ICC SENSOR INTEGRATED UNIT ......................... 309
Special Repair Requirement ................................. 292 ICC SENSOR INTEGRATED UNIT : Description .. 309
ICC SENSOR INTEGRATED UNIT : DTC Logic .. 309
U0129 BCU CAN 2 ........................................... 294 ICC SENSOR INTEGRATED UNIT : Diagnosis B
Description ............................................................ 294 Procedure .............................................................. 309
DTC Logic ............................................................. 294 ICC SENSOR INTEGRATED UNIT : Special Re-
Diagnosis Procedure ............................................. 294 pair Requirement ................................................... 309 C
ACCELERATOR PEDAL ACTUATOR .................... 309
U0401 ECM CAN 1 ........................................... 296 ACCELERATOR PEDAL ACTUATOR : Descrip-
D
Description ............................................................ 296 tion ......................................................................... 309
DTC Logic ............................................................. 296 ACCELERATOR PEDAL ACTUATOR : DTC Log-
Diagnosis Procedure ............................................. 296 ic ............................................................................ 310
Special Repair Requirement ................................. 296 ACCELERATOR PEDAL ACTUATOR : Diagnosis E
Procedure .............................................................. 310
U0402 TCM CAN 1 ........................................... 298 ACCELERATOR PEDAL ACTUATOR : Special
Description ............................................................ 298 Repair Requirement .............................................. 310 F
DTC Logic ............................................................. 298
Diagnosis Procedure ............................................. 298 POWER SUPPLY AND GROUND CIRCUIT .. 311
ICC SENSOR INTEGRATED UNIT ......................... 311 G
U0415 VDC CAN 1 ........................................... 300 ICC SENSOR INTEGRATED UNIT : Diagnosis
Description ............................................................ 300 Procedure .............................................................. 311
DTC Logic ............................................................. 300 H
BRAKE BOOSTER CONTROL UNIT ...................... 311
BRAKE BOOSTER CONTROL UNIT : Diagnosis
Procedure .............................................................. 311
U0418 BCU CAN 1 ........................................... 302 I
ACCELERATOR PEDAL ACTUATOR .................... 312
Description ............................................................ 302 ACCELERATOR PEDAL ACTUATOR : Diagnosis
DTC Logic ............................................................. 302 Procedure .............................................................. 312
Diagnosis Procedure ............................................. 302 J
Special Repair Requirement ................................. 302 ICC WARNING CHIME CIRCUIT .................... 314
Description ............................................................. 314
U0428 STRG SEN CAN 2 ................................ 304 Component Function Check .................................. 314
Description ............................................................ 304 K
DTC Logic ............................................................. 304 Component Inspection ........................................... 315
Special Repair Requirement ................................. 304 ECU DIAGNOSIS INFORMATION ............ 316 L
U1000 CAN COMM CIRCUIT ........................... 306 ICC SENSOR INTEGRATED UNIT ................. 316
Reference Value .................................................... 316 M
ICC SENSOR INTEGRATED UNIT ......................... 306
Wiring Diagram - DISTANCE CONTROL ASSIST
ICC SENSOR INTEGRATED UNIT : Description.. 306
- ............................................................................. 320
ICC SENSOR INTEGRATED UNIT : DTC Logic .. 306
Fail-Safe ................................................................ 329
ICC SENSOR INTEGRATED UNIT : Diagnosis N
Procedure .............................................................. 306 DTC Inspection Priority Chart ................................ 329
DTC Index ............................................................. 330
ICC SENSOR INTEGRATED UNIT : Special Re-
pair Requirement ................................................... 306 BRAKE BOOSTER CONTROL UNIT ............. 333 CCS
ACCELERATOR PEDAL ACTUATOR ................... 307 Reference Value .................................................... 333
ACCELERATOR PEDAL ACTUATOR : Descrip- ACCELERATOR PEDAL ACTUATOR ........... 335
tion ........................................................................ 307 P
Reference Value .................................................... 335
ACCELERATOR PEDAL ACTUATOR : DTC Log-
Wiring Diagram - DISTANCE CONTROL ASSIST
ic ............................................................................ 307
- ............................................................................. 337
ACCELERATOR PEDAL ACTUATOR : Diagnosis
DTC Inspection Priority Chart ................................ 346
Procedure .............................................................. 307
DTC Index ............................................................. 347
ACCELERATOR PEDAL ACTUATOR : Special
Repair Requirement .............................................. 308 SYMPTOM DIAGNOSIS ............................ 348

DISTANCE CONTROL ASSIST SYSTEM DCA SWITCH ................................................... 367
SYMPTOMS ..................................................... 348 Exploded View ...................................................... 367
Symptom Table .....................................................348 Removal and Installation ....................................... 367
FCW
SWITCH DOES NOT TURN ON / SWITCH
DOES NOT TURN OFF ................................... 349 BASIC INSPECTION ................................. 368
Description .............................................................349
Diagnosis Procedure .............................................349 DIAGNOSIS AND REPAIR WORK FLOW ....... 368
Work Flow ............................................................. 368
DCA SYSTEM NOT ACTIVATED (SWITCH IS
ON) ................................................................... 351 SYSTEM DESCRIPTION .......................... 370
Description .............................................................351
FORWARD COLLISION WARNING SYSTEM.. 370
System Diagram ................................................... 370
CHIME DOES NOT SOUND ............................ 353 System Description ............................................... 370
Description .............................................................353 Component Parts Location ................................... 372
Diagnosis Procedure .............................................353 Component Description ........................................ 372
NO FORCE GENERATED FOR PUTTING DIAGNOSIS SYSTEM (ICC SENSOR INTE-

BACK THE ACCELERATOR PEDAL ............. 355 GRATED UNIT) ................................................ 374
Description .............................................................355 Diagnosis Description ........................................... 374
Diagnosis Procedure .............................................355 CONSULT-III Function (ICC) ................................ 375
FREQUENTLY CANNOT DETECT THE VEHI- DIAGNOSIS SYSTEM (LANE CAMERA

CLE AHEAD / DETECTION ZONE IS SHORT. 356 UNIT) ................................................................. 382
Description .............................................................356 CONSULT-III Function (LANE CAMERA) ............. 382
ECU DIAGNOSIS INFORMATION ............ 385
THE SYSTEM DOES NOT DETECT THE VE-
HICLE AHEAD AT ALL ................................... 357 ICC SENSOR INTEGRATED UNIT .................. 385
Reference Value ................................................... 385
Description .............................................................357
Wiring Diagram - FORWARD COLLISION
WARNING - .......................................................... 389
NORMAL OPERATING CONDITION .............. 358 Fail-Safe ................................................................ 394
Description .............................................................358 DTC Inspection Priority Chart ............................... 394
DTC Index ............................................................. 395
PRECAUTION ............................................ 361
LANE CAMERA UNIT ...................................... 398
PRECAUTIONS ............................................... 361 Reference Value ................................................... 398
Precaution for Supplemental Restraint System Wiring Diagram - FORWARD COLLISION
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN- WARNING - .......................................................... 400
SIONER" ................................................................361 Fail-safe ................................................................ 405
Precautions For Harness Repair ...........................361 DTC Inspection Priority Chart ............................... 406
DCA System Service .............................................362 DTC Index ............................................................. 406
REMOVAL AND INSTALLATION .............. 363 SYMPTOM DIAGNOSIS ........................... 407

ICC SENSOR INTEGRATED UNIT ................. 363 FORWARD COLLISION WARNING SYSTEM
Exploded View .......................................................363 SYMPTOMS ...................................................... 407
Removal and Installation .......................................363 Symptom Table ..................................................... 407
BRAKE BOOSTER CONTROL UNIT .............. 364 FCW SYSTEM IS NOT ACTIVATED ................ 408
Exploded View .......................................................364 Description ............................................................ 408
Removal and Installation .......................................364 Diagnosis Procedure ............................................. 408
ICC WARNING CHIME .................................... 365 NORMAL OPERATING CONDITION ............... 409
Exploded View .......................................................365 Description ............................................................ 409
Removal and Installation .......................................365
PRECAUTION ........................................... 410
ACCELERATOR PEDAL ASSEMBLY ............ 366
Exploded View .......................................................366 PRECAUTIONS ................................................ 410
Precaution for FCW System Service .................... 410

REMOVAL AND INSTALLATION ............. 411 DIAGNOSIS SYSTEM [ABS ACTUATOR
AND ELECTRIC UNIT (CONTROL UNIT)] ..... 439 A
FCW SWITCH ................................................... 411 CONSULT-III Function .......................................... 439
Exploded View ...................................................... 411
LDW & LDP DTC/CIRCUIT DIAGNOSIS ....................... 445 B
BASIC INSPECTION ................................. 412 C1B00 CAMERA UNIT MALF ........................ 445
DTC Logic .............................................................. 445
DIAGNOSIS AND REPAIR WORK FLOW ...... 412 Diagnosis Procedure ............................................. 445 C
Work Flow ............................................................. 412
Diagnostic Work Sheet .......................................... 413 C1B01 CAM AIMING INCMP .......................... 446
DTC Logic .............................................................. 446
PRE-INSPECTION FOR DIAGNOSIS .............. 415 D
Inspection Procedure ............................................ 415
C1B02 VHCL SPD DATA MALF .................... 447
ACTION TEST .................................................. 416 DTC Logic .............................................................. 447 E
Description ............................................................ 416 Diagnosis Procedure ............................................. 447
Inspection Procedure ............................................ 416
C1B03 ABNRML TEMP DETECT ................... 448
INSPECTION AND ADJUSTMENT .................. 418 DTC Logic .............................................................. 448 F
CONTROL UNIT (LANE CAMERA UNIT) ............... 418 C1B07 ABS DIAGNOSIS ................................ 449 G
ADDITIONAL SERVICE WHEN REPLACING DTC Logic .............................................................. 449
CONTROL UNIT (LANE CAMERA UNIT) : De- Diagnosis Procedure ............................................. 449
scription ................................................................. 418
ADDITIONAL SERVICE WHEN REPLACING U1000 CAN COMM CIRCUIT ......................... 450 H
CONTROL UNIT (LANE CAMERA UNIT) : Spe- Description ............................................................. 450
cial Repair Requirement ........................................ 418 DTC Logic .............................................................. 450
Diagnosis Procedure ............................................ 450 I
CAMERA AIMING ADJUSTMENT .......................... 418
CAMERA AIMING ADJUSTMENT : Description .. 418 U1010 CONTROL UNIT (CAN) ....................... 451
CAMERA AIMING ADJUSTMENT : Special Re- DTC Logic .............................................................. 451
J
pair Requirement (Preparation) ............................. 418 Diagnosis Procedure ............................................. 451
CAMERA AIMING ADJUSTMENT : Special Re-
pair Requirement (Target Setting) ......................... 419 U0122 VDC CAN CIR1 (LDP) ......................... 452
CAMERA AIMING ADJUSTMENT : Special Re- DTC Logic .............................................................. 452 K
pair Requirement (Camera Aiming Adjustment) .. 420 Diagnosis Procedure ............................................. 452
CAMERA AIMING ADJUSTMENT : Special Re-
U0416 VDC CAN CIR2 (LDP) ......................... 454
pair Requirement (Target Mark Sample) ............... 422 L
DTC Logic .............................................................. 454
SYSTEM DESCRIPTION ........................... 423 Diagnosis Procedure ............................................. 454
LANE DEPARTURE WARNING (LDW) SYS- C1B00 LDP) CAMERA MALF ........................ 456 M
TEM .................................................................. 423 DTC Logic .............................................................. 456
System Diagram .................................................... 423
System Description ............................................... 423 C1B04 LDP) ICC STG SW MALF ................... 457 N
Component Parts Location .................................... 426 DTC Logic .............................................................. 457
Component Description ......................................... 427 Diagnosis Procedure ............................................. 457
LANE DEPARTURE PREVENTION (LDP) CCS
C1B05 LDP) APP SEN MALF ........................ 458
SYSTEM ........................................................... 428 DTC Logic .............................................................. 458
System Diagram .................................................... 428 Diagnosis Procedure ............................................. 458
System Description ............................................... 428 P
Component Parts Location .................................... 433 C1B06 LDP) TCM MALF ................................ 459
Component Description ......................................... 434 DTC Logic .............................................................. 459
DIAGNOSIS SYSTEM (LANE CAMERA
UNIT) ................................................................ 436 U0100 LDP) ECM CAN CIR2 .......................... 460
CONSULT-III Function (LANE CAMERA) ............. 436 DTC Logic .............................................................. 460

U0101 LDP) TCM CAM CAN CIR2 ................. 462 Fail-safe ................................................................ 482
DTC Logic ..............................................................462 DTC Inspection Priority Chart ............................... 483
Diagnosis Procedure .............................................462 DTC Index ............................................................. 483
U0104 LDP) ICC CAM CAN CIR2 ................... 464 ABS ACTUATOR AND ELECTRIC UNIT
DTC Logic ..............................................................464 (CONTROL UNIT) ............................................. 484
Diagnosis Procedure .............................................464 Reference Value ................................................... 484
Wiring Diagram - BRAKE CONTROL SYSTEM - . 489
U0405 LDP) ICC CAM CAN CIR1 ................... 465 Fail-Safe ................................................................ 493
DTC Logic ..............................................................465 DTC Index ............................................................. 494
SYMPTOM DIAGNOSIS ........................... 496
U1500 LDP) CAM CAN CIR1 .......................... 466
DTC Logic ..............................................................466 LDW & LDP SYSTEM SYMPTOMS ................. 496
Diagnosis Procedure .............................................466 Symptom Table ..................................................... 496
U1501 LDP) CAM CAN CIR2 .......................... 467 NORMAL OPERATING CONDITION ............... 498
DTC Logic ..............................................................467 Description ............................................................ 498
PRECAUTION ........................................... 500
POWER SUPPLY AND GROUND CIRCUIT ... 468
PRECAUTIONS ................................................ 500
LANE CAMERA UNIT ..............................................468 Precaution for Supplemental Restraint System
LANE CAMERA UNIT : Diagnosis Procedure .......468 (SRS) "AIR BAG" and "SEAT BELT PRE-TEN-
SIONER" ............................................................... 500
LDW SWITCH CIRCUIT .................................. 469
Precaution for LDW/LDP System Service ............. 500
Component Function Check ..................................469
Diagnosis Procedure .............................................469 REMOVAL AND INSTALLATION ............. 501
Component Inspection ...........................................470
LANE CAMERA UNIT ...................................... 501
LDW ON INDICATOR CIRCUIT ...................... 471 Exploded View ...................................................... 501
Component Function Check ..................................471 Removal and Installation ....................................... 501
LDW SWITCH ................................................... 502
LANE DEPARTURE WARNING BUZZER Exploded View ...................................................... 502
CIRCUIT ........................................................... 473 Removal and Installation ....................................... 502
Component Function Check ..................................473
Diagnosis Procedure .............................................473 LANE DEPARTURE WARNING BUZZER ....... 503
Exploded View ...................................................... 503
ECU DIAGNOSIS INFORMATION ............. 475 Removal and Installation ....................................... 503
LANE CAMERA UNIT ..................................... 475 LDP ON SWITCH ............................................. 504
Reference Value ....................................................475 Exploded View ...................................................... 504
Wiring Diagram - LDW & LDP - .............................477

DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [ICC (FULL SPEED RANGE)]
BASIC INSPECTION A
Work Flow INFOID:0000000003902167
B
OVERALL SEQUENCE
C
CCS
P
JPOIA0171GB
DETAILED FLOW
1.INTERVIEW FOR MALFUNCTION

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

NOTE:
The customers are not professionals. Never assume that “maybe the customer means···” or “maybe the cus-
tomer mentioned this symptom”.
>> GO TO 2.
2.SELF-DIAGNOSIS WITH CONSULT-III
1. Perform “All DTC Reading” with CONSULT-III.
2. Check if any DTC is detected in self-diagnosis results of “ICC”.
Is any DTC detected?
YES >> GO TO 5.
NO >> GO TO 3.
3.ACTION TEST
Perform the ICC system action test to check the operation status. Refer to CCS-18, "ACTION TEST : Descrip-
tion".
Check if any other malfunctions occur.
>> GO TO 4.
4.SYMPTOM DIAGNOSIS
Perform the applicable diagnosis according to the diagnosis chart by symptom. Refer to CCS-163, "Symptom
Table".
>> GO TO 6.
5.TROUBLE DIAGNOSIS BY DTC
1. Check the DTC in the self-diagnosis results.
2. Perform trouble diagnosis for the detected DTC. Refer to CCS-158, "DTC Index".
NOTE:
If “DTC: U1000” is detected, first diagnose the CAN communication system or ITS communication system.
>> GO TO 6.
6.MALFUNCTIONING PART REPAIR
Repair or replace the identified malfunctioning parts.
>> GO TO 7.
7.REPAIR CHECK (SELF-DIAGNOSIS WITH CONSULT-III)
1. Erases self-diagnosis results.
2. Perform “All DTC Reading” again after repairing or replacing the malfunctioning parts.
3. Check if any DTC is detected in self-diagnosis results of “ICC”.
YES >> GO TO 5.
NO >> GO TO 8.
8.REPAIR CHECK (ACTION TEST)
Perform the ICC system action test. Check if the malfunction symptom is solved or no other symptoms occur.
Is there any malfunction symptom?
YES >> GO TO 4.
NO >> INSPECTION END

INSPECTION AND ADJUSTMENT
A
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (ICC SENSOR IN-
TEGRATED UNIT)
B
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (ICC SENSOR INTE-
GRATED UNIT) : Description INFOID:0000000003902168
C
• Always perform the laser beam aiming adjustment after removing and installing or replacing the ICC sensor
integrated unit.
CAUTION:
The system does not operate normally unless the laser beam aiming adjustment is performed. D
Always perform it.
• Perform the ICC system action test to check that the ICC system operates normally.
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (ICC SENSOR INTE- E
GRATED UNIT) : Special Repair Requirement INFOID:0000000003902169
1.LASER BEAM AIMING ADJUSTMENT F
Adjust the laser beam aiming. Refer to CCS-13, "LASER BEAM AIMING ADJUSTMENT : Description".
G
>> GO TO 2.
2.ICC SYSTEM ACTION TEST
H
1. Perform the ICC system action test. Refer to CCS-18, "ACTION TEST : Description".
2. Check that the ICC system operates normally.
I
>> INSPECTION END
LASER BEAM AIMING ADJUSTMENT
LASER BEAM AIMING ADJUSTMENT : Description INFOID:0000000003902170
J
OUTLINE OF LASER BEAM AIMING ADJUSTMENT

Always adjust the laser beam aiming after removing and installing or replacing the ICC sensor integrated unit. K
CAUTION:
The system does not operate normally unless the laser beam aiming adjustment is performed. Always
perform it. L
1. Set the ICC target board [SST: KV99110100 (J-45718)] to the correct position in front of the vehicle.
2. Set the laser beam aiming mode (“LASER BEAM ADJUST” on “Work support”) with CONSULT-III, and
then perform the adjustment according to the display. (Manually turn the up-down direction adjusting M
screw for vertical adjustment. ICC sensor integrated unit adjusts the automatic aiming for the horizontal
direction.)
CAUTIONARY POINT FOR LASER BEAM AIMING ADJUSTMENT N
CAUTION:
• For laser beam aiming adjustment, choose a level location where a view can be obtained without any
obstruction as far as 12 m (39 ft) or more in the forward direction. CCS
• Adjust laser beam aiming for 5 seconds or more after starting engine.
• Adjust the laser beam aiming with CONSULT-III. (The laser beam aiming cannot be adjusted without
CONSULT-III.)
• Never enter the vehicle during laser beam aiming adjustment. P
• Never look directly into the laser beam source (ICC sensor integrated unit body window) during laser
beam aiming adjustment.
• Laser beam aiming adjustment is performed at idle. At this time, turn the headlamps OFF.

LASER BEAM AIMING ADJUSTMENT : Special Repair Requirement (Preparation)
INFOID:0000000003902171
1.ADVANCE PREPARATION FOR LASER BEAM AIMING ADJUSTMENT

1. Adjust all tire pressure to the specified value.
2. Empty the vehicle. (Remove any luggage from the passenger compartment, luggage room, etc.)
3. Shift the selector lever to “P” position, and release the parking brake.
4. Fully fill the fuel tank, and then check that the coolant and oils are filled up to correct level.
5. Clean off the ICC sensor integrated unit body window with a soft
cloth.
1 : ICC sensor integrated unit
>> Go to CCS-14, "LASER BEAM AIMING ADJUSTMENT :

Special Repair Requirement (Setting The ICC Target
Board)".
JPOIA0198ZZ
LASER BEAM AIMING ADJUSTMENT : Special Repair Requirement (Setting The ICC
Target Board) INFOID:0000000003902172
DESCRIPTION
Accurate adjustment of the laser beam requires that the ICC target board be accurately positioned.
CAUTION:
If the laser beam is adjusted with the ICC target board in the incorrect position, the ICC system does
not function normally.
1.ICC TARGET BOARD HEIGHT ADJUSTMENT
1. Attach the ruler (2) at 14 mm (0.55 in) (H) below the center (A) of
the ICC target board (1).
3 : Adjust nut
b : 90°
JPOIA0215ZZ
2. Adjust the ICC target board height to the position aligning the
ruler (1) upper side tip with the center of laser beam axis (A).
2 : ICC sensor integrated unit
JPOIA0135ZZ
NOTE:

• The center of laser beam axis (A) is located at 38 mm (1.5 in) (W)
from the left end of ICC sensor integrated unit and 22 mm (H) (0.87 A
in) from above when viewed from the front of the vehicle.
B : Up-down direction adjusting screw

B
JPOIA0137ZZ
D
• To identify the laser beam axis center (A) easily, prepare a piece of
paper (B) cut to the size of 38 mm (1.5 in) (W) × 22 mm (0.87 in)
(H) and attach it on the upper left point of the ICC sensor inte- E
grated unit (1).
>> GO TO 2. F
G
JPOIA0138ZZ
2.ADJUSTING SIDE POSITION OF ICC TARGET BOARD

H
1. On the back of the ICC target board, attach the ruler (1) [350
mm (13.78 in) or more] or a similar tool squarely from the ICC
target board center (A) in the left direction.
I
K
JSOIA0024ZZ
2. Suspend a weight from a string (1) attached to its end at the L

point (B) rightward from the ICC target board center (A).
W [mm (in)] : 315 (12.4)

M
>> GO TO 3.
N
JSOIA0016ZZ CCS
3.SETTING ICC TARGET BOARD
1. Suspend a thread with weight on tip from the center of the front and rear bumpers. Then, mark the center
points on the ground as each weight point. P
2. Link the front and rear bumpers center points marked on the ground and extend a straight line ahead.
Then mark a point 3.9 m (12.8 ft) position ahead of the front bumper. Then, adjust the position of the ICC
target board so that the weight comes on the top of the marked point [3.9 m (12.8 ft) position ahead of the
front bumper] and face to the vehicle.

3. Adjust the position of the ICC target board (1) so that the
extended line (A) that links the center of the rear window glass
(the center of the rear window defogger pattern) (B) and the cen-
ter of the windshield (the setting part of the room mirror) (C)
align with the weight suspended (2) from the ICC target board.
JSOIA0025ZZ
4. Remove the thread suspended to the right side of ICC target board and suspend a thread with weight on
tip on the center of the ICC target board. Then mark the point of weight on the ground.
5. Pivot the edge of the ICC target board 25° (a) to either side.
1 : ICC target board

2 : String with a weight
C : ICC target board center marking point
NOTE:
Approx. 90 mm (3.54 in) (b) shift rates the 25° (a) movement.
JSOIA0026ZZ
>> GO TO 4.
4.CHECK THE ICC TARGET BOARD INSTALLATION POSITION
Check that the ICC target board (1) is located as shown in the figure.
JSOIA0017ZZ
1. ICC target board 2. ICC sensor integrated unit 3. Vehicle

B. Vehicle center L1. 4.0 m (13.0 ft)
W. 315 mm (12.4 in)
a. 25°
NOTE:
The distance between laser beam axis and ICC target board is 4.0 m (13.0 ft).
>> GO TO 5.
5.CHECK THE ICC TARGET BOARD INSTALLATION AREA

Do not place anything other than ICC target board in the space shown in the figure (view from top).
A
JSOIA0027ZZ
D
1. ICC target board 2. ICC sensor integrated unit
L1. 6.5 m (21.3 ft) L2. 4.0 m (13.0 ft) W. 3.5 m (11.5 ft)
NOTE: E
In case the space shown in the figure is not available, cover the side of the ICC target board with a 1400
mm(4.6 ft)-size frosted black board or black cloth.
F
>> Go to CCS-17, "LASER BEAM AIMING ADJUSTMENT : Special Repair Requirement (Laser
Beam Aiming Adjustment)".
LASER BEAM AIMING ADJUSTMENT : Special Repair Requirement (Laser Beam G
Aiming Adjustment) INFOID:0000000003902173
H
DESCRIPTION
• Adjust the laser beam aiming in a vertical direction with CONSULT-III as per the following.
• The laser beam aiming adjustment in a horizontal direction is performed automatically with CONSULT-III.
CAUTION: I
• Never look directly into the laser beam source (ICC sensor integrated unit body window) during laser
beam aiming adjustment.
• Perform all necessary work for laser beam aiming adjustment until the adjustment completes as J
shown in the procedure. If the procedure does not complete, the ICC system is inoperable.
1.SET CONSULT-III TO THE LASER BEAM AIMING ADJUSTMENT MODE
1. Start the engine. K
2. Connect CONSULT-III and select “Work support” of “ICC”.
3. Select “LASER BEAM ADJUST” after the “Work support” screen is displayed.
4. Select “START” after the “LASER BEAM ADJUST” screen is displayed. L
NOTE:
If the adjustment screen does not appear within approximately 10 seconds after “LASER BEAM ADJUST”
is selected, the following causes are possible.
M
• The ICC target board is not installed in the correct position.
• Adequate space is not secured around the ICC target board.
• The laser beam aiming adjustment exceeds its proper installation range.
- Deformation of vehicle body. N
- Deformation of unit.
- Deformation of bracket.
• The area is not suitable for the adjustment work. CCS
• ICC sensor integrated unit body window is not clean.
• The ICC system warning lamp illuminates.
P
>> GO TO 2.
2.LASER BEAM AIMING ADJUSTMENT
After “ADJUST THE VERTICAL OF LASER BEAM AIMING” is displayed on CONSULT-III screen, adjust by
turning the up-down direction adjusting screw until “U/D CORRECT” becomes ±4 or less.
NOTE:

• Turn the up-down direction adjusting screw slowly. The value change on display is slower than actual move-
ment of the ICC sensor integrated unit. Wait for 2 seconds every time the up-down direction adjusting screw
is turned half a rotation.
• Turning the up-down direction adjusting screw (A) clockwise
directs the laser beam downward (B). The laser beam directs
upward (C) when turning up-down direction adjusting screw coun-
terclockwise.
CAUTION:
Be careful not to cover the ICC sensor integrated unit body win-
dow with a hand or the other part of body of worker during
adjustment.
JPOIA0136ZZ
>> GO TO 3.
3.LASER BEAM AIMING CONFIRMATION
1. When the “U/D CORRECT” value becomes ±4 or less, check that no value greater than ±4 appears when
the vehicle is left with no load on the ICC sensor integrated unit (hand removed) for at least 2 seconds.
2. When “COMPLETED THE VERTICAL AIMING OF LASER BEAM” display appears, touch “END”.
CAUTION:
Always check that the value of “U/D CORRECT” remains ±4 or less when the ICC sensor inte-
grated unit is left alone for at least 2 seconds.
3. Check that “ADJUSTING AUTOMATIC HORIZONTAL LASER BEAM AIMING” is displayed and wait for a
short period of time. (The maximum: Approx 10 seconds).
4. Check that “Normally Completed” is displayed, and select “End” to end “LASER BEAM ADJUST”.
CAUTION:
Once “LASER BEAM ADJUST” is started with CONSULT-III, always continue the work until the
horizontal laser beam aiming adjustment is completed successfully. If the job is stopped midway,
the laser beam aiming is not adjusted and the ICC system cannot operate.
>> LASER BEAM AIMING ADJUSTMENT END

ACTION TEST
ACTION TEST : Description INFOID:0000000003902174
Always perform the ICC system action test to check that the ICC system operates normally after replacing the
ICC sensor integrated unit or repairing any ICC system malfunction.
CAUTION:
• Always drive safely when performing the action test.
• Turn the DCA system to OFF when performing the action test.
ACTION TEST : Special Repair Requirement (Vehicle-To-Vehicle Distance Control
Mode) INFOID:0000000003902175
NOTE:
• When there is no vehicle ahead, drive at the set speed steadily.
• When there is a vehicle ahead, control to maintain distance from the vehicle ahead, watching its speed.
• The running speed can be set between 32 km/h (20 MPH) and 144 km/h (90 MPH).
CAUTION:
Never set the cruise speed exceeding the posted speed limit.
1.CHECK FOR MAIN SWITCH
1. Start the engine.

2. Press the MAIN switch (1) (less than 1.5 seconds).
A
Information display status
MAIN switch indicator (2) : ON
Set distance indicator (3) : Long mode B
Own vehicle indicator (4) : ON
“— —”
Set vehicle speed indicator (5) :
“km/h” (“MPH”)
C
JPOIA0139ZZ
D
3. Check the ICC system display on the information display to check that the vehicle-to-vehicle distance con-
trol mode is ready for activation.
4. Press the MAIN switch, and check that the ICC system display on the information display turns OFF when E
the ICC system is deactivated.
5. Check that the ICC system display on the information display turns OFF after starting the engine again.
F
>> GO TO 2.
2.CHECK FOR DISTANCE SWITCH
1. Start the engine. G
2. Press the MAIN switch (less than 1.5 seconds).
3. Press the DISTANCE switch.
4. Check that the set distance indicator changes display in order of: (Long)→(Middle)→(Short). H
M
JPOIA0209ZZ
NOTE:
When the MAIN switch is turned ON, initial setting set to (Long).
N
>> GO TO 3.
CCS
3.CHECK FOR RESUME/ACCELERATE, SET/COAST, AND CANCEL SWITCHES
1. Check that RESUME/ACCELERATE, SET/COAST, CANCEL switches are operated smoothly.
2. Check that switches come up as hand is released from the switches. P
>> GO TO 4.
4.SET CHECKING (1)
2. Press the MAIN switch (less than 1.5 seconds) and turn the vehicle-to-vehicle distance control mode ON.
3. Drive the vehicle at 32 km/h (20 MPH) or more.

4. Push down the SET/COAST switch.
5. Check that the desired speed is set and vehicle-to-vehicle distance control mode control starts when
releasing SET/COAST switch.
NOTE:
The set vehicle speed is indicated on the set vehicle speed indicator in the ICC system display on the informa-
tion display.
>> GO TO 5.
5.CHECK FOR INCREASE OF CRUISING SPEED (1)
1. Set the vehicle-to-vehicle distance control mode at desired speed.
2. Check that the set speed increases by 1 km/h (1 MPH) as RESUME/ACCELERATE switch is pushed up.
NOTE:
The maximum set speed of the vehicle-to-vehicle distance control mode is 144 km/h (90 MPH).
CAUTION:
>> GO TO 6.
6.CHECK FOR DECREASE OF CRUISING SPEED (1)
1. Set the vehicle-to-vehicle distance control mode at desired speed.
2. Check that the set speed decreases by 1 km/h (1 MPH) as SET/COAST switch is pushed down.
NOTE:
• The minimum set speed is approximately 32 km/h (20 MPH).
• Cancel the control automatically when the vehicle speed is less than approximately 24 km/h (15 MPH) and
when the system does not detect any vehicle ahead.
>> GO TO 7.
7.SET CHECKING (2)
1. Stop the vehicle.
2. Drive the vehicle at less than approximately 32 km/h (20 MPH).
3. Push down the SET/COAST switch when the system detects a vehicle ahead.
4. Check that the vehicle-to-vehicle distance control mode is performed so that the vehicle maintains a
proper distance according to the vehicle speed [maximum: approximately 32 km/h (20 MPH)] when
releasing SET/COAST switch.
NOTE:
• The vehicle-to-vehicle distance control mode cannot be set when the vehicle speed is less than 32 km/h (20
MPH) and when a vehicle ahead is not detected.
• Cancel the control automatically when the vehicle speed is 24 km/h (15 MPH) or less during the control and
when the system does not detect any vehicle ahead.
• The set vehicle speed indicator in the ICC system display on the information display is set to 32 km/h (20
MPH).
>> GO TO 8.
8.CHECK FOR INCREASE OF CRUISING SPEED (2)
1. Set the vehicle-to-vehicle distance control mode when the vehicle speed is less than approximately 32
km/h (20 MPH) and when a vehicle ahead is detected.
2. Check that the set speed increases by 1 km/h (1 MPH) as RESUME/ACCELERATE switch is pushed up.
NOTE:
The maximum set speed of the vehicle-to-vehicle distance control mode is 144 km/h (90 MPH).
CAUTION:
>> GO TO 9.
9.CHECK FOR DECREASE OF CRUISING SPEED INSPECTION (2)

1. Set the vehicle-to-vehicle distance control mode when the vehicle speed is less than approximately 32
km/h (20 MPH) and when a vehicle ahead is detected. A
2. Set the set vehicle speed to the desired vehicle speed according to “check for increase of cruising speed”.
3. Check that the set speed decreases by 1 km/h (1 MPH) as SET/COAST switch is pushed down.
NOTE:
B
• The minimum the set speed is approximately 32 km/h (20 MPH).
• 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 a standstill with a warning chime.
CAUTION: C
The creep occurs because the stop status is not maintained.
>> GO TO 10. D
10.CHECK FOR CANCELLATION OF VEHICLE-TO-VEHICLE DISTANCE CONTROL MODE
Check that the vehicle-to-vehicle distance control mode is canceled when performing the following operations. E
• When the brake pedal is depressed after vehicle-to-vehicle distance control mode is set and the vehicle is
driven.
• When the selector lever is in the “N” position after vehicle-to-vehicle distance control mode is set and the
vehicle is driven. F
• When the MAIN switch is turned OFF after vehicle-to-vehicle distance control mode is set and the vehicle is
driven.
• When the CANCEL switch is pressed after vehicle-to-vehicle distance control mode is set and the vehicle is G
driven.
>> GO TO 11. H
11.CHECK FOR RESTORING SPEED THAT IS SET BY VEHICLE-TO-VEHICLE DISTANCE CONTROL
MODE BEFORE CANCELLATION
Check that the vehicle restores the previous speed kept before the system deactivation when performing the I
following operations.
• Drive the vehicle when the vehicle-to-vehicle distance control mode is set and depress the brake pedal to
cancel the control. Check that the vehicle restores the previous vehicle speed kept before the system deac- J
tivation when pushing up the RESUME/ACCELERATE switch.
• Drive the vehicle when the vehicle-to-vehicle distance control mode is set and shift the selector lever to the
“N” position to cancel the control. Check that the vehicle restores the previous vehicle speed kept before the
K
system deactivation when shifting the selector lever to the “D” position and pushing up the RESUME/
ACCELERATE switch.
• Drive the vehicle when the vehicle-to-vehicle distance control mode is set and press the CANCEL switch to
cancel the control. Check that the vehicle restores the previous vehicle speed kept before the system deac- L
tivation when pushing up the RESUME/ACCELERATE switch.
>> INSPECTION END M
ACTION TEST : Special Repair Requirement [Conventional (Fixed Speed) Cruise

Control Mode] INFOID:0000000003902176
N
NOTE:
The running speed can be set between 40 km/h (25 MPH) and 144 km/h (90 MPH).
CAUTION: CCS
1.CHECK FOR MAIN SWITCH
P

2. Press the MAIN switch (1) (1.5 seconds or more).
Information display status

MAIN switch indicator (2) : ON
JPOIA0140ZZ
3. Check that the ICC system display on the information display turns on and the display is ready for activa-
tion.
4. Press the MAIN switch, and check that the ICC system display on the information display turns OFF when
the ICC system is deactivated.
5. Check that the ICC system display on the information display turns OFF after starting the engine again.
>> GO TO 2.
2.CHECK FOR RESUME/ACCELERATE, SET/COAST, AND CANCEL SWITCHES
1. Check that RESUME/ACCELERATE, SET/COAST, CANCEL switches are operated smoothly.
2. Check that switches come up as hand is released from the switches.
>> GO TO 3.
3.SET CHECKING
2. Press the MAIN switch (1.5 seconds or more) and turn the conventional (fixed speed) cruise control mode
to ON.
4. Push down the SET/COAST switch.
5. Check that the desired speed is set and conventional (fixed speed) cruise control mode control starts
when releasing SET/COAST switch.
NOTE:
• The set vehicle speed is not displayed in the ICC system display on the information display.
• Display the set status in the ICC system display on the information display.
>> GO TO 4.
4.CHECK FOR INCREASE OF CRUISING SPEED
1. Set the vehicle speed to any desired speed, and drive the vehicle.
2. Check that the set speed increases by 1.6 km/h (1 MPH) as RESUME/ACCELERATE switch is pushed
up.
NOTE:
• The maximum set speed is 144 km/h (90 MPH).
• The set vehicle speed increases while pushing up the RESUME/ACCELERATE switch.
CAUTION:
>> GO TO 5.
5.CHECK FOR DECREASE OF CRUISING SPEED
1. Set the vehicle speed to any desired speed, and drive the vehicle.
2. Check that the set speed decreases by 1.6 km/h (1 MPH) as SET/COAST switch is pushed down.
NOTE:
• The minimum set speed is 40 km/h (25 MPH).
• The set vehicle speed decreases while pressing down the SET/COAST switch.

• Cancel the control automatically when the vehicle speed lowers to less than approximately 32 km/h (20
MPH). A
>> GO TO 6.
6.CHECK FOR CANCELLATION OF CONVENTIONAL (FIXED SPEED) CRUISE CONTROL MODE B
Check that the conventional (fixed speed) cruise control mode is canceled when performing the following
operations.
C
• When the brake pedal is depressed after the conventional (fixed speed) cruise control mode is set and the
vehicle is driven.
• When the selector lever is in the “N” position after the conventional (fixed speed) cruise control mode is set
and the vehicle is driven. D
• When the MAIN switch is turned OFF after the conventional (fixed speed) cruise control mode is set and the
vehicle is driven.
• When the CANCEL switch is pressed after the conventional (fixed speed) cruise control mode is set and the E
vehicle is driven.
>> GO TO 7. F
7.CHECK FOR RESTORING SPEED THAT IS SET BY CONVENTIONAL (FIXED SPEED) CRUISE CON-
TROL MODE BEFORE CANCELLATION
Check that the vehicle restores the previous speed kept before the system deactivation when performing the G
following operations.
• Drive the vehicle when the conventional (fixed speed) cruise control mode is set and depress the brake
pedal to cancel the control. Check that the vehicle restores the previous vehicle speed kept before the sys- H
tem deactivation when pushing up the RESUME/ACCELERATE switch at the vehicle speed approximately
40 km/h (25 MPH) or more.
• Drive the vehicle when the conventional (fixed speed) cruise control mode is set and shift the selector lever
is in the “N” position to cancel the control. Check that the vehicle restores the previous vehicle speed kept I
before the system deactivation when shifting the selector lever is in the “D” position and pushing up the
RESUME/ACCELERATE switch at the vehicle speed of approximately 40 km/h (25 MPH) or more.
• Drive the vehicle when the conventional (fixed speed) cruise control mode is set and press the CANCEL J
switch to cancel the control. Check that the vehicle restores the previous vehicle speed kept before the sys-
tem deactivation when pushing up the RESUME/ACCELERATE switch at the vehicle speed of approxi-
mately 40 km/h (25 MPH) or more.
K
>> INSPECTION END

L
CCS

ICC (FULL SPEED RANGE)
< SYSTEM DESCRIPTION > [ICC (FULL SPEED RANGE)]
SYSTEM DESCRIPTION
System Diagram INFOID:0000000003902177
JSOIA0110GB
System Description INFOID:0000000003902178
DESCRIPTION

The Intelligent Cruise Control (Full Speed Range) system maintains a selected distance from the vehicle in
front of own vehicle within the speed range of 0 to 144 km/h (0 to 90 MPH) up to the set speed. The set speed A
can be selected by the driver between 32 to 144 km/h (20 to 90 MPH). The vehicle travels at a set speed when
the road ahead is clear.
The ICC system can be set to one of two cruise control modes:
B
CAUTION:
Vehicle-to-vehicle Distance Control Mode
C
For maintaining a selected distance between own vehicle and the vehicle in front of own vehicle up to the pre-
set speed. Refer to CCS-29, "System Description".
Conventional (Fixed Speed) Cruise Control Mode D
For cruising at a preset speed. Refer to CCS-38, "System Description".
NOTE:
In the Conventional (Fixed Speed) Cruise Control Mode, a warning chime will not sound to warn driver if own
vehicle are too close to the vehicle ahead. E
WARNING:
Always drive carefully and attentively when using either cruise control mode. To avoid serious injury
or death, do not rely on the system to prevent accidents or to control the vehicle's speed in emer- F
gency situations. Do not use cruise control except in appropriate rode and traffic conditions.
Forward Collision Warning (FCW)
FCW share the systems and components with ICC system. Refer to CCS-370, "System Description". G
Brake Assist (With Preview Function)
Brake Assist (With Preview Function) share the systems and components with ICC system. Refer to BRC-140,
"System Description". H
Intelligent Brake Assist (IBA) System

IBA system share the systems and components with ICC system. Refer to BRC-146, "System Description".
I
ICC SENSOR INTEGRATED UNIT INPUT/OUTPUT SIGNAL ITEM
Input Signal Item
J
Transmit unit Signal name Description
Receives the accelerator pedal position signal from ECM via CAN
Accelerator pedal position signal K
communication.
MAIN switch signal
SET/COAST switch
signal L
ICC steering CANCEL switch signal Receives the ICC steering switch signal from ECM via CAN commu-
switch signal nication.
RESUME/ACCELER-
ATE switch signal
M
ECM DISTANCE switch sig-

nal
N
Receives the ICC brake switch signal from ECM via CAN communi-
ICC brake switch signal
cation.
Receives the stop lamp switch signal from ECM via CAN communi-
Stop lamp switch signal CCS
cation.
Receives the closed throttle position signal from ECM via CAN com-
Closed throttle position signal
munication.
Receives the engine speed signal from ECM via CAN communica-
P
Engine speed signal
tion.

Shift position signal Receives the shift position signal from TCM via CAN communication.
Receives the output shaft revolution signal from TCM via CAN com-
Output shaft revolution signal
munication.
TCM
Receives the current gear position signal from TCM via CAN com-
Current gear position signal
munication.
Input speed signal Receives the input speed signal from TCM via CAN communication.
Receives the brake fluid pressure control signal from the brake
Brake fluid pressure control signal
booster control unit via ITS communication.
Brake booster Receives the release switch signal from the brake booster control
Release switch signal
control unit unit via ITS communication.
Receives the IBA OFF switch signal from the brake booster control
IBA OFF switch signal
unit via ITS communication.
ABS actuator
Receives the vehicle speed signal (wheel speed) from ABS actuator
and electric unit Vehicle speed signal
and electric unit (control unit) via CAN communication.
(control unit)
Receives the front wiper request signal from BCM via CAN commu-
BCM Front wiper request signal
nication.
Steering angle Receives the steering angle sensor signal from the steering angle
Steering angle sensor signal
sensor sensor via CAN communication.
Output Signal Item
Reception unit Signal name Description

ECM ICC operation signal Transmits the ICC operation signal to ECM via CAN communication.
Own vehicle indicator
signal
Vehicle ahead detection
indicator signal
Set vehicle speed indi-
Meter display cator signal Transmits the meter display signal to the combination meter
signal Set distance indicator (through unified meter and A/C amp.) via CAN communication.
Combination signal
meter (through
unified meter MAIN switch indicator
and A/C amp.) signal
SET switch indicator
signal
Transmits the ICC warning lamp signal to the combination meter
ICC warning lamp signal
(through unified meter and A/C amp.) via CAN communication.
Transmits the IBA OFF indicator lamp signal to the combination
IBA OFF indicator lamp signal meter (through unified meter and A/C amp.) via CAN communica-
tion.
• Transmits the buzzer output signal to the brake booster control
ICC warning unit via ITS communication.
Buzzer output signal
chime • The brake booster control unit outputs the buzzer output signal
and operates the ICC warning chime.
• Transmits the ICC brake hold relay drive signal to the brake boost-
ICC brake hold er control unit via ITS communication.
ICC brake hold relay drive signal
relay • The brake booster control unit outputs the ICC brake hold relay
drive signal and operates the ICC brake hold relay.
Brake booster Transmits the brake fluid pressure command signal to the brake
Brake fluid pressure command signal
control unit booster control unit via ITS communication.

Component Parts Location INFOID:0000000003902179
CCS
P
JPOIA0194ZZ
1. ICC steering switch 2. Information display, ICC system 3. ECM

warning lamp
4. ICC sensor integrated unit 5. ICC brake hold relay 6. Booster solenoid/Release switch
7. Brake pressure sensor 8. Stop lamp switch 9. ICC brake switch
10. IBA OFF switch 11. ICC warning chime 12. Brake booster control unit

A. Steering wheel (RH) B. On the combination meter C. Behind the glove box
D. Front bumper (LH) E. Engine room (LH) F. Inside brake master cylinder cover
G. Upper side of brake pedal H. Instrument driver lower panel (LH) I. Luggage room (RH)
Component Description INFOID:0000000003902180
×: Applicable
Function Description
Component Description
*1 *2 *3
ICC sensor integrated unit × × × Refer to CCS-52, "Description".
ECM × × × Refer to CCS-87, "Description".
ABS actuator and electric unit (control
× × × Refer to CCS-58, "Description".
unit)
Transmits the front wiper request signal to ICC sensor inte-
BCM ×
grated unit via CAN communication.
TCM × × Refer to CCS-129, "Description".
Receives the meter display signal, ICC warning lamp signal,
and IBA OFF indicator lamp signal from ICC sensor integrat-
Unified meter and A/C amp. × × ×
ed unit via CAN communication and transmits them to the
combination meter via the communication line.
Performs the following operations using the signals received
from the unified meter and A/C amp. via the communication
line.
• Displays the ICC system operation status using the meter
Combination meter × × × display signal.
• Illuminates the ICC system warning lamp using the ICC
warning lamp signal.
• Illuminates the IBA OFF indicator lamp using the IBA OFF
indicator lamp signal.
ICC brake switch × × ×
Refer to CCS-60, "Description".
Stop lamp switch × × ×
ICC brake hold relay × × Refer to CCS-80, "Description".
Brake booster control unit × × × Refer to CCS-98, "Description".
Brake booster × × Refer to CCS-98, "Description".
Brake pressure sensor × × Refer to CCS-68, "Description".
• Refer to CCS-70, "Description" for booster solenoid.
Booster solenoid/Release switch × ×
• Refer to CCS-73, "Description" for release switch.
ICC warning chime × × × Refer to CCS-142, "Description".
Steering angle sensor × Refer to CCS-123, "Description".
IBA OFF switch ×NOTE Refer to CCS-117, "Description".
*1: Vehicle-to-vehicle distance control mode

*2: Conventional (fixed speed) cruise control mode
*3: IBA system and Brake Assist (With Preview Function)
NOTE:
Only IBA system uses

VEHICLE-TO-VEHICLE DISTANCE CONTROL MODE FUNCTION
A
CCS
P
JSOIA0110GB
FUNCTION DESCRIPTION

In the vehicle-to-vehicle distance control mode, the Intelligent Cruise Control (ICC) system automatically main-
tains a selected distance from the vehicle traveling in front of own vehicle according to that vehicle's speed (up
to the set speed), or at the set speed when the road ahead is clear.
With ICC system, the driver can maintain the same speed as other vehicles without the constant need to
adjust the set speed as driver would with a normal cruise control system.
The following items are controlled in the vehicle-to-vehicle distance control mode.
• When there are no vehicles traveling ahead, the vehicle-to-vehicle distance control mode maintains the
speed set by the driver. The set speed range is between approximately 32 and 144 km/h (20 and 90 MPH).
• When there is a vehicle traveling ahead, the vehicle-to-vehicle distance control mode adjusts the speed to
maintain the distance, selected by driver, from a vehicle ahead. The adjusting speed range is up to the set
speed.
If the vehicle ahead come to a stop, the vehicle decelerates to a standstill within the limitations of the sys-
tem. The system will cancel once it judges a standstill with a warning chime.
• When the vehicle traveling ahead has moved out from its lane of travel, the vehicle-to-vehicle distance con-
trol mode accelerates and maintains vehicle speed up to the set speed.
CAUTION:
If the vehicle ahead comes to stop, the vehicle decelerates to a standstill within the limitations of the
system. The system will cancel once it judges that the vehicle has come to a standstill and sound a
warning chime.
To prevent the vehicle from moving, the driver must depress the brake pedal.
NOTE:
• When the accelerator pedal is depressed, the brake operation and the warning are not performed by the ICC
system.
• When the DCA system is ON and when the accelerator pedal is depressed, the DCA system is operated.
Refer to CCS-188, "System Description".
OPERATION DESCRIPTION
Quickly push (less than 1.5 seconds) and release the MAIN switch ON.
The MAIN switch indicator, set distance indicator, own vehicle indicator, and set vehicle speed indicator come
on and ICC system is set to a standby state.
ICC sensor integrated unit performs the control as per the following:
Constant Comparing the set vehicle speed with the current vehicle speed, transmit the command to ECM via CAN communication
speed to reach the set vehicle speed, and controls the electric throttle control actuator.
When a vehicle ahead (slower than driver set vehicle speed) appears or when a vehicle ahead slows down, the system
Decelera- controls the electric throttle control actuator into the close direction and decelerates the vehicle. If greater deceleration
tion is necessary, the system transmits the brake fluid pressure command signal to the brake booster control unit via ITS com-
munication and operates the brake.
The system controls the electric throttle control actuator and the brake fluid pressure to keep the proper distance between
Following
the vehicles according to the vehicle speed change of the vehicle ahead.
When a vehicle ahead is not detected because of it changes lanes or own vehicle changes lanes during the following
Accelera-
driving, the system controls the electric throttle control actuator in the open direction and accelerates the vehicle to the
tion
set vehicle speed slowly.
Set Condition
Under a standby state, pushing down the SET/COAST switch will start system control.
• When vehicle speed is between approximately 32 km/h and 144 km/h (20 MPH and 90 MPH).
• When vehicle speed is below approximately 32 km/h (20 MPH) if the vehicle ahead is detected. The set
vehicle speed becomes 32 km/h (20 MPH).
If the system is canceled by conditions 1-6 below, the system will resume control at the last set cruising speed
by pushing up the RESUME/ACCELERATE switch.
NOTE:

• When the SET/COAST switch is pushed under the following condi-
tions, the system cannot be set and the set vehicle speed indicator A
will blink for approximately 2 seconds.
- When traveling below 32 km/h (20 MPH) and the vehicle ahead is
not detected.
B
- When the selector lever is not in the “D”, “DS” position or manual
mode.
- When the front wipers are operating at LO or HI.
(If the vehicle is equipped with a rain sensing auto-wiper, the sys- C
tem may cancel when the wipers are set to INT)
- When the parking brakes are applied.
JPOIA0222ZZ
- When the brakes are operated by the driver. D
• When the SET/COAST switch is pushed under the following condi-
tions, the system cannot be set. A warning chime will sound and
the set speed indicator and own vehicle indicator will blink.
- When the snow mode switch is ON. (To use the ICC system, turn E
OFF the snow mode switch, push the MAIN switch to turn OFF the
ICC system and reset the ICC system by pushing the MAIN switch
again.) F
- When the VDC is OFF. (To use the ICC system, turn ON the VDC
system, push the MAIN switch to turn OFF the ICC system and
reset the ICC system by pushing the MAIN switch again.)
- When ABS or VDC (including the TCS) operates. G
JPOIA0223ZZ
- When driving into a strong light (i.e., sunlight).
- When the wheel is slipping. (To use the ICC system, make sure the wheels are no longer spinning, push the
MAIN switch to turn OFF the ICC system and reset the ICC system by pushing the MAIN switch again.) H
Cancel Conditions
1. When CANCEL switch is pressed.
2. When brake pedal is depressed. I
3. When the vehicle ahead is not detected below the speed of 24 km/h (15 MPH).
4. When the selector lever is not in the “D”, “DS” position or manual mode.
5. When the parking brakes are applied.
6. When the system judges the vehicle is at standstill. J
7. When the front wipers are operating at LO or HI.
(If the vehicle is equipped with a rain sensing auto-wiper, the system may cancel when the wipers are set
to INT) K
8. When the snow mode switch is turned ON.
9. When ABS or VDC (including the TCS) operates.
10. When the MAIN switch is turned OFF. L
11. When a wheel slips.
12. When driving into a strong light (i.e., sunlight).
13. When the VDC is turned OFF.
14. When the system malfunction occurs. M
OPERATION AND DISPLAY
ICC Steering Switch N
CCS

JPOIA0159ZZ
1. CANCEL switch 2. RESUME/ACCELERATE switch 3. SET/COAST switch

4. DISTANCE switch 5. MAIN switch
No. Switch name Description

1 CANCEL switch Deactivates the system without erasing the set speed.
Resumes set speed or increases speed incrementally.
2 RESUME/ACCELERATE switch • Push and hold the switch to increase the set speed by 5 km/h (5 MPH).
• Push then quickly release the switch to increase the set speed by 1 km/h (1 MPH).
Sets desired cruise speed or reduces speed incrementally.
• Push and hold the switch to decrease the set speed by 5 km/h (5 MPH).
3 SET/COAST switch • Push then quickly release the switch to decrease the set speed by 1 km/h (1 MPH).
NOTE:
The minimum set speed is 32 km/h (20 MPH).
4 DISTANCE switch Changes the following distance from: Long, Middle, Short.
5 MAIN switch Master switch to activate the system (Press for less than 1.5 seconds).
ICC System Display (On The Information Display)
JSOIA0011ZZ
No. Display item Description

1 ICC system warning lamp Indicates that a malfunction occurs in the ICC system.
2 MAIN switch indicator Indicates that the MAIN switch is ON (ICC system ON).
3 Vehicle ahead detection indicator Indicates whether it detects a vehicle ahead.
4 Set distance indicator Indicates the selected distance between vehicles set with the DISTANCE switch.
5 Own vehicle indicator Indicates the own vehicle.
• Indicates the set vehicle speed.
6 Set vehicle speed indicator
• Indicates 32 km/h (20 MPH) when setting less than 32 km/h (20 MPH).

System Control Condition Display
Quickly push (less than 1.5 seconds) and release the MAIN switch ON. A
The MAIN switch indicator (cruise indicator), set distance indicator, own vehicle indicator, and set vehicle
speed indicator come on and ICC system is set to a standby state.
B
Condition Display on ICC system display
Standby mode
JPOIA0141ZZ
Set vehicle distance (Long) F
JPOIA0142ZZ G
H
Set vehicle distance (Middle)
I
Without a vehicle JPOIA0143ZZ
Control mode
ahead
J
Set vehicle distance (Short)

K
JPOIA0144ZZ
When the vehicle speed exceeds the set speed

M
JPOIA0145ZZ
N
CCS

Set vehicle distance (Long)
JPOIA0146ZZ
Set vehicle distance (Middle)
With a vehicle JPOIA0147ZZ

Control mode
ahead
Set vehicle distance (Short)
JPOIA0148ZZ
When the vehicle speed exceeds the set speed
JPOIA0149ZZ
NOTE:
The display of the DCA system is given priority when the DCA system is ON in a standby mode. (The set vehi-
cle speed indicator, set distance indicator, and own vehicle indicator are not displayed). Refer to CCS-188,
"System Description".
Approach Warning Display
If own vehicle comes closer to a vehicle ahead due to rapid deceleration of that vehicle or if another vehicle
cuts in, the system warns the driver with the chime and ICC system display. Decelerate by depressing the
brake pedal to maintain a safe vehicle distance if:
• The chime sounds.
• The vehicle ahead detection indicator and set distance indicator blink.
The warning chime may not sound in some cases when there is a short distance between vehicles. Some
examples are:
• When the vehicles are traveling at the same speed and the distance between vehicles is not changing.
• When the vehicle ahead is traveling faster and the distance between vehicles is increasing.
• When a vehicle cuts in at near own vehicle.
The warning chime will not sound when own vehicle approaches vehicles that are parked or moving slowly.
The warning chime will not sound when the accelerator pedal is depressed, overriding the system.
The approach warning chime may sound and the system display may blink when the ICC sensor detects some
reflectors which are fitted on vehicles in other lanes or on the side of the road.
This may cause the ICC system to decelerate or accelerate the vehicle.
The ICC sensor may detect these reflectors when the vehicle is driven on winding roads, hilly roads or when
entering or exiting a curve.
The ICC sensor may also detect reflectors on narrow roads or in road construction zones.
In these cases driver will have to manually 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 condition (for example, if a vehicle is being driven with some damage).

A
When own vehicle comes closer to the vehicle ahead and it is judged that the distance between
the vehicles is not sufficient
C
JPOIA0150ZZ
D
Warning Lamp and Automatic Cancellation Display
Condition Description Display on ICC system display

E
• When the VDC is turned OFF
A chime sounds and the control is automatically
• When the VDC or ABS (in-
canceled.
cluding the TCS) operates
NOTE: F
• When a wheel slips
When the conditions listed above are no longer
• When the snow mode switch
present, turn the system OFF using the MAIN
is turned ON
switch.
• When driving into a strong
Turn the ICC system back on to use the system. G
light (i.e., sunlight) JPOIA0151ZZ

canceled. H
Warning When the sensor window is NOTE:
display dirty, making it impossible to de- Park the vehicle in a safe place, turn the engine
tect a vehicle ahead. OFF.
I
Clean the sensor window with a soft cloth and
then perform the settings again.
JPOIA0152ZZ
J
canceled.
When the ICC system is mal-
functioning
NOTE: K
Turn the engine OFF and restart engine. If there
is no malfunction, it is possible to set the system.
JPOIA0153ZZ L
• When brake pedal is de-
pressed
• When CANCEL switch is M
pressed
• When a vehicle ahead is not
detected below the speed of
24 km/h (15 MPH) N
• When the system judges the
canceled.
vehicle is at standstill
NOTE:
Automatic • When the selector lever is not
• The system will be in a standby, after the control CCS
cancella- in “D”, ”DS” position or manu-
is automatically canceled.
tion display al mode
• A chime sounds when the control is automati-
• When the front wipers are op-
cally canceled, except when brake pedal is de-
erating at LO or HI
pressed or when CANCEL switch is pressed. P
(If the vehicle is equipped JPOIA0154ZZ
with a rain sensing auto-wip-

er, the system may cancel
when the wipers are set to
INT)
• When the parking brake are
applied
NOTE:

When the ICC system is automatically canceled, the cancellation condition can be displayed on “WORK SUPPORT” of CONSULT-III
(ICC).
JPOIA0194ZZ

warning lamp

10. IBA OFF switch 11. ICC warning chime 12. Brake booster control unit A
D. Front bumper (LH) E. Engine room (LH) F. Inside brake master cylinder cover
G. Upper side of brake pedal H. Instrument driver lower panel (LH) I. Luggage room (RH) B
C
×: Applicable
*1 *2 *3 D
ECM × × × Refer to CCS-87, "Description".
E
unit)
Transmits the front wiper request signal to ICC sensor inte-
BCM ×
grated unit via CAN communication. F
and IBA OFF indicator lamp signal from ICC sensor integrat- G
combination meter via the communication line.
Performs the following operations using the signals received H
line.
Combination meter × × × display signal. I
warning lamp signal.
J

K
Brake booster control unit × × × Refer to CCS-98, "Description".
Brake booster × × Refer to CCS-98, "Description". L
Booster solenoid/Release switch × × M
N

CCS
NOTE:
Only IBA system uses P

CONVENTIONAL (FIXED SPEED) CRUISE CONTROL MODE FUNCTION
JSOIA0110GB

This mode allows driving at a speed between 40 to 144 km/h (25 to 90 MPH) without keeping foot on the
accelerator pedal. A
NOTE:
In the conventional (fixed speed) cruise control mode, a warning chime does not sound to warn driver if own
vehicle are too close to the vehicle ahead, as neither the presence of the vehicle ahead nor the vehicle-to-
B
vehicle distance is detected.
To turn ON the conventional (fixed speed) cruise control mode, push and hold the MAIN switch for longer than C
approximately 1.5 seconds when ICC system is OFF.
When pushing the MAIN switch ON, the ICC system display and the MAIN switch indicator are displayed on
the information display.
After hold the MAIN switch ON for longer than approximately 1.5 seconds, the ICC system display goes out. D
The MAIN switch indicator stays lit and brings the system to standby state.
NOTE:
• To turn on the vehicle-to-vehicle distance control mode again, turn OFF the system and quickly push (less E
than 1.5 seconds) the MAIN switch.
• When the DCA system is ON, the conventional (fixed speed) cruise control mode cannot be turned on even
though the MAIN switch is pushed and held.
• To turn ON the conventional (fixed speed) cruise control mode, turn OFF the DCA system. Refer to CCS- F
188, "System Description".
ICC sensor integrated unit performs the control as per the following:
G
Constant Comparing the set vehicle speed with the current vehicle speed, transmits the command to ECM via CAN communication
speed to reach the set vehicle speed, and controls the electronic throttle control actuator.
Set Condition H
When the system is under a standby state and the vehicle speed is between approximately 40 km/h (25 MPH)
and 144 km/h (90 MPH), pushing the SET/COAST switch will start system control.
If the system is canceled by conditions 1-6 below, the system will resume control at the last set cruising speed I
by pushing the RESUME/ACCELERATE switch.
Cancel conditions
1. When CANCEL switch is pressed. J
2. When brake pedal depressed.
3. When the vehicle speed falls below approximately 32 km/h (20 MPH).
4. When the vehicle slows down more than 13 km/h (8 MPH) below the set speed. K
5. When the selector lever is not in the “D”, “DS” position or manual mode.
6. When the parking brakes are applied.
7. When the MAIN switch is turned OFF.
8. When VDC (including the TCS) operates. L
9. When a wheel slips.
10. When the system malfunction occurs.
OPERATION AND DISPLAY M
ICC Steering Switch

N
CCS

JPOIA0181ZZ
1. CANCEL switch 2. RESUME/ACCELERATE switch 3. SET/COAST switch

4. MAIN switch
No. Description Function

1 CANCEL switch Deactivates system without erasing set speed.
2 RESUME/ACCELERATE switch Resumes set speed or increases speed incrementally.
3 SET/COAST switch Sets desired cruise speed or reduces speed incrementally.
4 MAIN switch Master switch to activate the system (Press for more than 1.5 seconds).
ICC System Display (On The Information Display)
JSOIA0012ZZ
No. Description Function

1 ICC system warning lamp Indicates that a malfunction occurs in the ICC system.
2 MAIN switch indicator Indicates that the MAIN switch is ON (ICC system ON).
3 SET switch indicator Indicates that the set conventional (fixed speed) cruise control mode is controlled.

Push and hold the MAIN switch for longer than approximately 1.5 seconds. This mode will be in a standby
state for setting.

Condition Display on ICC system display A
B
Standby mode
C
JPOIA0158ZZ
Control mode
E
JPOIA0156ZZ
F
Warning and Automatic Cancellation Display
Condition Description Display on ICC system display

G
A chime sounds and the control is

automatically canceled.
H
When the ICC system is malfunc- NOTE:
Warning display
tioning Turn the engine OFF and restart
engine. If there is no malfunction,
it is possible to set the system. I
JPOIA0157ZZ
• When brake pedal is depressed

• When pressing CANCEL switch J
• When the vehicle speed falls be-
A chime sounds and the control is
low approximately 32 km/h (20
MPH)
NOTE:
• When the vehicle slows down
• The system will be in a standby, K
more than 13 km/h (8 MPH) be-
after the control is automatically
System cancel low the set speed
canceled.
display • When the selector lever is not in
• A chime sounds when the con- L
the “D”, “DS” position or manual
trol is automatically canceled,
mode
except when brake pedal is de-
• When the parking brakes are ap-
pressed or when CANCEL JPOIA0158ZZ
plied
switch is pressed. M
• When VDC (including the TCS)
operates
• When a wheel slips
NOTE: N
When the ICC system is automatically canceled, the cancellation condition can be displayed on “WORK SUPPORT” of CONSULT-III
(ICC).
CCS

JPOIA0194ZZ

warning lamp
10. IBA OFF switch 11. ICC warning chime 12. Brake booster control unit

D. Front bumper (LH) E. Engine room (LH) F. Inside brake master cylinder cover A
G. Upper side of brake pedal H. Instrument driver lower panel (LH) I. Luggage room (RH)
Component Description INFOID:0000000003902188 B
×: Applicable
Component Description C
*1 *2 *3
ECM × × × Refer to CCS-87, "Description". D
unit)
Transmits the front wiper request signal to ICC sensor inte- E
BCM ×
F
and IBA OFF indicator lamp signal from ICC sensor integrat-
combination meter via the communication line. G
Performs the following operations using the signals received
line.
H
Combination meter × × × display signal.
warning lamp signal. I
Refer to CCS-60, "Description". J
Brake booster control unit × × × Refer to CCS-98, "Description". K
Brake booster × × Refer to CCS-98, "Description".
L
Booster solenoid/Release switch × ×
M

N
NOTE: CCS
Only IBA system uses

DIAGNOSIS SYSTEM (ICC SENSOR INTEGRATED UNIT)
Diagnosis Description INFOID:0000000003902190
The DTC is displayed on the information display by operating the ICC steering switch.
ON BOARD SELF-DIAGNOSIS SYSTEM DIAGRAM
JPOIA0189GB
ON BOARD SELF-DIAGNOSIS OPERATION PROCEDURE

CAUTION:
Start condition of on board self-diagnosis
• MAIN switch OFF
• DCA switch OFF
• Vehicle speed 0 km/h (0 MPH)
1. Turn the ignition switch OFF.
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 CCS-158, "DTC Index".
JSOIA0008GB
NOTE:
• It displays for up to 5 minutes and then stops.

• If multiple malfunctions exist, up to 3 DTCs can be stored in memory at the most, and the most recent
one is displayed first. A
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-
Combination meter malfunction tion meter operates. Refer to MWI-43, "Diagnosis De- C
scription".
Check power supply and ground circuit of unified meter
ICC system display Unified meter and A/C amp. malfunction and A/C amp. Refer to MWI-58, "UNIFIED METER AND D
A/C AMP. : Diagnosis Procedure".
Start the self-diagnosis of the unified meter and A/C
Communication error of the combination
amp. and then check the self-diagnosis results. Refer to
meter and the unified meter and A/C amp.
MWI-112, "DTC Index".
E
ICC steering switch malfunction

Perform the inspection for DTC “C1A06”. Refer to CCS-
Harness malfunction between ICC steering switch and ECM
65, "Diagnosis Procedure". F
ECM malfunction
• Check power supply and ground circuit of ICC sensor
integrated unit. Refer to CCS-140, "ICC SENSOR IN- G
TEGRATED UNIT : Diagnosis Procedure".
ICC sensor integrated unit malfunction
• Perform SELF-DIAGNOSIS for “ICC” with CONSULT-
III, and then check the malfunctioning parts. Refer to
CCS-158, "DTC Index". H
HOW TO ERASE ON BOARD SELF-DIAGNOSIS

1. Turn the ignition switch OFF. I
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 J
self-diagnosis starts.
NOTE:
• Complete the operation within 10 seconds after pressing the
CANCEL switch first. K
• If the operation is not completed within 10 seconds, repeat the
4. DTC 55 is displayed after erasing. PKIB8373E L
NOTE:
DTCs for existing malfunction can not be erased.
5. Turn ignition switch OFF, and finish the diagnosis. M
CONSULT-III Function (ICC) INFOID:0000000003902191
N
DESCRIPTION
CONSULT-III performs the following functions via CAN communication using ICC sensor integrated unit.
Diagnosis mode Description CCS

• It can monitor the adjustment direction indication in order to perform the laser beam aiming operation
Work Support smoothly.
• Displays causes of automatic cancellation of the ICC system. P
Self Diagnostic Result Displays malfunctioning system memorized in ICC sensor integrated unit.
Data Monitor Displays real-time input/output data of ICC sensor integrated unit.
Active Test Enables operation check of electrical loads by transmitting driving signal to them.

Diagnosis mode Description
• Displays ICC sensor integrated unit part number.
Ecu Identification • Displays brake booster control unit part number.
• Displays accelerator pedal assembly part number.
CAN Diag Support Monitor The results of transmit/receive diagnosis of CAN communication can be read.
WORK SUPPORT
Work support items Description

CAUSE OF AUTO-CANCEL Displays causes of automatic cancellation of the ICC system.
LASER BEAM ADJUST Outputs laser beam, calculates dislocation of the beam, and indicates adjustment direction.
Display Items For The Cause Of Automatic Cancellation

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.
×: Applicable
Conven-
tional
Vehicle-to-ve- (fixed
DCA
Cause of cancellation hicle distance speed) Description
system
control mode cruise
control
mode
The wiper operates at HI or LO (it includes when the wiper is op-
OPERATING WIPER ×
erated at LO or HI with the wiper switch INT position)
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
The ICC steering switch input voltage is not within standard
OPE SW VOLT CIRC × × ×
range.
Intense light such as sunlight entered ICC sensor integrated unit
LASER SUNBEAM × ×
light sensing part
LASER TEMP × × Temperature around ICC sensor integrated unit became low
OP SW DOUBLE
× × ICC steering switches were pressed at the same time
TOUCH
WHL SPD ELEC NOISE × × × Wheel speed sensor signal caught electromagnetic noise
VDC/TCS OFF SW × × VDC OFF switch was pressed
SNOW MODE SW × × Snow mode switch was pressed
VHCL SPD UNMATCH × × × Wheel speed became different from A/T vehicle speed
TIRE SLIP × × Wheel slipped
IGN LOW VOLT × × × Power supply voltage became low
WHEEL SPD UNMATCH × × × The wheel speeds of 4 wheels are out of the specified values
Vehicle speed lower than the speed as follows
• Vehicle-to-vehicle distance control mode is 24 km/h (15 MPH)
VHCL SPD DOWN × × ×
• Conventional (fixed speed) cruise control mode is 32 km/h (20
MPH)
ICC sensor integrated unit received an abnormal signal with
CAN COMM ERROR × × ×
CAN communication
ABS/TCS/VDC CIRC × × × An abnormal condition occurs in VDC/TCS/ABS system
BCU CIRCUIT × × × The brake booster control unit is malfunctioning

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 A
ASCD VHCL SPD DTAC × Vehicle speed is detached from set vehicle speed
ASCD DOUBLE COMD × Cancel switch and operation switch are detected simultaneously
B
PARKING BRAKE ON × × The parking brake is operating
The accelerator pedal actuator integrated motor temperature is
APA HI TEMP ×
high
C
NO RECORD × × × −
Laser Beam Adjust

Refer to CCS-13, "LASER BEAM AIMING ADJUSTMENT : Description". D
SELF DIAGNOSTIC RESULT

Refer to CCS-158, "DTC Index". E
DATA MONITOR
×: Applicable
Monitored item MAIN
Description
F
[Unit] SIGNAL
MAIN SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM transmits
×
[On/Off] ICC steering switch signal through CAN communication). G
SET/COAST SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM transmits
×
[On/Off] ICC steering switch signal through CAN communication).
CANCEL SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM transmits H
×
RESUME/ACC SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM transmits
×
I
DISTANCE SW Indicates [On/Off] status as judged from ICC steering switch signal (ECM transmits
CRUISE OPE J
× Indicates whether controlling or not (ON means “controlling”).
[On/Off]
BRAKE SW Indicates [On/Off] status as judged from ICC brake switch signal (ECM transmits ICC
×
[On/Off] brake switch signal through CAN communication).
K
STOP LAMP SW Indicates [On/Off] status as judged from stop lamp switch signal (ECM transmits stop
×
[On/Off] lamp switch signal through CAN communication).
IDLE SW Indicates [On/Off] status of idle switch read from ICC sensor integrated unit through
L
[On/Off] CAN communication (ECM transmits On/Off status through CAN communication).
SET DISTANCE
× Indicates set distance memorized in ICC sensor integrated unit.
[Short/Mid/Long]
M
CRUISE LAMP
× Indicates [On/Off] status of MAIN switch indicator output.
[On/Off]
OWN VHCL
Indicates [On/Off] status of own vehicle indicator output. N
[On/Off]
VHCL AHEAD
Indicates [On/Off] status of vehicle ahead detection indicator output.
[On/Off]
CCS
ICC WARNING
Indicates [On/Off] status of ICC system warning lamp output.
[On/Off]
BA WARNING
Indicates [On/Off] status of IBA OFF indicator lamp output. P
[On/Off]
Indicates vehicle speed calculated from ICC sensor integrated unit through CAN
VHCL SPEED SE
× communication [ABS actuator and electric unit (control unit) transmits vehicle speed
[km/h] or [mph]
signal (wheel speed) through CAN communication].
SET VHCL SPD
× Indicates set vehicle speed memorized in ICC sensor integrated unit.
[km/h] or [mph]

Monitored item MAIN
Description
[Unit] SIGNAL
BUZZER O/P
Indicates [On/Off] status of ICC warning chime output.
[On/Off]
THRTL SENSOR NOTE:
×
[deg] The item is displayed, but it is not monitored.
ENGINE RPM Indicates engine speed read from ICC sensor integrated unit through CAN communi-
[rpm] cation (ECM transmits engine speed through CAN communication).
WIPER SW Indicates wiper [Off/Low/High] status (BCM transmits front wiper request signal
[Off/Low/High] through CAN communication).
YAW RATE NOTE:
[deg/s] The item is displayed, but it is not monitored.
Indicates [On/Off] status as judged from release switch signal.
RELEASE SW NO
ON: When brake pedal is depressed.
[On/Off]
OFF: When brake pedal is not depressed.
RELEASE SW NC
ON: When brake pedal is not depressed.
[On/Off]
OFF: When brake pedal is depressed.
STP LMP DRIVE
× Indicates [On/Off] status of ICC brake hold relay drive output.
[On/Off]
PRESS SENS Indicates brake fluid pressure value calculated from signal voltage of brake pressure
×
[bar] sensor.
Indicates [On/Off] status of “D” or “DS” or “M” positions read from ICC sensor integrat-
D RANGE SW
ed unit through CAN communication; ON when position “D” or “DS” or “M” (TCM
[On/Off]
transmits shift position signal through CAN communication).
NP RANGE SW Indicates shift position signal read from ICC sensor integrated unit through CAN com-
[On/Off] munication (TCM transmits shift position signal through CAN communication).
PWR SUP MONI
× Indicates IGN voltage input by ICC sensor integrated unit.
[V]
Indicates vehicle speed calculated from A/T vehicle speed sensor read from ICC sen-
VHCL SPD AT
sor integrated unit through CAN communication (TCM transmits A/T vehicle speed
[km/h] or [mph]
sensor signal through CAN communication).
Indicates throttle position read from ICC sensor integrated unit through CAN commu-
THRTL OPENING
× nication (ECM transmits accelerator pedal position signal through CAN communica-
[%]
tion).
Indicates A/T gear position read from ICC sensor integrated unit through CAN com-
GEAR
munication (TCM transmits current gear position signal through CAN communica-
[1, 2, 3, 4, 5, 6, 7]
tion).
CLUTCH SW SIG NOTE:
×
[On/Off] The item is displayed, but it is not monitored.
NP SW SIG NOTE:
×
[On/Off] The item is displayed, but it is not used.
Parking brake switch status [On/Off] judged from the parking brake switch signal that
PKB SW ICC sensor integrated unit readout via CAN communication is displayed (Unified
[On/Off] meter and A/C amp. transmits the parking brake switch signal via CAN communica-
tion)
MODE SIG Indicates the active mode from ICC or ASCD [conventional (fixed speed) cruise con-
[Off, ICC, ASCD] trol 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]

Monitored item MAIN
Description
[Unit] SIGNAL A
Status [On/Off] judged from DCA switch signal that ICC sensor integrated unit readout
DCA ON SW
× via ITS communication is displayed (Brake booster control unit transmits the DCA
[On/Off]
switch signal via ITS communication). B
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 system is dis- C
[On/Off] played.
The accelerator pedal actuator integrated motor temperature that the ICC sensor in-
APA TEMP
tegrated unit readout via ITS communication is displayed (Accelerator pedal actuator D
[°C]
transmits the integrated motor temperature via ITS communication).
Accelerator pedal actuator power supply voltage that the ICC sensor integrated unit
APA PWR
readout via ITS communication is displayed (Accelerator pedal actuator transmits the
[V] E
power supply voltage via ITS communication).
Status [On/Off] judged from IBA OFF switch signal that ICC sensor integrated unit
IBA SW
readout via ITS communication is displayed (Brake booster control unit transmits the
[On/Off]
IBA OFF switch signal via ITS communication). F
ACTIVE TEST
CAUTION:
G
• Never perform “Active Test” while driving the vehicle.
• The “Active Test” cannot be performed when the ICC system warning lamp is illuminated.
• Shift the selector lever to “P” position, and then perform the test.
H
Test item Description
The ICC system warning lamp, MAIN switch indicator, SET switch indicator and IBA OFF indicator
METER LAMP
lamp can be illuminated by ON/OFF operations as necessary. I
DCA INDICATOR The DCA system switch indicator can be illuminated by ON/OFF operations as necessary.
The ICC brake hold relay can be operated by ON/OFF operations as necessary, and the stop lamp
STOP LAMP J
can be illuminated.
BOOSTER SOL/V The booster solenoid can be operated as necessary, and the brake can be operated.
ICC BUZZER The ICC warning chime can sound by ON/OFF operations as necessary.
K
ACCELERATOR PEDAL AC-
The accelerator pedal actuator can be operated as necessary.
TUATOR
METER LAMP L
NOTE:
The test can be performed only when the engine is running.
M
• MAIN switch indicator
Oper- • SET switch indicator
ation • ICC system warning lamp
• IBA OFF indicator lamp N
Stops transmitting the signals below to end the test.
• Meter display signal
Off OFF
• ICC warning lamp signal CCS
• IBA OFF indicator lamp signal
METER LAMP Transmits the following signals to the unified meter and A/C
amp. via CAN communication.
On • Meter display signal ON P
• ICC warning lamp signal
DCA INDICATOR
NOTE:

Oper-
Test item Description DCA system switch indicator
ation
Stops transmitting the DCA system switch indicator signal
Off OFF
below to end the test.
DCA INDICATOR
Transmits the DCA system switch indicator signal to the uni-
On ON
fied meter and A/C amp. via CAN communication.
STOP LAMP
Oper-
Test item Description Stop lamp
ation
Stops transmitting the ICC brake hold relay drive signal be-
Off OFF
low to end the test.
STOP LAMP
Transmits the ICC brake hold relay drive signal to the brake
On ON
BOOSTER SOL/V
NOTE:
Test item Operation Description “PRESS SENS” value

MODE1 10 bar
Transmits the brake fluid pressure command signal to
MODE2 20 bar
the brake booster control unit via ITS communication.
MODE3 30 bar
BOOSTER SOL/V Test start Starts the tests of “MODE1”, “MODE2” and “MODE3”. —
Stops transmitting the brake fluid pressure command sig-
Reset —
nal below to end the test.
End Returns to the “SELECT TEST ITEM” screen. —
NOTE:
The test is finished in 10 seconds after starting.
PKIB1767J
ICC BUZZER
ICC warning chime operation

Test item Operation Description
sound
MODE1 Intermittent beep sound
Transmits the buzzer output signal to the brake booster
MODE2 Continuous beep sound
control unit via ITS communication.
MODE3 Beep sound
ICC BUZZER Test start Starts the tests of “MODE1”, “MODE2” and “MODE3”.
Stops transmitting the buzzer output signal below to end
Reset —
the test.
End Returns to the “SELECT TEST ITEM” screen.
ACCELERATOR PEDAL ACTUATOR

CAUTION:
• Shift the selector lever to “P” position, and then perform the test. A
• Never depress the accelerator pedal excessively. (The engine speed may rise unexpectedly when
finishing the test.)
B
NOTE:
• Depress the accelerator pedal to check when performing the test.
• The test can be performed only when the engine is running.
C
Test item Operation Description Accelerator pedal operation
Constant with a force of 25 N
MODE1
for 8 seconds D
MODE2
Transmit the accelerator pedal feedback force control signal for 8 seconds
to the accelerator pedal actuator via ITS communication. Change up to a force of 25 N for E
MODE3
8 seconds
ACCELERATOR
PEDAL ACTUA- Change up to a force of 15 N for
MODE4
TOR 8 seconds F
Starts the tests of “MODE1”, “MODE2”, “MODE3”, and
Test start —
“MODE4”.
Stops transmitting the accelerator pedal feedback force G
Reset —
control signal below to end the test.
NOTE: H
K
JPOIA0061GB
CCS

C1A00 CONTROL UNIT
< DTC/CIRCUIT DIAGNOSIS > [ICC (FULL SPEED RANGE)]
DTC/CIRCUIT DIAGNOSIS
C1A00 CONTROL UNIT
Description INFOID:0000000003902192
ICC sensor integrated unit function description

• It detects the reflected light from the vehicle ahead by irradiating a laser forward. It calculates the vehicle dis-
tance from and relative speed with the vehicle ahead depending on the detected signal.
• It calculates the target vehicle distance and the target vehicle speed depending on the signals from various
sensors and switches, outputs the engine torque demand to ECM via CAN communication, and outputs the
brake fluid pressure command signal to the brake booster control unit via ITS communication.
DTC Logic INFOID:0000000003902193
DTC DETECTION LOGIC
DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes
play)
C1A00 ICC sensor integrated unit internal malfunc-
CONTROL UNIT ICC sensor integrated unit
(0) tion
DTC CONFIRMATION PROCEDURE

1.PERFORM DTC CONFIRMATION PROCEDURE
3. Check if the “C1A00” is detected as the current malfunction in “Self Diagnostic Result” of “ICC”.
Is “C1A00” detected as the current malfunction?
YES >> Refer to CCS-52, "Diagnosis Procedure".
Diagnosis Procedure INFOID:0000000003902194
1.CHECK SELF-DIAGNOSIS RESULTS

Check if any DTC other than “C1A00” is detected in “Self Diagnostic Result” of “ICC”.
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-158, "DTC Index".
NO >> Replace the ICC sensor integrated unit. Refer to CCS-180, "Exploded View".
Special Repair Requirement INFOID:0000000003902195
DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following
operation is performed.
• Removal and installation of ICC sensor integrated unit
• Replacement of ICC sensor integrated unit
SPECIAL REPAIR REQUIREMENT
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-13, "LASER BEAM AIMING
ADJUSTMENT : Description".
>> GO TO 2.

C1A00 CONTROL UNIT
2.CHECK ICC SYSTEM A

1. Erase the “Self Diagnostic Result”, and then perform “All DTC Reading” again after performing the action
test. (Refer to CCS-18, "ACTION TEST : Description" for action test.)
2. Check that the ICC system is normal.
B
>> WORK END

C
CCS

C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
The ICC sensor integrated unit controls the system with the ignition power supply.
DTC DETECTION LOGIC
DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes
name
play)
C1A01 POWER SUPPLY ICC sensor integrated unit power supply voltage
(1) CIR is excessively low (less than 8 V). • Connector, harness, fuse
C1A02 POWER SUPPLY ICC sensor integrated unit power supply voltage • ICC sensor integrated unit
(2) CIR 2 is excessively high (more than 19 V).

2. Turn the MAIN switch of ICC system ON.
4. Check if the “C1A01” or “C1A02” is detected as the current malfunction in “Self Diagnostic Result” of
“ICC”.
Is “C1A01” or “C1A02” detected as the current malfunction?
NO >> Refer to GI-35, "Intermittent Incident".
1.CHECK ICC SENSOR INTEGRATED UNIT POWER SUPPLY AND GROUND CIRCUIT
Check power supply and ground circuit of ICC sensor integrated unit. Refer to CCS-140, "ICC SENSOR INTE-
GRATED UNIT : Diagnosis Procedure".
Is the inspection result normal?
YES >> Replace the ICC sensor integrated unit. Refer to CCS-180, "Exploded View".
NO >> Repair or replace the malfunctioning parts.
DESCRIPTION
>> GO TO 2.
2.CHECK ICC SYSTEM

A
>> WORK END
CCS

C1A03 VEHICLE SPEED SENSOR
The ICC sensor integrated unit receives the vehicle speed signal (wheel speed) from ABS actuator and elec-
tric unit (control unit) and the A/T vehicle speed sensor signal (output shaft revolution signal) from TCM via
CAN communication.
DTC DETECTION LOGIC
DTC
Trouble diagnosis
(On board DTC detecting condition Possible causes
name
display)
• Wheel speed sensor
If the vehicle speed signal (wheel speed) from
• ABS actuator and electric unit (control
ABS actuator and electric unit (control unit) and
unit)
C1A03 VHCL SPEED SE the A/T vehicle speed sensor signal (output
• Vehicle speed sensor A/T (output speed
(3) CIRC shaft revolution signal) from TCM, received by
sensor)
the ICC sensor integrated unit via CAN commu-
• TCM
nication, are inconsistent
• ICC sensor integrated unit
NOTE:
If DTC “C1A03” is detected along with DTC “U1000” or “C1A04”, first diagnose the DTC “U1000” or “C1A04”.
• Refer to CCS-137, "DTC Logic" for DTC “U1000”.
• Refer to CCS-58, "DTC Logic" for DTC “C1A04”.
CAUTION:
Always drive safely.

Check if “C1A04” or “U1000” is detected other than “C1A03” in “Self Diagnostic Result” of “ICC”.
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”.
CAUTION:
Be careful of the vehicle speed.

YES >> Replace the ICC sensor integrated unit. Refer to CCS-180, "Exploded View". A
NO >> GO TO 3.
3.CHECK TCM SELF-DIAGNOSIS RESULTS
B
1. Perform “All DTC Reading”.
2. Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
C
TM-166, "DTC Index" (VQ35HR) or TM-353, "DTC Index" (VK50VE).
NO >> GO TO 4.
D
4.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
Is any DTC detected? E
BRC-121, "DTC Index".
NO >> Replace the ICC sensor integrated unit. Refer to CCS-180, "Exploded View". F
DESCRIPTION G
• Removal and installation of ICC sensor integrated unit H
I
ADJUSTMENT : Description". J
>> GO TO 2. K
2.CHECK ICC SYSTEM
L
M
>> WORK END
CCS

C1A04 ABS/TCS/VDC SYSTEM
ABS actuator and electric unit (control unit) transmits the vehicle speed signal (wheel speed), and VDC/TCS/
ABS system operation condition to ICC sensor integrated unit via CAN communication.
DTC DETECTION LOGIC
DTC
Trouble diagnosis
name
play)
C1A04 If a malfunction occurs in the VDC/TCS/ABS ABS actuator and electric unit (control
ABS/TCS/VDC CIRC
(4) system unit)
NOTE:
If DTC “C1A04” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-137,
"DTC Logic".

2. Check if the “U1000” is detected other than “C1A04” in “Self Diagnostic Result” of “ICC”.
Is “U1000” detected?
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-137, "DTC Logic".
NO >> GO TO 2.
DESCRIPTION
>> GO TO 2.
2.CHECK ICC SYSTEM

>> WORK END A
CCS

C1A05 BRAKE SW/STOP LAMP SW
• ICC brake switch is turned OFF and stop lamp switch is turned ON, when depressing the brake pedal.
• ICC brake switch signal and stop lamp switch signal are input to ECM. These signals are transmitted from
ECM to ICC sensor integrated unit via CAN communication.
DTC DETECTION LOGIC
DTC
Trouble diagnosis
name
play)
• Stop lamp switch circuit
• ICC brake switch circuit
• Stop lamp switch
If ICC sensor integrated unit receives the ICC • ICC brake switch
C1A05 BRAKE SW/STOP L
brake switch signal ON status during the stop • Incorrect stop lamp switch installa-
(5) SW
lamp switch signal ON status tion
• Incorrect ICC brake switch installa-
tion
• ECM
NOTE:
"DTC Logic".

NO >> GO TO 2.
2.CHECK STOP LAMP SWITCH AND ICC BRAKE SWITCH
Check that “STOP LAMP SW” and “BRAKE SW” operate normally in “DATA MONITOR” of “ICC”.
YES >> GO TO 12.
NO-1 >> When “BRAKE SW” operation is malfunctioning: GO TO 3.
NO-2 >> When “STOP LAMP SW” operation is malfunctioning: GO TO 8.
3.CHECK ICC BRAKE SWITCH INSTALLATION
1. Turn ignition switch OFF.
2. Check ICC brake switch for correct installation. Refer to BR-7, "Inspection and Adjustment".
YES >> GO TO 4.
NO >> Adjust ICC brake switch installation. Refer to BR-7, "Inspection and Adjustment".
4.ICC BRAKE SWITCH INSPECTION
1. Disconnect ICC brake switch connector.
2. Check ICC brake switch. Refer to CCS-63, "Component Inspection (ICC Brake Switch)".
YES >> GO TO 5.
NO >> Replace ICC brake switch.

5.CHECK ICC BRAKE HOLD RELAY A

1. Remove ICC brake hold relay.
2. Check for continuity between ICC brake hold relay terminals.
B
ICC brake hold relay
Continuity
Terminal
3 4 Existed C
YES >> GO TO 6.
NO >> Replace ICC brake hold relay. D
6.CHECK HARNESS BETWEEN ICC BRAKE HOLD RELAY AND ICC BRAKE SWITCH
1. Check for continuity between ICC brake hold relay harness connector and ICC brake switch harness con- E
nector.
ICC brake hold relay ICC brake switch F

Continuity
Connector Terminal Connector Terminal
E91 4 E114 1 Existed
G
2. Check for continuity between ICC brake hold relay harness connector and ground.
ICC brake hold relay H

Continuity
Connector Terminal Ground
E91 4 Not existed
Is the inspection result normal? I
YES >> GO TO 7.
NO >> Repair the harnesses or connectors.
J
7.CHECK HARNESS BETWEEN ECM AND ICC BRAKE SWITCH
1. Disconnect ECM connector.
2. Check for continuity between the ECM harness connector and ICC brake switch harness connector. K
VQ35HR
ECM ICC brake switch

Continuity L
M107 126 E114 2 Existed
VK50VE M
Continuity
M160 117 E114 2 Existed
N
3. Check for continuity between ECM harness connector and ground.

VQ35HR CCS
ECM
Continuity
P
M107 126 Not existed
VK50VE
ECM
Continuity

YES >> GO TO 12.
8.CHECK STOP LAMP FOR ILLUMINATION
Check the stop lamp for illumination.
YES >> GO TO 9.
NO >> Repair the stop lamp circuit.
9.CHECK ICC BRAKE HOLD RELAY

Continuity
Terminal
3 4 Existed
6 7 Not existed
YES >> GO TO 10.
NO >> Replace ICC brake hold relay.
10.CHECK HARNESS BETWEEN ECM AND ICC BRAKE HOLD RELAY
1. Disconnect ECM, rear combination lamp, and high-mounted stop lamp connectors.
2. Check for continuity between the ECM harness connector and ICC brake hold relay harness connector.
VQ35HR
ECM ICC brake hold relay

Continuity
M107 122 E91 6 Existed
VK50VE

Continuity
VQ35HR
ECM
Continuity
VK50VE
ECM
Continuity
YES >> GO TO 11.
11.CHECK HARNESS BETWEEN BRAKE BOOSTER CONTROL UNIT AND ICC BRAKE HOLD RELAY
1. Disconnect brake booster control unit connector.
2. Check for continuity between the brake booster control unit harness connector and brake hold relay har-
ness connector.

Brake booster control unit ICC brake hold relay A

Continuity
B249 47 E91 1 Existed
B
3. Check for continuity between brake booster control unit harness connector and ground.
Brake booster control unit C

Continuity
B249 47 Not existed
D
YES >> GO TO 12.
E
12.PERFORM SELF-DIAGNOSIS OF ECM
1. Connect all connectors again if the connectors are disconnected.
2. Turn ignition switch ON. F
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. Refer to EC-542, "DTC Index"
(VQ35HR) or EC-1172, "DTC Index" (VK50VE).
G
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
NO >> GO TO 13. H
13.CHECK ICC BRAKE HOLD RELAY DRIVE SIGNAL OUTPUT
1. Select the active test item “STOP LAMP” of “ICC”.
2. Check if “STP LMP DRIVE” is turned ON when operating the test item. I
YES >> Replace brake booster control unit.
NO >> Replace ICC sensor integrated unit. Refer to CCS-180, "Exploded View". J
Component Inspection (ICC Brake Switch) INFOID:0000000003902211
K
1.CHECK ICC BRAKE SWITCH
Check for continuity between ICC brake switch terminals.
L
Terminal Condition Continuity
Not exist-
When brake pedal is depressed
1 2 ed M
When brake pedal is released Existed
N
YES >> INSPECTION END
Component Inspection (Stop Lamp Switch) INFOID:0000000003902212
CCS
1.CHECK STOP LAMP SWITCH

Check for continuity between stop lamp switch terminals. P

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

3 4 Not exist-
ed
NO >> Replace stop lamp switch.
DESCRIPTION
>> GO TO 2.
2.CHECK ICC SYSTEM
>> WORK END

C1A06 OPERATION SW
C1A06 OPERATION SW
A
• Operate the ICC system ON/OFF and vehicle speed/vehicle distance setting by the ICC steering switch. B
• The ICC steering switch signal is input to the ECM. It is transmitted from ECM to ICC sensor integrated unit
via CAN communication.
DTC Logic INFOID:0000000003902215 C
DTC DETECTION LOGIC

D
DTC
Trouble diagnosis
name
play)
E
• ICC steering switch circuit
C1A06 OPERATION SW If the input signal from ICC steering switch is
• ICC steering switch
(6) CIRC malfunctioning
• ECM
F
NOTE:
"DTC Logic".
G
1. Start the engine. H
2. Wait for approximately 5 minutes after turning the MAIN switch of ICC system ON.
4. Check if the “C1A06” is detected as the current malfunction in “Self Diagnostic Result” of “ICC”. I
NO >> Refer to GI-35, "Intermittent Incident". J
1.CHECK SELF-DIAGNOSIS RESULTS K
Check if “U1000” is detected other than “C1A06” in “Self Diagnostic Result” of “ICC”.
Is “U1000” detected? L
NO >> GO TO 2.
M
2.CHECK ICC STEERING SWITCH
2. Disconnect the ICC steering switch connector. N
3. Check the ICC steering switch. Refer to CCS-66, "Component Inspection".
YES >> GO TO 3. CCS
NO >> Replace the ICC steering switch.
3.CHECK HARNESS BETWEEN SPIRAL CABLE AND ECM
P
1. Disconnect the ECM connector.
2. Check for continuity between the spiral cable harness connector and ECM harness connector.
VQ35HR
Spiral cable ECM

Continuity

C1A06 OPERATION SW
25 101
M36 M107 Existed
32 108
VK50VE
Spiral cable ECM

Continuity
25 102
M36 M160 Existed
32 111
3. Check for continuity between spiral cable harness connector and ground.
Spiral cable
Continuity
Connector Terminal
Ground
25
M36 Not existed
32
YES >> GO TO 4.
4.CHECK SPIRAL CABLE
Check for continuity between spiral cable terminals.
Spiral cable
Continuity
Terminal
13 25
Existed
16 32
YES >> GO TO 5.
NO >> Replace the spiral cable.
1. Connect the connectors of ICC steering switch and ECM connector.
2. Turn the ignition switch ON.
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”.
YES >> Perform self-diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer
to EC-542, "DTC Index" (VQ35HR) or EC-1172, "DTC Index" (VK50VE).
Component Inspection INFOID:0000000003902217

Check resistance between ICC steering switch terminals.
JPOIA0109ZZ

C1A06 OPERATION SW
Resistance A
Terminal Switch operation
[Ω]
When pressing MAIN switch Approx. 0
When pressing LDP switch Approx. 267 B
When pressing CANCEL switch Approx. 615
Approx.
When pressing DISTANCE switch C
1090
13 16
Approx.
When pressing SET/COAST switch
1805
D
When pressing RESUME/ACCELERATE Approx.
switch 2985
Approx.
When all switches are not pressed
5415
E

YES >> INSPECTION END F
NO >> Replace the ICC steering switch.
G
DESCRIPTION
operation is performed. H
SPECIAL REPAIR REQUIREMENT I
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-13, "LASER BEAM AIMING J
K
>> GO TO 2.
2.CHECK ICC SYSTEM
1. Erase the “Self Diagnostic Result”, and then perform “All DTC Reading” again after performing the action L
M
>> WORK END
CCS

C1A08 PRESSURE SENSOR
• The brake pressure sensor detects the brake fluid pressure value in the brake master cylinder and outputs
the value to the brake booster control unit.
• The brake booster control unit receives the brake fluid pressure command signal from the ICC sensor inte-
grated unit via ITS communication and controls the brake fluid pressure while feeding back the brake fluid
pressure value (brake fluid pressure control signal).
DTC DETECTION LOGIC
DTC
(On board Trouble diagnosis name DTC detecting condition Possible causes
display)
If the brake pressure sensor value that is input • Brake pressure sensor circuit
C1A08
PRESS SEN CIRCUIT to the brake booster control unit is malfunc- • Brake pressure sensor
(8)
tioning • Brake booster control unit
NOTE:
"DTC Logic".

NO >> GO TO 2.
2.CHECK HARNESS BETWEEN BRAKE BOOSTER CONTROL UNIT AND BRAKE PRESSURE SENSOR
2. Disconnect connectors of brake booster control unit and brake pressure sensor.
3. Check for continuity between the brake booster control unit harness connector and brake pressure sensor
harness connector.
Brake booster control unit Brake pressure sensor

Continuity
8 3
24 1

Brake booster control unit A

Continuity
Connector Terminal
8 Ground
B
B250 17 Not existed
24
Is the inspection result normal? C
YES >> GO TO 3.
3.CHECK BRAKE PRESSURE SENSOR POWER SUPPLY CIRCUIT D
1. Connect connectors of brake booster control unit and brake pressure sensor.
E
3. Check voltage between brake booster control unit harness connectors.
Terminals
F
(+) (–) Voltage
Brake booster control unit (Approx.)
Connector Terminal G
B250 8 24 5V
H
YES >> Replace the brake pressure sensor.
NO >> Replace the brake booster control unit.
Special Repair Requirement INFOID:0000000003902222 I
DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following J
K
L
M
>> GO TO 2.
2.CHECK ICC SYSTEM N
2. Check that the ICC system is normal. CCS
>> WORK END

P

C1A09 BOOSTER SOLENOID
• The booster solenoid is integrated with the brake booster.

• The brake booster control unit activates the booster solenoid to operate the brake booster (brake) according
to the brake fluid pressure command signal received from ICC sensor integrated unit via ITS communica-
tion.
DTC DETECTION LOGIC
DTC
display)
• Booster solenoid
C1A09
BOOSTER SOL/V CIRC If the booster solenoid is malfunctioning • Booster solenoid circuit
(9)
• Brake booster control unit
NOTE:
"DTC Logic".
2. Perform the active test item “BOOSTER SOL/V” with CONSULT-III.

NO >> GO TO 2.
2.CHECK BRAKE BOOSTER CONTROL UNIT POWER SUPPLY CIRCUIT
Check power supply and ground circuit of brake booster control unit. Refer to CCS-140, "BRAKE BOOSTER
CONTROL UNIT : Diagnosis Procedure".
YES >> GO TO 3.
3.CHECK HARNESS BETWEEN BRAKE BOOSTER (BOOSTER SOLENOID) AND BRAKE BOOSTER
CONTROL UNIT
2. Disconnect connectors of brake booster control unit and brake booster.
3. Check for continuity between the brake booster control unit harness connector and brake booster harness
connector.

Brake booster control unit Brake booster A

Continuity
10 4
B250 E44 Existed B
12 6
C
Brake booster control unit
Continuity
Connector Terminal
Ground D
10
B250 Not existed
12
Is the inspection result normal? E
YES >> GO TO 4.
4.CHECK BOOSTER SOLENOID F
Check the booster solenoid. Refer to CCS-71, "Component Inspection".
G
YES >> Replace the brake booster control unit.
NO >> Replace the brake booster.
Component Inspection INFOID:0000000003902226 H
1.CHECK BRAKE BOOSTER (BOOSTER SOLENOID)

Check resistance between brake booster (booster solenoid) termi- I
nals.
Brake booster J
Resistance
Terminal
4 6 Approx. 1.4 Ω
K
NO >> Replace the brake booster. L
JPOIA0160GB
M
DESCRIPTION
N
SPECIAL REPAIR REQUIREMENT CCS
ADJUSTMENT : Description". P
>> GO TO 2.
2.CHECK ICC SYSTEM

>> WORK END

C1A10 RELEASE SWITCH
A
• The release switch is integrated with the brake booster. B

• The release switch detects that the driver depresses the brake pedal, and it outputs the signal to the brake
booster control unit.
• The brake booster control unit transmits the release switch signal [release switch NO signal (normal open),
release switch NC signal (normal close)] to the ICC sensor integrated unit via ITS communication. C
D
DTC DETECTION LOGIC
DTC
E
play)
If the release switch NO signal and the release
• Release switch F
C1A10 switch NC signal, received from the brake
RELEASE SW CIRC • Release switch circuit
(10) booster control unit via ITS communication,
are inconsistent
NOTE: G
"DTC Logic".
DTC CONFIRMATION PROCEDURE H
1.PERFORM DTC CONFIRMATION PROCEDURE (1)
1. Start the engine. I
2. Wait for approximately 5 minutes or more after turning the MAIN switch of ICC system ON.
J
NO >> GO TO 2.
K
1. Depress the brake pedal strongly 10 times or more.
2. Perform “All DTC Reading”. L
YES >> Refer to CCS-73, "Diagnosis Procedure". M
N
CCS
P
NO >> GO TO 2.
2.CHECK HARNESS BETWEEN BRAKE BOOSTER (RELEASE SWITCH) AND BRAKE BOOSTER CON-
TROL UNIT
2. Disconnect connectors of brake booster and brake booster control unit.
connector.

Brake booster control unit Brake booster

Continuity
6 1
22 2

Continuity
Connector Terminal
6 Ground
B250 15 Not existed
22
YES >> GO TO 3.
3.CHECK RELEASE SWITCH POWER SUPPLY CIRCUIT
1. Connect the brake booster control unit connector.
3. Check voltage between brake booster control unit harness connector and ground.
Terminal
(+) (–) Voltage

B250 6 10 V
YES >> GO TO 4.
4.CHECK RELEASE SWITCH
Check the release switch. Refer to CCS-74, "Component Inspection".
1.CHECK BRAKE BOOSTER (RELEASE SWITCH)

Check for continuity between brake booster (release switch) termi-
nals.
Condition 1–3 1–2 2–3

Brake pedal not de-
Continuity No continuity No continuity
pressed
No continu-
Brake pedal depressed ContinuityNOTE No continuity
ityNOTE
NOTE:
If the depressing force is weak, it may not be changed. JPOIA0160GB

YES >> INSPECTION END A
B
DESCRIPTION
operation is performed. C
D
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-13, "LASER BEAM AIMING E
F
>> GO TO 2.
2.CHECK ICC SYSTEM
G
H
>> WORK END

I
CCS

C1A11 PRESSURE CONTROL
• The brake booster control unit receives the brake fluid pressure command signal from ICC sensor integrated
unit via ITS communication and activates the booster solenoid to operate the brake booster.
• The brake booster adjusts the brake fluid pressure by driving the booster solenoid.
• The brake pedal is controlled when the brake booster adjusts the brake fluid pressure.
DTC DETECTION LOGIC
DTC
play)
C1A11
PRESSURE CONTROL If the brake booster is malfunctioning Brake booster
(11)
NOTE:
If DTC “C1A11” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-137, "DTC
Logic".

NO >> GO TO 2.
2.CHECK BRAKE OPERATION
Check if the brake operates normally.
Does it operate normally?
YES >> GO TO 4.
NO >> GO TO 3.
3.BRAKE LINE INSPECTION
1. Check the brake system, and then repair malfunctioning parts.
2. Erases All self-diagnosis results.
3. Perform “BOOSTER SOL/V” on “Active Test” of “ICC”.
NO >> GO TO 4.
4.CHECK BOOSTER SOLENOID

YES >> GO TO 5. A
B
CONTROL UNIT
3. Check for continuity between the brake booster control unit harness connector and brake booster harness C
connector.
Brake booster control unit Brake booster D

Continuity
10 4
B250 E44 Existed E
12 6
F
Continuity
Connector Terminal
Ground G
10
B250 Not existed
12
Is the inspection result normal? H
I

J
Check resistance between brake booster (booster solenoid) termi-
nals.
K
Brake booster
Resistance
Terminal
4 6 Approx. 1.4 Ω L
NO >> Replace the brake booster. M
JPOIA0160GB
N
DESCRIPTION
operation is performed. CCS
SPECIAL REPAIR REQUIREMENT P
>> GO TO 2.

2.CHECK ICC SYSTEM

>> WORK END

C1A12 LASER BEAM OFF CENTER
A
ICC sensor integrated unit detects the reflected light from the vehicle ahead by irradiating a laser forward. It B
calculates the distance from and relative speed with the vehicle ahead based on the detected signal.
C
DTC DETECTION LOGIC
DTC D
play)
C1A12 Laser beam of ICC sensor integrated unit is E
LASER BEAM OFFCNTR Laser beam is off the aiming point
(12) off the aiming point
F
1.ADJUST LASER BEAM AIMING
1. Adjust the laser beam aiming with CONSULT-III. Refer to CCS-13, "LASER BEAM AIMING ADJUST-
MENT : Description". G
3. Check if the “C1A12” is detected in “Self Diagnostic Result” of “ICC”.
Is “C1A12” detected? H
YES >> Replace ICC sensor integrated unit. Refer to CCS-180, "Exploded View".
I
DESCRIPTION J
• Replacement of ICC sensor integrated unit K

1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT L
M
>> GO TO 2.
N
2.CHECK ICC SYSTEM
test. (Refer to CCS-18, "ACTION TEST : Description" for action test.) CCS
>> WORK END P

C1A13 STOP LAMP RELAY
• The ICC sensor integrated unit transmits the ICC brake hold relay drive signal to the brake booster control
• The ICC brake hold relay activates the stop lamp by the ICC brake hold relay drive signal (stop lamp drive
signal) outputted by the brake booster control unit.
DTC DETECTION LOGIC
DTC
play)
• If the stop lamp is not activated even • ICC brake switch circuit
though the ICC sensor integrated unit is • ICC brake hold relay circuit
transmitting a ICC brake hold relay drive • Stop lamp switch
C1A13
STOP LAMP RLY FIX signal. • ICC brake switch
(13)
• If the stop lamp is activated even though • ICC brake hold relay
the ICC sensor integrated unit is not trans- • Incorrect stop lamp switch installation
mitting a ICC brake hold relay drive signal. • Incorrect ICC brake switch installation
• ECM
NOTE:
"DTC Logic".
2. Perform the active test item “STOP LAMP” with CONSULT-III.
4. Check if the “C1A13” is detected as the current malfunction in the “Self Diagnostic Result” of “ICC”.
NO >> GO TO 2.
1. Drive at the vehicle speed of 40 km/h (25 MPH) or more for approximately 20 seconds or more without the
brake pedal depressed.
CAUTION:
NOTE:
If it is outside the above condition, repeat step 1.
3. Check if the “C1A13” is detected as the current malfunction in the “Self Diagnostic Result” of “ICC”.


Refer to CCS-137, "DTC Logic". A
NO >> GO TO 2.
B
YES >> GO TO 12.
C
3.CHECK ICC BRAKE SWITCH INSTALLATION D
YES >> GO TO 4.
4.CHECK ICC BRAKE SWITCH F
Is the inspection result normal? G
YES >> GO TO 5.
H
2. Check for continuity between ICC brake hold relay terminals. I

Continuity
Terminal J
3 4 Existed
K
YES >> GO TO 6.
6.CHECK HARNESS BETWEEN ICC BRAKE HOLD RELAY AND ICC BRAKE SWITCH L
1. Check for continuity between ICC brake hold relay harness connector and ICC brake switch harness con-
nector.
M
ICC brake hold relay ICC brake switch
Continuity
N
CCS
Continuity
E91 4 Not existed P
YES >> GO TO 7.

2. Check for continuity between the ECM harness connector and ICC brake switch harness connector.
VQ35HR

Continuity
M107 126 E114 2 Existed
VK50VE

Continuity
M160 117 E114 2 Existed
VQ35HR
ECM
Continuity
VK50VE
ECM
Continuity
YES >> GO TO 8.
8.CHECK ICC BRAKE HOLD RELAY POWER SUPPLY CIRCUIT
1. Connect ECM connector.
3. Check the voltage between ICC brake hold relay harness connector and ground.
Terminals
(+) (–) Voltage
ICC brake hold relay (Approx.)
Connector Terminal
Ground
Battery
E91 3
voltage
YES >> GO TO 20.
NO >> Repair ICC brake hold relay power supply circuit.
3. Check that the stop lamp is illuminated by depressing the brake pedal to turn the stop lamp ON.
YES >> GO TO 10.
NO >> Check the stop lamp circuit, and repair or replace the malfunctioning parts.
10.CHECK ICC BRAKE HOLD RELAY CIRCUIT
1. Connect ICC brake hold relay.
2. Disconnect the stop lamp switch connector.
3. Check that the stop lamp does not illuminate when brake pedal is not depressed.

YES >> GO TO 20.
NO >> GO TO 11. A
B

Continuity C
Terminal
6 7 Not existed
Is the inspection result normal? D
YES >> GO TO 20.
12.CHECK HARNESS BETWEEN BRAKE BOOSTER CONTROL UNIT AND ICC BRAKE HOLD RELAY E

2. Disconnect brake booster control unit connector and remove ICC brake hold relay.
F
3. Check for continuity between the brake booster control unit harness connector and ICC brake hold relay
harness connector.
G
Brake booster control unit ICC brake hold relay
Continuity
B249 47 E91 1 Existed H
Brake booster control unit I

Continuity
B249 47 Not existed
J
YES >> GO TO 13.
NO >> Repair the harnesses or connectors. K
13.CHECK HARNESS BETWEEN ICC BRAKE HOLD RELAY AND GROUND
Check for continuity between ICC brake hold relay harness connector and ground.
L
Continuity
M
E91 2 Existed
YES >> GO TO 14. N
CCS
Check resistance between ICC brake hold relay terminals.
ICC brake hold relay P

Resistance
Terminal
1 2 Approx. 75 Ω
YES >> GO TO 15.

15.CHECK BRAKE BOOSTER CONTROL UNIT OUTPUT VOLTAGE

2. Turn ignition switch ON.
3. Perform “STOP LAMP” on “Active Test” of “ICC”, and then check the voltage between ICC brake hold
relay harness connector and ground.
Terminal
Condition
(+) (–)
Voltage
ICC brake hold relay Active Test (Approx.)
item
Connector Terminal “STOP LAMP”
Ground
Off 0V
E91 1 Battery
On
voltage
YES >> GO TO 16.
NO >> GO TO 21.
Terminal
(+) (–) Voltage
Connector Terminal
Ground
Battery
E91 7
voltage
YES >> GO TO 17.
NO >> Repair or replace ICC brake hold relay power supply circuit.
17.CHECK HARNESS BETWEEN ICC BRAKE HOLD RELAY AND ECM
2. Check for continuity between ICC brake hold relay harness connector and ECM harness connector.
VQ35HR
ICC brake hold relay ECM

Continuity
E91 6 M107 122 Existed
VK50VE

Continuity

Continuity
E91 6 Not existed
YES >> GO TO 18.

1. Connect ECM, rear combination lamp, and high-mounted stop lamp connectors and ICC brake hold relay.
B
4. Perform “STOP LAMP” on “Active Test” of “ICC”, and then check the stop lamp for illumination.
C
YES >> GO TO 19.
19.CHECK ICC BRAKE SWITCH STANDARD VOLTAGE D
2. Connect the stop lamp switch connector.
3. Turn ignition switch ON. E
4. Perform “STOP LAMP” on “Active Test” of “ICC”, and then check the voltage between ICC brake switch
harness connector and ground.
F
Terminal
Condition
(+) (–)
Voltage
ICC brake switch Active Test (Approx.) G
item
Ground
Battery
Off H
E114 1 voltage
On 0V
YES >> GO TO 20.
20.PERFORM SELF-DIAGNOSIS OF ECM J
3. Perform “All DTC Reading”. K
Is any DTC detected? L
NO >> GO TO 21.
21.CHECK ICC BRAKE HOLD RELAY DRIVE SIGNAL OUTPUT M

2. Check that “STP LMP DRIVE” is turned ON when operating the test item.
N
CCS
1.CHECK ICC BRAKE HOLD RELAY P

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

Not exist-
3 4
When the battery voltage is applied ed
6 7 Existed
3 4 Existed
When the battery voltage is not ap-
plied Not exist-
6 7
ed MBIB0063E

DESCRIPTION
>> GO TO 2.
2.CHECK ICC SYSTEM
>> WORK END

C1A14 ECM
C1A14 ECM
A
• ECM transmits the accelerator pedal position signal, ICC brake switch signal, stop lamp switch signal, ICC B
steering switch signal, etc. to ICC sensor integrated unit via CAN communication.
• ECM controls the electric throttle control actuator based on the engine torque demand received from the ICC
sensor integrated unit via CAN communication.
C
DTC DETECTION LOGIC D
DTC
play)
E
• Accelerator pedal position sensor
C1A14
ECM CIRCUIT If ECM is malfunctioning • ECM
(14)
• ICC sensor integrated unit F
NOTE:
"DTC Logic". G
2. Operate the ICC system and drive.
CAUTION:
3. Stop the vehicle. I
Is “C1A14” detected as the current malfunction? J
K

L
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. M
NO >> GO TO 2.
2.PERFORM SELF-DIAGNOSIS OF ECM N
Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”.
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to CCS
EC-542, "DTC Index" (VQ35HR) or EC-1172, "DTC Index" (VK50VE).
P
DESCRIPTION

C1A14 ECM
>> GO TO 2.
2.CHECK ICC SYSTEM
>> WORK END

C1A15 GEAR POSITION
C1A15 GEAR POSITION
A
ICC sensor integrated unit judges the gear position based on the following signals. B
• Shift 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
Trouble diagnosis E
name
play)
If a mismatch occurs between a shift posi- • Input speed sensor
C1A15 tion signal transmitted from TCM via CAN • Vehicle speed sensor A/T (output speed F
GEAR POSITION
(15) communication and the gear position calcu- sensor)
lated by ICC sensor integrated unit • TCM
NOTE: G
If DTC “C1A15” is detected along with DTC “U1000”, “C1A03”, or “C1A04”, first diagnose the DTC “U1000”,
“C1A03”, or “C1A04”.
• Refer to CCS-137, "DTC Logic" for DTC “U1000”. H
DTC CONFIRMATION PROCEDURE I
2. Turn the MAIN switch of ICC system ON. J
3. Drive the vehicle at 10 km/h (6 MPH) or faster for approximately 15 minutes or more.
CAUTION:
Always drive safely. K
6. Check if “C1A15” is detected as the current malfunction in the “Self Diagnostic Result” of “ICC”.
L
M
1.CHECK SELF-DIAGNOSIS RESULTS N

Check if “C1A03”, “C1A04”, or “U1000” is detected other than “C1A15” in “Self Diagnostic Result” of “ICC”.
CCS
NO >> GO TO 2.
2. CHECK VEHICLE SPEED SIGNAL P
Check that “VHCL SPEED SE” operates normally in “DATA MONITOR” of “ICC”.
CAUTION:
YES >> GO TO 3.
NO >> GO TO 7.

C1A15 GEAR POSITION
3.CHECK GEAR POSITION

Check that “GEAR” operates normally in “DATA MONITOR” of “ICC”.
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”.
DESCRIPTION
>> GO TO 2.
2.CHECK ICC SYSTEM

C1A15 GEAR POSITION
>> WORK END A
CCS

C1A16 RADAR STAIN
C1A16 RADAR STAIN
ICC sensor integrated unit detects the reflected light from the vehicle ahead by irradiating a laser beam for-
ward. It calculates the distance from and relative speed with the vehicle ahead based on the detected signal.
DTC DETECTION LOGIC
DTC
Trouble diagnosis
name
play)
• Stain or foreign materials is deposit-
C1A16 If any stain occurs to ICC sensor integrated
RADAR STAIN ed
(16) unit body window
• Cracks or scratches exist
NOTE:
DTC “C1A16” may be detected under the following conditions. (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 malfunction”.)
• When contamination or foreign materials adhere to the ICC sensor integrated unit body window
• When driving while it is snowing or when frost forms on the ICC sensor integrated unit body window
• When ICC sensor integrated unit body window is temporarily fogged
1.VISUAL CHECK 1
Check ICC sensor integrated unit body window for contamination and foreign materials.
Does contamination or foreign materials adhere?
YES >> Wipe out the contamination and foreign materials from the ICC sensor integrated unit body win-
dow.
NO >> GO TO 2.
2.VISUAL CHECK 2
Check ICC sensor integrated unit body window for cracks and scratches.
Is it found?
NO >> GO TO 3.
3.INTERVIEW
1. Ask if there is any trace of contamination or foreign materials adhering to the ICC sensor integrated unit
body window.
2. Ask if ICC sensor integrated unit body window was frosted during driving or if vehicle was driven in snow.
3. Ask if ICC sensor integrated unit body window was temporarily fogged. (Front window glass may also
tend to fog, etc.)
What is the result of the interview with the customer?
YES >> 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 malfunction”.
DESCRIPTION

C1A16 RADAR STAIN
A
ADJUSTMENT : Description". B
>> GO TO 2. C
2.CHECK ICC SYSTEM
test. (Refer to CCS-18, "ACTION TEST : Description" for action test.) D
>> WORK END E
CCS

C1A18 LASER AIMING INCMP
Always perform the laser beam aiming adjustment after replacing the ICC sensor integrated unit.
DTC DETECTION LOGIC
DTC
Trouble diagnosis
name
play)
• No laser beam aiming adjustment is
C1A18 LASER AIMING IN- Laser beam aiming of ICC sensor integrated unit performed
(18) CMP is not adjusted • Laser beam aiming adjustment has
been interrupted


1. Adjust the laser beam aiming. Refer to CCS-13, "LASER BEAM AIMING ADJUSTMENT : Description".
2. Erase All self-diagnosis results with CONSULT-III.
Is “C1A18” detected?
DESCRIPTION
>> GO TO 2.
2.CHECK ICC SYSTEM

test. (Refer to CCS-18, "ACTION TEST : Description" for action test.) A
>> WORK END B
CCS

C1A21 UNIT HIGH TEMP
ICC sensor integrated unit integrates the temperature sensor.

DTC DETECTION LOGIC
DTC
Trouble diagnosis
name
play)
C1A21 If the temperature sensor (integrated in the ICC Temperature around ICC sensor inte-
UNIT HIGH TEMP
(21) sensor integrated unit) detects a high temperature grated unit is excessively high

2. Wait for 10 minutes or more to cool the ICC sensor integrated unit.
1.CHECK ENGINE COOLING SYSTEM

Check for any malfunctions in engine cooling system.
Is engine cooling system normal?
NO >> Repair engine cooling system.
DESCRIPTION
>> GO TO 2.
2.CHECK ICC SYSTEM

>> WORK END
A
CCS

C1A22 BCU CIRCUIT
C1A22 BCU CIRCUIT
• The brake booster control unit receives the brake fluid pressure command signal from ICC sensor integrated
DTC DETECTION LOGIC
DTC
display)
• ICC brake switch
C1A22 If the brake booster control unit cannot control
BCU CIRCUIT • Incorrect stop lamp switch installation
(22) the brake booster
tion
• ECM
NOTE:
If DTC “C1A22” is detected along with DTC “U1000”, or “C1A05”, first diagnose the DTC “U1000”, or “C1A05”.
• Refer to CCS-137, "DTC Logic" for DTC “U1000”.

NO >> GO TO 2.
YES >> GO TO 10.

C1A22 BCU CIRCUIT
Is the inspection result normal? A
YES >> GO TO 4.
4.ICC BRAKE SWITCH INSPECTION B

C
YES >> GO TO 7.
NO >> Replace the ICC brake switch. D
Check stop lamp illumination.
YES >> GO TO 6.
F
2. Remove ICC brake hold relay. G

Continuity
Terminal
3 4 Existed
6 7 Not existed I

YES >> GO TO 7. J
1. Disconnect ECM connector. K
VQ35HR
L
Continuity
M107 122 E91 6 Existed M
VK50VE

Continuity N
3. Check for continuity between ECM harness connector and ground. CCS
VQ35HR
ECM
Continuity P
VK50VE
ECM
Continuity

C1A22 BCU CIRCUIT
YES >> GO TO 8.
VQ35HR

Continuity
M107 126 E114 2 Existed
VK50VE

Continuity
M160 117 E114 2 Existed
VQ35HR
ECM
Continuity
VK50VE
ECM
Continuity
YES >> GO TO 9.
9.CHECK HARNESS BETWEEN ICC BRAKE SWITCH AND ICC BRAKE HOLD RELAY
2. Check for continuity between ICC brake switch harness connector and ICC brake hold relay harness con-
nector.
ICC brake switch ICC brake hold relay

Continuity
3. Check for continuity between ICC brake switch harness connector and ground.
ICC brake switch

Continuity
E114 1 Not existed
YES >> GO TO 10.

C1A22 BCU CIRCUIT
EC-542, "DTC Index" (VQ35HR) or EC-1172, "DTC Index" (VK50VE). A
B
DESCRIPTION
operation is performed. C
SPECIAL REPAIR REQUIREMENT D

Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-13, "LASER BEAM AIMING E
F
>> GO TO 2.
2.CHECK ICC SYSTEM
G
H
>> WORK END
CCS

C1A24 NP RANGE
C1A24 NP RANGE
ICC sensor integrated unit judges the NP position status from the shift position signal and current gear position
signal received from TCM via CAN communication.
DTC DETECTION LOGIC
DTC
play)
If the shift position signal and the current gear
C1A24 • TCM
NP RANGE position signal, transmitted from TCM via CAN
(24) • Transmission range switch
communication, are inconsistent
NOTE:
"DTC Logic".
1.CHECK DTC REPRODUCE (1)
3. Wait for approximately 5 minutes or more after shifting the selector lever to “P” position.
NO >> GO TO 2.
2.CHECK DTC REPRODUCE (2)
1. Wait for approximately 5 minutes or more after shifting the selector lever to “N” position.

NO >> GO TO 2.
2.CHECK NP POSITION SWITCH SIGNAL
Check that “NP RANGE SW” operates normally in “DATA MONITOR” of “ICC”.
YES >> GO TO 3.
3.CHECK TCM DATA MONITOR
Check that “SLCT LVR POSI” operates normally in “DATA MONITOR” of “TRANSMISSION”.

C1A24 NP RANGE
NO >> GO TO 4.
4.PERFORM TCM SELF-DIAGNOSIS
B
C
D
DESCRIPTION E
F
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT G
H
>> GO TO 2.
I
2.CHECK ICC SYSTEM
test. (Refer to CCS-18, "ACTION TEST : Description" for action test.) J
>> WORK END K
CCS

C1A28 BCU POWER SUPPLY CIRCUIT, C1A29 BCU POWER SUPPLY
CIRCUIT2
CIRCUIT2
The brake booster control unit controls the brake booster, etc. with the battery power supply and ignition
power supply.
DTC DETECTION LOGIC
DTC
Trouble diagnosis
name
play)
C1A28 The brake booster control unit power supply
BCU PWR SUPLY CIR
(28) voltage is excessively low (less than 8 V). • Brake booster control unit
C1A29 BCU PWR SUPLY CIR The brake booster control unit power supply • Harness, connector, fuse
(29) 2 voltage is excessively high (more than 19 V).
NOTE:
If DTC “C1A28” or “C1A29” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to
CCS-137, "DTC Logic".
4. Check if the “C1A28” or “C1A29” is detected as the current malfunction in “Self Diagnostic Result”.

Check if “U1000” is detected other than “C1A28”, “C1A29” in “Self Diagnostic Result” of “ICC”.
NO >> GO TO 2.
2.CHECK BRAKE BOOSTER CONTROL UNIT POWER SUPPLY AND GROUND CIRCUIT
Check brake booster control unit power supply and ground circuit. Refer to CCS-140, "BRAKE BOOSTER
NO >> Repair brake booster control unit power supply and ground circuit.
DESCRIPTION

CIRCUIT2
A
>> GO TO 2. C
2.CHECK ICC SYSTEM
>> WORK END E
CCS

C1A30 BCU CAN COMM CIRC
The brake booster control unit communicates with ICC sensor integrated unit for brake booster control via ITS
communication.
DTC DETECTION LOGIC
DTC
Trouble diagnosis
name
play)
If ICC sensor integrated unit receives the sig-
C1A30
BCU CAN COMM CIRC nal for improper condition for brake booster ITS communication system
(30)
control unit via ITS communication
1.PERFORM THE SELF-DIAGNOSIS

YES >> Perform trouble diagnosis for the ITS communication system. Refer to LAN-22, "Trouble Diagno-
sis Flow Chart".
DESCRIPTION
>> GO TO 2.
2.CHECK ICC SYSTEM
>> WORK END

C1A31 BCU INTERNAL MALF
A
The brake booster control unit inputs the brake fluid pressure control signal and release switch signal and B
transmits them to ICC sensor integrated unit via ITS communication. Also, it receives the brake fluid pressure
command signal from ICC sensor integrated unit via ITS communication and activates the booster solenoid to
operate the brake booster (brake).
C
DTC
play)
E
C1A31
BCU INTERNAL MALF Brake booster control unit internal malfunction Brake booster control unit
(31)
F
G
4. Check if the “C1A31” is detected as the current malfunction in “Self Diagnostic Result” of “ICC”. H
NO >> Refer to GI-35, "Intermittent Incident". I
J
Is any DTC detected? K
NO >> Replace the brake booster control unit. L
DESCRIPTION M
• Removal and installation of ICC sensor integrated unit N
CCS
ADJUSTMENT : Description". P
>> GO TO 2.
2.CHECK ICC SYSTEM

>> WORK END

C1A32 IBA FLAG STUCK
A
ICC sensor integrated unit shares components with the IBA system. B
DTC DETECTION LOGIC C
DTC
(On board dis- Trouble diagnosis name DTC detecting condition Possible causes D
play)
C1A32 If the control (detection) of IBA is malfunction- • ICC sensor integrated unit
IBA FLAG STUCK
(32) ing • Brake booster control unit
E
NOTE:
"DTC Logic". F
1.PERFORM DTC CONFIRMATION PROCEDURE G
2. Wait for approximately 5 minutes or more after turning the MAIN switch of ICC system ON.
4. Check if the “C1A32” is detected as the current malfunction in “Self Diagnostic Result” of “ICC”. H
J
Is “U1000” detected? K
NO >> GO TO 2. L
2.REPLACE BRAKE BOOSTER CONTROL UNIT
1. Turn the ignition switch OFF. M
2. Replace the brake booster control unit.
4. Perform DTC confirmation procedure. Refer to CCS-109, "DTC Logic".
5. Perform “All DTC Reading”. N
YES >> Replace the ICC sensor integrated unit. Refer to CCS-180, "Exploded View". CCS
P
DESCRIPTION


>> GO TO 2.
2.CHECK ICC SYSTEM
>> WORK END

C1A33 CAN TRANSMISSION ERROR
A
ICC sensor integrated unit transmits the signal required by the ICC system control to ECM via CAN communi- B
cation.
C
DTC DETECTION LOGIC
DTC D
play)
If an error occurs in the CAN communication E
C1A33 CAN TRANSMISSION
signal that ICC sensor integrated unit trans- ICC sensor integrated unit
(33) ERROR
mits to ECM
NOTE:
F
"DTC Logic".
DTC CONFIRMATION PROCEDURE G
2. Turn the MAIN switch of ICC system ON. H
Is “C1A33” detected as the current malfunction? I
J

YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. L
Special Repair Requirement INFOID:0000000003902294 M
DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following N
• Replacement of ICC sensor integrated unit CCS
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT P
>> GO TO 2.
2.CHECK ICC SYSTEM
>> WORK END

C1A34 COMMAND ERROR
C1A34 COMMAND ERROR
A
ICC sensor integrated unit transmits the command signal required for the ECM control via CAN communica- B
tion.
C
DTC DETECTION LOGIC
DTC D
play)
If an error occurs in the command signal that E
C1A34
COMMAND ERROR ICC sensor integrated unit transmits to ECM ICC sensor integrated unit
(34)
via CAN communication
NOTE:
F
"DTC Logic".
2. Operate the ICC system and drive. H
CAUTION:
3. Stop the vehicle. I
Diagnosis Procedure INFOID:0000000003902297 K

L
M
N
DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following CCS
P

C1A34 COMMAND ERROR
>> GO TO 2.
2.CHECK ICC SYSTEM
>> WORK END

C1A39 STEERING ANGLE SENSOR
A
It measures the rotation amount, rotation speed, and rotation direction of steering wheel, and then transmits B
them to ICC sensor integrated unit via CAN communication.
C
DTC DETECTION LOGIC
DTC D
play)
C1A39 E
STRG SEN CIR If the steering angle sensor is malfunction Steering angle sensor is malfunction
(39)
NOTE:
If DTC “C1A39” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-137, F
"DTC Logic".

3. Perform “All DTC Reading” with CONSULT-III. H
YES >> Refer to CCS-115, "Diagnosis Procedure". I
J

Check if “U1000” is detected other than “C1A39” in “Self Diagnostic Result” of “ICC”. K
Refer to CCS-137, "DTC Logic". L
NO >> GO TO 2.
M
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to N
Special Repair Requirement INFOID:0000000003902302 CCS
DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following P

>> GO TO 2.
2.CHECK ICC SYSTEM
>> WORK END

C1A40 SYSTEM SWITCH CIRCUIT
A
DCA SWITCH B
• The DCA system ON/OFF operation is performed by the DCA switch.
• The DCA switch signal is input to the brake booster control unit, and transmitted from the brake booster con-
trol unit to the ICC sensor integrated unit via ITS communication. C
IBA OFF SWITCH
• The IBA ON/OFF operation is performed by IBA OFF switch.
• The IBA OFF switch signal is input to the brake booster control unit and transmits from the brake booster D
control unit to the ICC sensor integrated unit via ITS communication.
E
DTC DETECTION LOGIC
DTC F
Trouble diagnosis
name
play)
• DCA switch circuit G
• DCA switch
C1A40 If the DCA switch or the IBA OFF switch is stuck
SYSTEM SW CIRC • IBA OFF switch circuit
(40) to ON
• IBA OFF switch
• Brake booster control unit H
NOTE:
If DTC “C1A40” is displayed along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-137,
"DTC Logic". I
1.PERFORM DTC CONFIRMATION PROCEDURE J
1. Start the engine and wait for approximately 10 minutes or more.
3. Check if the “C1A40” is detected as the current malfunction in “Self Diagnostic Result” of “ICC”. K
NO >> Refer to GI-35, "Intermittent Incident". L
1.CHECK SELF-DIAGNOSIS RESULTS M
Is “U1000” detected? N
NO >> GO TO 2. CCS
2. CHECK DATA MONITOR
Check that “DCA ON SW” and “IBA SW” operate normally in “DATA MONITOR” of “ICC”.
Is the inspection result normal? P
YES >> Refer toGI-35, "Intermittent Incident".
NO-1 >> When “DCA ON SW” is malfunctioning: GO TO 3
NO-2 >> When “IBA SW” is malfunctioning: GO TO 7
3.CHECK DCA SWITCH
2. Disconnect the DCA switch connector.

3. Check the DCA switch. Refer to CCS-119, "Component Inspection (DCA Switch)".
YES >> GO TO 4.
NO >> Replace the DCA switch.
4.CHECK HARNESS BETWEEN BRAKE BOOSTER CONTROL UNIT AND DCA SWITCH
2. Check for continuity between brake booster control unit harness connector and DCA switch harness con-
nector.
Brake booster control unit DCA switch

Continuity
B250 9 M18 1 Existed
3. Check for continuity between brake booster control unit and ground.

Continuity
B250 9 Not existed
YES >> GO TO 5.
5.CHECK DCA SWITCH GROUND CIRCUIT
Check for continuity between DCA switch harness connector and ground.
DCA switch
Continuity
M18 2 Existed
YES >> GO TO 6.
6.CHECK DCA SWITCH SIGNAL
Terminals
(+) (–) Voltage

B250 9 Battery voltage
7.CHECK IBA OFF SWITCH
2. Disconnect the IBA OFF switch connector.
3. Check the IBA OFF switch. Refer to CCS-120, "Component Inspection (IBA OFF Switch)".
YES >> GO TO 8.

NO >> Replace the IBA OFF switch.
8.CHECK HARNESS BETWEEN BRAKE BOOSTER CONTROL UNIT AND IBA OFF SWITCH A

2. Check for continuity between the brake booster control unit harness connector and IBA OFF switch har-
B
ness connector.
Brake booster control unit IBA OFF switch

Continuity C
3. Check for continuity between brake booster control unit and ground. D

Continuity E
B249 40 Not existed
Is the inspection result normal? F
YES >> GO TO 9.
9.CHECK IBA OFF SWITCH GROUND CIRCUIT G
Check for continuity between IBA OFF switch harness connector and ground.
H
IBA OFF switch
Continuity
M184 6 Exists I
YES >> GO TO 10.
NO >> Repair the harnesses or connectors. J
10.CHECK IBA OFF SWITCH SIGNAL
1. Connect the brake booster control unit connector. K
L
Terminals
(+) (–) Voltage
Brake booster control unit (Approx.) M
N
CCS
Component Inspection (DCA Switch) INFOID:0000000003943264
1.CHECK DCA SWITCH P

Check for continuity of DCA switch.

When the DCA switch is pressed Existed
1 2
When the DCA switch is released Not existed

Component Inspection (IBA OFF Switch) INFOID:0000000003959729

Check for continuity of IBA OFF switch.

When the IBA OFF switch is pressed Existed
6 7
When the IBA OFF switch is released Not existed
DESCRIPTION
>> GO TO 2.
2.CHECK ICC SYSTEM
>> WORK END

U0121 VDC CAN 2
U0121 VDC CAN 2
A
ABS actuator and electric unit (control unit) transmits the VDC system signal to ICC sensor integrated unit via B
CAN communication.
C
DTC DETECTION LOGIC
DTC D
play)
If ICC sensor integrated unit detects an error E
U0121 signal that is received from ABS actuator and ABS actuator and electric unit (control
VDC CAN CIR2
(127) electric unit (control unit) via CAN communica- unit)
tion
NOTE: F
If DTC “U0121” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-137, "DTC
Logic".
G
4. Check if the “U0121” is detected as the current malfunction in “Self Diagnostic Result” of “ICC”. I
Is “U0121” detected as the current malfunction?
Check if “U1000” is detected other than “U0121” in “Self Diagnostic Result” of “ICC”.
NO >> GO TO 2.
M
Is any DTC detected? N
NO >> Replace the ICC sensor integrated unit. Refer to CCS-180, "Exploded View". CCS
P
DESCRIPTION

U0121 VDC CAN 2

>> GO TO 2.
2.CHECK ICC SYSTEM
>> WORK END

U0126 STRG SEN CAN 1
A
C
DTC DETECTION LOGIC
DTC D
play)
U0126
STRG SEN CAN CIR1 signal that is received from steering angle sen- Steering angle sensor error
(130)
sor via CAN communication
NOTE:
F
Logic".
4. Check if the “U0126” is detected as the current malfunction in “Self Diagnostic Result” of “ICC”.
Is “U0126” detected as the current malfunction? I
J

NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS M
N
CCS
DESCRIPTION P
>> GO TO 2.
2.CHECK ICC SYSTEM
>> WORK END

U0129 BCU CAN 2
U0129 BCU CAN 2
A
The brake booster control unit transmits the signal related to brake control to ICC sensor integrated unit via B
ITS communication.
C
DTC DETECTION LOGIC
DTC D
play)
U0129
BCU CAN CIR2 signal that is received from brake booster con- Brake booster control unit
(125)
trol unit via ITS communication
NOTE:
F
Logic".
J

NO >> GO TO 2.
2.REPLACE BRAKE BOOSTER CONTROL UNIT M
2. Replace brake booster control unit.
3. Erases All self-diagnosis results. N
6. Check if the “U0129” is detected in “Self Diagnostic Result” of “ICC”. CCS
NO >> INSPECTION END P
DESCRIPTION

U0129 BCU CAN 2
>> GO TO 2.
2.CHECK ICC SYSTEM
>> WORK END

U0401 ECM CAN 1
U0401 ECM CAN 1
A
ECM transmits the signal related to engine control (ICC system) to ICC sensor integrated unit via CAN com- B
munication.
C
DTC DETECTION LOGIC
DTC D
display)
U0401
ECM CAN CIR1 signal that is received from ECM via CAN ECM
(120)
communication
NOTE:
F
Logic".
J

NO >> GO TO 2.
2.CHECK ECM SELF-DIAGNOSIS RESULTS M
N
CCS
DESCRIPTION P
U0401 ECM CAN 1
>> GO TO 2.
2.CHECK ICC SYSTEM
>> WORK END

U0402 TCM CAN 1
U0402 TCM CAN 1
A
TCM transmits the signal related to A/T control to ICC sensor integrated unit via CAN communication. B
DTC
Trouble diagnosis
(On board dis- DTC detecting condition Possible causes D
name
play)
If ICC sensor integrated unit detects an error
U0402
TCM CAN CIRC1 signal that is received from TCM via CAN TCM
(122) E
communication
NOTE:
F
Logic".
J

Check if “U1000” is detected other than “U0402” in “Self Diagnostic Result” of “ICC”. K
Refer to CCS-137, "DTC Logic". L
NO >> GO TO 2.
M
Check if any DTC is detected in “Self Diagnostic Result” of “TRANSMISSION”.
N
DESCRIPTION

U0402 TCM CAN 1
>> GO TO 2.
2.CHECK ICC SYSTEM
>> WORK END

U0415 VDC CAN 1
U0415 VDC CAN 1
A
ABS actuator and electric unit (control unit) transmits the signal related to the VDC system to ICC sensor inte- B
C
DTC DETECTION LOGIC
DTC D
play)
VDC CAN CIR1
tion
NOTE: F
Logic".
G
4. Check if the “U0415” is detected as the current malfunction in “Self Diagnostic Result” of “ICC”. I
NO >> GO TO 2.
M
NO >> Replace the ICC sensor integrated unit. Refer to CCS-180, "Exploded View". CCS
P
DESCRIPTION

U0415 VDC CAN 1

>> GO TO 2.
2.CHECK ICC SYSTEM
>> WORK END

U0418 BCU CAN 1
U0418 BCU CAN 1
A
The brake booster control unit transmits the signal related to brake control to ICC sensor integrated unit via B
ITS communication.
C
DTC DETECTION LOGIC
DTC
Trouble diagnosis
D
name
play)
U0418
(124)
NOTE:
F
Logic".
J

NO >> GO TO 2.
2.REPLACE BRAKE BOOSTER CONTROL UNIT M
3. Erases All self-diagnosis results. N
6. Check if the “U0418” is detected in “Self Diagnostic Result” of “ICC”. CCS
NO >> INSPECTION END P
DESCRIPTION

U0418 BCU CAN 1
>> GO TO 2.
2.CHECK ICC SYSTEM
>> WORK END

A
It detects the rotation amount, rotation speed, and rotation direction of steering wheel, and then transmits them B
to ICC sensor integrated unit via CAN communication.
C
DTC DETECTION LOGIC
DTC D
play)
U0428
STRG SEN CAN CIR2 signal that is received from steering angle sen- Steering angle sensor
(131)
NOTE:
F
Logic".
J

NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS M
N
CCS
DESCRIPTION P
>> GO TO 2.
2.CHECK ICC SYSTEM
>> WORK END

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-32, "CAN Communication Signal Chart". D
ITS COMMUNICATION
• ITS communication is a multiplex communication system. This enables the system to transmit and receive
E
large quantities of data at high speed by connecting ICC sensor integrated unit, brake booster control unit,
and accelerator pedal actuator with 2 communication lines.
• ITS communication lines adopt twisted-pair line style (two lines twisted) for noise immunity.
F
DTC DETECTION LOGIC G

DTC
display) H
If ICC sensor integrated unit is not transmitting or
U1000 • CAN communication system
CAN COMM CIRCUIT receiving CAN communication signal or ITS com-
(100) • ITS communication system
munication signal for 2 seconds or more I
NOTE:
If “U1000” is detected, first diagnose the CAN communication system.
J
1.PERFORM THE SELF-DIAGNOSIS K

2. Turn the MAIN switch of ICC system ON, and then wait for 2 seconds or more.
4. Check if the “U1000” is detected as the current malfunction in “Self Diagnostic Result” of “ICC”. L
YES >> Refer to LAN-22, "Trouble Diagnosis Flow Chart".
NO >> Refer to GI-35, "Intermittent Incident". M
N
DESCRIPTION
operation is performed. CCS
SPECIAL REPAIR REQUIREMENT P
>> GO TO 2.

2.CHECK ICC SYSTEM

>> WORK END

U1010 CONTROL UNIT (CAN)
A
CAN controller controls the communication of CAN communication signal and the error detection. B
DTC
(On board Trouble diagnosis name DTC detecting condition Possible causes D
display)
U1010 If ICC sensor integrated unit detects malfunc-
CONTROL UNIT (CAN) ICC sensor integrated unit
(110) tion by CAN controller initial diagnosis
E
1.PERFORM DTC CONFIRMATION PROCEDURE F

3. Check if the “U1010” is detected as the current malfunction in “Self Diagnostic Result” of “ICC”. G
H
I
DESCRIPTION
operation is performed. J
SPECIAL REPAIR REQUIREMENT K
L
M
>> GO TO 2.
2.CHECK ICC SYSTEM
1. Erase the “Self Diagnostic Result”, and then perform “All DTC Reading” again after performing the action N
CCS
>> WORK END

POWER SUPPLY AND GROUND CIRCUIT
ICC SENSOR INTEGRATED UNIT
ICC SENSOR INTEGRATED UNIT : Diagnosis Procedure INFOID:0000000003902343
1.CHECK FUSES
Check if any of the following fuses are blown:
Signal name Fuse No.

Ignition power supply 45
YES >> GO TO 2.
NO >> Replace the blown fuse after repairing the affected circuit if a fuse is blown.
2.CHECK ICC SENSOR INTEGRATED UNIT POWER SUPPLY CIRCUIT
2. Check voltage between ICC sensor integrated unit harness connector and ground.
Terminal
(+) (–) Voltage
ICC sensor integrated unit (Approx.)

E67 1 Battery voltage
YES >> GO TO 3.
NO >> Repair the ICC sensor integrated unit power supply circuit.
3.CHECK ICC SENSOR INTEGRATED UNIT GROUND CIRCUIT
2. Disconnect the ICC sensor integrated unit connector.
3. Check for continuity between ICC sensor integrated unit harness connector and ground.
ICC sensor integrated unit

Continuity
E67 4 Existed
NO >> Repair the ICC sensor integrated unit ground circuit.
BRAKE BOOSTER CONTROL UNIT
BRAKE BOOSTER CONTROL UNIT : Diagnosis Procedure INFOID:0000000003902344
1.CHECK FUSES

Battery power supply 33
YES >> GO TO 2.

2.CHECK BRAKE BOOSTER CONTROL UNIT POWER SUPPLY CIRCUIT A

B
Terminal
Condition
(+) (–) Voltage
Brake booster control unit (Approx.) C
Ignition
Connector Terminal switch
1
B250 Ground OFF D
2 Battery volt-
33 age
B249 ON
42 E
YES >> GO TO 3.
NO >> Repair the brake booster control unit power supply circuit. F
3.CHECK BRAKE BOOSTER CONTROL UNIT GROUND CIRCUIT
1. Turn the ignition switch OFF. G
H
Continuity
Connector Terminal
19 Ground I
B250
20 Existed
B249 46
J
NO >> Repair the brake booster control unit ground circuit.
K
CCS

ICC WARNING CHIME CIRCUIT
• The ICC sensor integrated unit transmits the buzzer output signal to the brake booster control unit via ITS
communication.
• The brake booster control unit outputs the buzzer output signal to the ICC warning chime.
• A warning chime sounds when the system is canceled or when the vehicle distance from the vehicle ahead
is too close.
Component Function Check INFOID:0000000003902346
1.ICC WARNING CHIME OPERATION INSPECTION

1. Select the active test item “ICC BUZZER” of “ICC” with CONSULT-III.
2. Check if the ICC warning chime sounds when operating each test item.
Does the ICC warning chime sound?
YES >> The ICC warning chime circuit is normal.
NO >> Refer to CCS-142, "Diagnosis Procedure".
1.CHECK ICC WARNING CHIME POWER SUPPLY CIRCUIT

2. Disconnect the ICC warning chime connector.
4. Check voltage between ICC warning chime harness connector and ground.
Terminals
(+) (–) Voltage
ICC warning chime (Approx.)

M17 1 Battery voltage
YES >> GO TO 2.
2.CHECK ICC WARNING CHIME SIGNAL CIRCUIT
3. Check for continuity between the ICC warning chime harness connector and brake booster control unit
harness connector.
ICC warning chime Brake booster control unit

Continuity
M17 3 B250 21 Existed
YES >> GO TO 3.
3.CHECK ICC WARNING CHIME SIGNAL CIRCUIT SHORT
Check for continuity between ICC warning chime harness connector and ground.

ICC warning chime A

Continuity
M17 3 Not existed
B
YES >> GO TO 4.
NO >> Repair the harnesses or connectors. C
4.CHECK ICC WARNING CHIME
Check the ICC warning chime. Refer to CCS-143, "Component Inspection".
D
NO >> Replace the ICC warning chime.
E
1.ICC WARNING CHIME INSPECTION F

Apply the battery voltage between ICC warning chime terminals, and then check if the ICC warning chime
sounds.
G
Terminal Warning
Condition
(+) (–) chime
H
When the battery voltage is applied Sounds
1 3 Does not
When the battery voltage is not applied
sound
I
NO >> Replace the ICC warning chime. J
CCS

< ECU DIAGNOSIS INFORMATION > [ICC (FULL SPEED RANGE)]
ECU DIAGNOSIS INFORMATION

Reference Value INFOID:0000000003902349
VALUES ON THE DIAGNOSIS TOOL
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 operate When ICC system is controlling On

CRUISE OPE
the ICC system. When ICC system is not controlling Off
When brake pedal is depressed Off
BRAKE SW Ignition switch ON
When brake 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)
ICC system ON
On
Start the engine and press (Own vehicle indicator ON)
OWN VHCL
Off
(Own vehicle indicator OFF)
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 the (ICC system warning lamp ON)
ICC WARNING
MAIN switch. When ICC system is normal
Off
(ICC system warning lamp OFF)

A
IBA OFF indicator lamp ON
• When IBA system is malfunctioning On
• When IBA system is turned to OFF
BA WARNING Engine running
IBA OFF indicator lamp OFF B
• When IBA system is normal Off
• When IBA system is turned to ON
Value of vehicle C
VHCL SPEED SE While driving speed signal
(wheel speed)
Displays the set D
SET VHCL SPD While driving When vehicle speed is set
vehicle speed.
When the buzzer output signal is output On
BUZZER O/P Engine running
When the buzzer output signal is not output Off E
NOTE:
THRTL SENSOR 0.0
The item is indicated, but not monitored
Equivalent to ta- F
ENGINE RPM Engine running chometer read-
ing
Wiper not operating Off
G
WIPER SW Ignition switch ON Wiper LO operation Low
Wiper HI operation High
NOTE: H
YAW RATE 0.0
RELEASE SW NO Engine running I
RELEASE SW NC Engine running
When brake pedal is not depressed On J
Drive the vehicle and activate When ICC brake hold relay is activated On
STP LMP DRIVE the vehicle-to-vehicle distance
control mode. When the ICC brake hold relay is not activated Off
K
When brake pedal is not depressed 0.0
PRESS SENS Engine running Brake fluid pres-
sure value
L
When the selector lever is in “D”, “DS” position or man-
On
ual mode
D RANGE SW Engine running
When the selector lever is in any position other than “D”, M
Off
“DS” 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 N
“P”
Power supply
voltage value of
PWR SUP MONI Engine running CCS
ICC sensor inte-
grated unit
Value of A/T ve-
VHCL SPD AT While driving hicle speed sen- P
sor signal
Displays the
THRTL OPENING Engine running Depress accelerator pedal
throttle position.
Displays the
GEAR While driving
shift position.

NOTE:
CLUTCH SW SIG Off
NOTE:
NP SW SIG —
The item is indicated, but not used
When the parking brake is applied On
PKB SW Ignition switch ON
When the parking brake is released Off
When ICC system is deactivated Off
When vehicle-to-vehicle distance control mode is acti-
Start the engine and press ICC
MODE SIG vated
MAIN switch
When conventional (fixed speed) cruise control mode is
ASCD
activated
• Start the engine and acti- SET switch indicator lamp ON On
vate the conventional (fixed
SET DISP IND
speed) cruise control mode. SET switch indicator lamp 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 the DCA switch is not pressed Off
DCA ON SW Ignition switch ON
When the DCA switch is pressed On
DCA system OFF
Off
(DCA system switch indicator OFF)
DCA ON IND Start the engine
DCA system ON
On
(DCA system switch indicator 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
Display the ac-
celerator pedal
APA TEMP Engine running actuator inte-
grated motor
temperature
Power supply
APA PWR Ignition switch ON
voltage
When the IBA OFF switch is not pressed Off
IBA SW Ignition switch ON
When the IBA OFF switch is pressed On
TERMINAL LAYOUT
JPOIA0105ZZ

PHYSICAL VALUES A
Terminal No.
Description
(Wire color) Value
Condition B
Input/ (Approx.)
+ – Signal name
Output
1
(R)
Ignition power supply Input Ignition switch ON Battery voltage C
2 Input/
ITS communication-H — —
(L) Output
D
3 Input/
CAN-H — —
(G) Output
Ground
4
Ground — Ignition switch ON 0V E
(B)
5 Input/
ITS communication-L — —
(P) Output
6 Input/
F
CAN-L — —
(BR) Output
CCS

Wiring Diagram - INTELLIGENT CRUISE CONTROL (FULL SPEED RANGE) -
INFOID:0000000003902350
JCOWM0036GB

CCS
JCOWM0037GB

JCOWM0038GB

CCS
JCOWM0039GB

JCOWM0040GB

CCS
JCOWM0041GB

JCOWM0042GB

CCS
JCOWM0043GB

JCOWM0044GB

CCS
JCOWM0045GB
Fail-Safe INFOID:0000000003902351 P
If a malfunction occurs in the system, a chime sounds a beep, and ICC sensor integrated unit cancels the con-
trol. Then the ICC system warning lamp in the combination meter illuminates.
DTC Inspection Priority Chart INFOID:0000000003902352
If multiple DTCs are detected simultaneously, check them one by one depending on the following DTC inspec-
tion priority chart.

Priority Detected items (DTC)

• U1000: CAN COMM CIRCUIT
1
• U1010: CONTROL UNIT (CAN)
• C1A31: BCU INTERNAL MALF
2
• C1F02: APA C/U MALF
• C1A01: POWER SUPPLY CIR
• C1A02: POWER SUPPLY CIR 2
• C1A04: ABS/TCS/VDC CIRC
• C1A05: BRAKE SW/STOP L SW
• C1A06: OPERATION SW CIRC
• C1A08: PRESS SEN CIRCUIT
• C1A09: BOOSTER SOL/V CIRC
• C1A10: RELEASE SW CIRC
• C1A11: PRESSURE CONTROL
• C1A12: LASER BEAM OFFCNTR
• C1A13: STOP LAMP RLY FIX
• C1A14: ECM CIRCUIT
• C1A16: RADAR STAIN
• C1A18: LASER AIMING INCMP
• C1A21: UNIT HIGH TEMP
• C1A22: BCU CIRCUIT
• C1A24: NP RANGE
• C1A28: BCU PWR SUPLY CIR
• C1A29: BCU PWR SUPLY CIR2
3 • C1A30: BCU CAN COMM CIRC
• C1A32: IBA FLAG STUCK
• C1A33: CAN TRANSMISSION ERROR
• C1A34: COMMAND ERROR
• C1A35: APA CIR
• C1A36: APA CAN COMM CIR
• C1A37: APA CAN CIR2
• C1A39: STRG SEN CIR
• C1A40: SYSTEM SW CIRC
• C1F01: APA MOTOR MALF
• C1F05: APA PWR SUPLY CIR
• U0121: VDC CAN CIR2
• U0126: STRG SEN CAN CIR1
• U0129: BCU CAN CIR2
• U0401: ECM CAN CIR1
• U0402: TCM CAN CIR1
4 • C1A03: VHCL SPEED SE CIRC
5 • C1A15: GEAR POSITION
6 • C1A00: CONTROL UNIT
DTC Index INFOID:0000000003902353
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)

switch OFF → ON. It returns to 0 when a malfunction is detected again in the process. A
NOTE:
IBA system automatically returns to ON, when erasing self diagnosis result.
B
×: Applicable
DTC Fail-safe function
ICC sys- Conven-

tional
C
tem Vehicle-to-ve-
On board CONSULT-III display (fixed IBA sys- Reference
CONSULT-III warning hicle distance
display lamp speed) tem
control mode
cruise con- D
trol mode
C1A00 0 CONTROL UNIT × × × × CCS-52
C1A01 1 POWER SUPPLY CIR × × × × CCS-54 E
C1A02 2 POWER SUPPLY CIR 2 × × × × CCS-54
C1A03 3 VHCL SPEED SE CIRC × × × × CCS-56
C1A04 4 ABS/TCS/VDC CIRC × × × × CCS-58
F
C1A05 5 BRAKE SW/STOP L SW × × × × CCS-60

C1A06 6 OPERATION SW CIRC × × × CCS-65 G
C1A08 8 PRESS SEN CIRCUIT × × × × CCS-68
C1A09 9 BOOSTER SOL/V CIRC × × × × CCS-70
C1A10 10 RELEASE SW CIRC × × × × CCS-73 H
C1A11 11 PRESSURE CONTROL × × × × CCS-76
C1A12 12 LASER BEAM OFFCNTR × × × CCS-79
I
C1A13 13 STOP LAMP RLY FIX × × × CCS-80
C1A14 14 ECM CIRCUIT × × × CCS-87
C1A15 15 GEAR POSITION × × × × CCS-89 J
C1A16 16 RADAR STAIN × × × CCS-92
C1A18 18 LASER AIMING INCMP × × × CCS-94
K
C1A21 21 UNIT HIGH TEMP × × × × CCS-96
C1A22 22 BCU CIRCUIT × × × × CCS-98
C1A24 24 NP RANGE × × × × CCS-102 L
C1A28 28 BCU PWR SUPLY CIR × × × × CCS-104
C1A29 29 BCU PWR SUPLY CIR2 × × × × CCS-104
M
C1A30 30 BCU CAN COMM CIRC × × × × CCS-106
C1A31 31 BCU INTERNAL MALF × × × × CCS-107
C1A32 32 IBA FLAG STUCK × × × × CCS-109 N
C1A33 33 CAN TRANSMISSION ERROR × × × × CCS-111
C1A34 34 COMMAND ERROR × × × × CCS-113
C1A35 35 APA CIR × × CCS-266
CCS
C1A36 36 APA CAN COMM CIR × × CCS-267

C1A37 133 APA CAN CIR2 × × × CCS-269
P
C1A38 132 APA CAN CIR1 × × × CCS-271
C1A39 39 STRG SEN CIR × × × CCS-115
C1A40 40 SYSTEM SW CIRC × × × × CCS-117

ICC sys- Conven-

tem tional
CONSULT-III display Vehicle-to-ve- Reference
On board warning (fixed IBA sys-
CONSULT-III hicle distance
control mode
cruise con-
trol mode
NO DTC IS
DETECTED.
NO DTC IS DETECTED.
FURTHER
55 FURTHER TESTING — — — — —
TESTING
MAY BE REQUIRED.
MAY BE RE-
QUIRED
C1F01 91 APA MOTOR MALF × × CCS-279
C1F02 92 APA C/U MALF × × CCS-281
C1F05 95 APA PWR SUPLY CIR × × CCS-284
U0121 127 VDC CAN CIR2 × × × × CCS-121
U0126 130 STRG SEN CAN CIR1 × × × CCS-123
U0129 125 BCU CAN CIR2 × × × × CCS-125
U0401 120 ECM CAN CIR1 × × × × CCS-127
U0402 122 TCM CAN CIR1 × × × × CCS-129
U0415 126 VDC CAN CIR1 × × × × CCS-131
U0418 124 BCU CAN CIR1 × × × × CCS-133
U1000 100 CAN COMM CIRCUIT × × × × CCS-137
U1010 110 CONTROL UNIT (CAN) × × × × CCS-139

A
TERMINAL LAYOUT B
JPOIA0106ZZ E
PHYSICAL VALUES
F
Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ − Signal name G
Output
Ignition
1
Battery power supply — switch — Battery voltage
(W) H
OFF
Ignition
2
(W) Ground OFF I
5 Input/
ITS communication-L — — —
(P) Output
6 Release switch power Ignition J
— — 10 V
(SB) supply switch ON
8 24 Brake pressure sensor Ignition
— — 5V
(R) (O) power supply switch ON K
9 Ignition DCA switch pressed 0V
DCA switch Input
(Y) switch ON DCA switch not pressed 12 V
L
10 Booster solenoid pow- Ignition
— — 12 V
(G) er supply switch ON
12 Booster solenoid Ignition At “BOOSTER SOL/V ” test

Ground Output
(R) ground switch ON of “Active test” N
PKIB1763J
CCS
14 Input/
ITS communication-H — — —
(L) Output
15 Release switch (nor- Ignition Press the brake pedal. 0V

— P
(V) mal close) switch ON Brake pedal not depressed 10 V
Brake pedal not depressed 0.5 V
17 24 Brake pressure sensor Ignition 0.5 - 3.5 V
Input
(G) (O) signal switch ON Press the brake pedal. Note: The harder the brake is
pressed, the higher the voltage.

Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ − Signal name
Output
19 Ignition
Ground — — 0V
(B) switch ON
20 Ignition
Ground — — 0V
(B) switch ON
ICC warning chime not oper-
12 V
21 ICC warning chime Ignition ating
Output
(GR) signal switch ON ICC warning chime opera-
0V
tion
22 Release switch Ignition Brake pedal depressed 10 V

Input
(BR) (normal open) switch ON Brake pedal not depressed 0V
24 Brake pressure sensor
— — — —
(O) Ground ground
33 Ignition
Ignition power supply — — Battery voltage
(G) switch ON
40 Ignition IBA OFF switch pressed 0V

IBA OFF switch Input
(SB) switch ON IBA OFF switch not pressed 12 V
42 Ignition
(G) switch ON
46 Ignition
Ground — — 0V
(B) switch ON
— 0V
47 ICC brake hold relay Ignition
Output At “STOP LAMP” test of “Ac-
(LG) drive signal switch ON 12 V
tive test”

INTELLIGENT CRUISE CONTROL (FULL SPEED RANGE) SYSTEM SYMPTOMS
< SYMPTOM DIAGNOSIS > [ICC (FULL SPEED RANGE)]
SYMPTOM DIAGNOSIS A
INTELLIGENT CRUISE CONTROL (FULL SPEED RANGE) SYSTEM
SYMPTOMS
B
Symptom Table INFOID:0000000003902355
C
Symptoms Reference page
MAIN switch does not turn ON.
MAIN switch does not turn OFF. D
ICC system cannot be set (MAIN switch turns
ON/OFF)
CANCEL switch does not function. E
Operation Resume does not function.
Set speed does not increase. Refer to CCS-167, "Description".
F
Set distance to a vehicle ahead cannot be
changed.
ICC is not canceled when the A/T selector lever G
is “N” position.
ICC system display not appear. Refer to MWI-43, "Diagnosis Description".
Display/Chime
Chime does not sound. Refer to CCS-169, "Description". H
Control Driving force is hunting. Refer to CCS-171, "Description".
System frequently cannot detect a vehicle ahead.
Refer to CCS-172, "Description". I
Distance to detect a vehicle ahead is short.
Function to detect System misidentifies a vehicle even though there • Adjust laser beam aiming: Refer to CCS-13, "LASER
a vehicle ahead is no vehicle ahead. BEAM AIMING ADJUSTMENT : Description".
• Perform ICC system action test. Refer to CCS-18, "AC- J
System misidentifies a vehicle in the next lane. TION TEST : Description".
System does not detect a vehicle at all. Refer to CCS-173, "Description".
K
CCS

MAIN SWITCH DOES NOT TURN ON, MAIN SWITCH DOES NOT TURN OFF
MAIN SWITCH DOES NOT TURN ON, MAIN SWITCH DOES NOT TURN
OFF
MAIN switch does not turn ON

• ICC system display does not appear even when MAIN switch is pressed.
MAIN switch does not turn OFF
• When ICC system display is ON, display does not turn OFF even if MAIN switch is pressed.
NOTE:
When ICC system warning lamp illuminates, perform the self-diagnosis of ICC system, and then repair or
replace the malfunctioning parts.
1.MAIN SWITCH INSPECTION

2. Check that “MAIN SW” and “CRUISE LAMP” operate normally in “DATA MONITOR” of “ICC” with CON-
SULT-III.
YES >> GO TO 2.
NO >> GO TO 4.
2.CHECK UNIFIED METER AND A/C AMP.
Check that “CRUISE IND” operates normally in “DATA MONITOR” of “METER/M&A”.
YES >> GO TO 3.
NO >> GO TO 4.
3.PERFORM SELF-DIAGNOSIS OF UNIFIED METER AND A/C AMP.
1. Perform “Self Diagnostic Result” of “METER/M&A”.
2. Check if DTC is detected. Refer to MWI-112, "DTC Index".
YES >> Repair or replace malfunctioning parts.
NO >> GO TO 4.
4.PERFORM SELF-DIAGNOSIS RESULTS OF ICC SYSTEM
2. Check if the “U1000” is detected in self-diagnosis results of “ICC”.
YES >> GO TO 5.
NO >> GO TO 6.
5.CAN COMMUNICATIONS INSPECTION
Check the CAN communication and repair or replace malfunctioning parts. Refer to CCS-137, "DTC Logic".
>> INSPECTION END

Check the ICC steering switch. Refer to CCS-65, "Diagnosis Procedure".
>> INSPECTION END

ICC SYSTEM CANNOT BE SET (MAIN SWITCH TURNS ON/OFF)
A
The MAIN switch can be turned ON/OFF, but the ICC system cannot be set even if the SET/COAST switch is B
pressed.
NOTE:
The system cannot be set in the following case.
• When the vehicle ahead is not detected below the speed of 32 km/h (20 MPH). C
• When the selector lever is not in the “D”, “DS” position or manual mode.
• When the front wipers are operating at LO or HI.
(If the vehicle is equipped with a rain sensing auto-wiper, the system may cancel when the wipers are set to D
INT)
• When the brake pedal is depressed.
• When driving into a strong light (i.e., sunlight).
• When the snow mode switch is turned ON. E
• When the VDC is turned OFF.
• When ABS or VDC (including the TCS) operates.
• When a wheel slips. F
1.CHECK CAUSE OF AUTOMATIC CANCELLATION G
Check if there is the cancellation cause in the “CAUSE OF AUTO-CANCEL” on “WORK SUPPORT” of “ICC”
with CONSULT-III.
H
Is it displayed?
Not displayed>>GO TO 2.
“OPE SW VOLT CIRC”>>Refer to CCS-65, "DTC Logic".
“VHCL SPD UNMATCH”>>Refer to CCS-56, "DTC Logic". I
“IGN LOW VOLT”>>Refer to CCS-54, "DTC Logic".
“ECM CIRCUIT”>>Refer to CCS-87, "DTC Logic".
“CAN COMM ERROR”>>Refer to CCS-137, "DTC Logic". J
“ABS/TCS/VDC CIRC”>>Refer to CCS-58, "DTC Logic".
“BCU CIRCUIT”>>Refer to CCS-98, "DTC Logic".
2.PERFORM THE SELF-DIAGNOSIS K
2. Check if any DTC is detected in “Self Diagnostic Result” of “ICC”. Refer to CCS-158, "DTC Index".
Is any DTC detected? L
YES >> GO TO 3.
NO >> GO TO 4.
M
3.REPAIR OR REPLACE MALFUNCTIONING PARTS
Repair or replace malfunctioning parts identified by the self-diagnosis result.
N
>> GO TO 6.
4.CHECK EACH SWITCH AND VEHICLE SPEED SIGNAL
CCS
2. Check that the following items operate normally in “DATA MONITOR” of “ICC”.
- “VHCL SPEED SE”
- “D RANGE SW” P
- “SET/COAST SW”
- “BRAKE SW”
- “WIPER SW”
- “PKB SW”
Is there a malfunctioning item?
All items are normal>>GO TO 5.
“VHCL SPEED SE”>>Refer to CCS-56, "DTC Logic".

“D RANGE SW”>>Refer to CCS-168, "Diagnosis Procedure".
“SET/COAST SW”>>Refer to CCS-65, "DTC Logic".
“BRAKE SW”>>Refer to CCS-60, "DTC Logic".
“WIPER SW” (When the front wiper operation is normal)>>GO TO 5.
“WIPER SW” (When the front wiper operation is malfunctioning)>>Performs the diagnosis of the front wiper.
Refer to WW-99, "WITH RAIN SENSOR : Symptom Table" (With rain sensor) or WW-101, "WITH-
OUT RAIN SENSOR : Symptom Table" (Without rain sensor).
“PKB SW”>>Refer to MWI-70, "Diagnosis Procedure".
5.REPLACE ICC SENSOR INTEGRATED UNIT
1. Replace the ICC sensor integrated unit. Refer to CCS-180, "Exploded View".
2. Perform the laser beam aiming. Refer to CCS-13, "LASER BEAM AIMING ADJUSTMENT : Description".
>> GO TO 6.
6.CHECK ICC SYSTEM
1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action
>> INSPECTION END

ICC STEERING SWITCH (OTHER THAN MAIN SWITCH) DOES NOT FUNCTION
ICC STEERING SWITCH (OTHER THAN MAIN SWITCH) DOES NOT
A
FUNCTION
B
MAIN switch can be turned ON/OFF, but the operation of RESUME/ACCELERATE switch, CANCEL switch,
and DISTANCE switch cannot be performed during ICC system operation.
NOTE: C
Resume is not accepted when the following condition is met.
• When the MAIN switch is turned OFF once.
The set distance change is not accepted when any of the following condition is met.
• When the DCA system is turned ON. D
E
1.CHECK EACH SWITCH
2. Check that each switch operates normally on “DATA MONITOR” of “ICC” with CONSULT-III. F
- “RESUME/ACC SW”
- “CANCEL SW”
- “DISTANCE SW”
G
YES >> GO TO 5.
NO >> GO TO 2.
H
2.PERFORM ALL OF THE SELF-DIAGNOSIS ITEMS
2. Check if the “U1000” is detected in “Self Diagnostic Result” of “ICC”. I
YES >> GO TO 3.
NO >> GO TO 4. J
Check the CAN communication and repair or replace malfunctioning parts. Refer to CCS-137, "DTC Logic". K
>> INSPECTION END

4.CHECK ICC STEERING SWITCH L
Check the ICC steering switch. Refer to CCS-66, "Component Inspection".
M
>> GO TO 6.
1. Replace the ICC sensor integrated unit. Refer to CCS-180, "Exploded View". N
>> GO TO 6. CCS
6.CHECK ICC SYSTEM

1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action P
>> INSPECTION END

ICC SYSTEM DOES NOT CANCEL WHEN A/T SELECTOR LEVER SETS ON "N"
ICC SYSTEM DOES NOT CANCEL WHEN A/T SELECTOR LEVER SETS
ON "N"
The ICC system is not canceled even when the A/T selector lever is shifted to the N position while the ICC
system is active.
1.CHECK D RANGE SWITCH

Check if “D RANGE SW” operates normally in “DATA MONITOR” of “ICC” with CONSULT-III.
YES >> GO TO 6.
NO >> GO TO 2.
2.PERFORM ALL SELF-DIAGNOSIS ITEMS
2. Check if the “U1000” is detected in “self-diagnosis results” of “ICC”.
YES >> GO TO 3.
NO >> GO TO 4.
Check the CAN communication and repair or replace malfunctioning parts. Refer to CCS-137, "DTC Logic".
>> INSPECTION END

4.CHECK POSITION SWITCH
Check if “SLCT LVR POSI” operates normally in “DATA MONITOR” of “TRANSMISSION”.
YES >> GO TO 6.
NO >> GO TO 5.
1. Perform the “Self Diagnostic Result” of “TRANSMISSION”.
2. Repair or replace malfunctioning parts. Refer to TM-166, "DTC Index" (VQ35HR) or TM-353, "DTC Index"
(VK50VE).
>> GO TO 7.
2. Perform the laser beam aiming. Refer to CCS-13, "LASER BEAM AIMING ADJUSTMENT : Description".
>> GO TO 7.
7.CHECK ICC SYSTEM
>> INSPECTION END

CHIME DOES NOT SOUND
A
Symptom check: In the following conditions, the warning chime may not sound even if the vehicle distance is B
short.
• 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.
• The warning chime will not sound when the accelerator pedal is depressed, overriding the system. 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 CCS-172, "Descrip-
tion".)
Diagnosis Procedure INFOID:0000000003902365 E
1.PERFORM ACTIVE TEST

Check if the warning chime sounds on the active test item “ICC BUZZER” of “ICC” with CONSULT-III. F
Does the warning chime sound?
YES >> GO TO 2.
NO >> GO TO 3. G
2.CHECK THE MALFUNCTION SYMPTOM DURING WARNING CHIME OPERATION
1. Understand the vehicle ahead detecting condition when the malfunction occurred. If the warning chime H
should have sounded, replace the ICC sensor integrated unit. Refer to CCS-180, "Exploded View".
I
>> GO TO 8.
3.CHECK ICC WARNING CHIME CIRCUIT
J
Check the ICC warning chime circuit. Refer to CCS-142, "Component Function Check".
YES >> GO TO 4.
K
NO >> GO TO 6.
1. Perform “All DTC Reading” with CONSULT-III. L
YES >> GO TO 5. M
NO >> GO TO 7.
5.CAN COMMUNICATIONS SYSTEM INSPECTION
N
Check the CAN communication system and repair or replace malfunctioning parts. Refer to CCS-137, "DTC
Logic".
CCS
>> INSPECTION END
Repair or replace malfunctioning parts. P
>> GO TO 8.

>> GO TO 8.
8.CHECK ICC SYSTEM
>> INSPECTION END

DRIVING FORCE IS HUNTING
DRIVING FORCE IS HUNTING
A
The vehicle causes hunting when the ICC system is active. B

1.PERFORM SELF-DIAGNOSIS OF ECM C

2. Check if the DTC is detected in self-diagnosis results of “ENGINE”. Refer to EC-542, "DTC Index"
(VQ35HR) or EC-1172, "DTC Index" (VK50VE). D
YES >> GO TO 3.
NO >> GO TO 2. E
2.CHECK ICC SENSOR INTEGRATED UNIT BODY WINDOW
1. Check the vehicle driving conditions. Refer to CCS-172, "Description". F
2. Check the ICC sensor integrated unit body window for contamination, foreign materials, or cracks. Refer
to CCS-172, "Diagnosis Procedure".
G
>> INSPECTION END
Repair or replace malfunctioning parts identified by the self-diagnosis result. H
>> GO TO 4.
I
4.CHECK ICC SYSTEM
test. (Refer to CCS-18, "ACTION TEST : Description" for action test.) J
>> INSPECTION END K
CCS

FREQUENTLY CANNOT DETECT THE VEHICLE AHEAD / DETECTION ZONE IS
SHORT
FREQUENTLY CANNOT DETECT THE VEHICLE AHEAD / DETECTION
ZONE IS SHORT
The detection function may become unstable in the following cases.

• When the reflector of the vehicle ahead is deficient/ not clean enough to reflect the radar.
• When driving a road with extremely sharp corners.
• When the sensor cannot detect the reflector of the vehicle ahead as the vehicle ahead is passing a hill or
passing the peak.
1.VISUAL CHECK (1)

Check ICC sensor integrated unit body window for contamination and/or foreign materials.
Do foreign materials adhere?
YES >> GO TO 2.
NO >> GO TO 3.
2.WIPE OUT DIRT AND FOREIGN MATERIALS
Wipe out the contamination and/or foreign materials from the ICC sensor integrated unit body window.
>> GO TO 6.
3.VISUAL CHECK (2)
Are there any cracks or scratches?
YES >> GO TO 5.
NO >> GO TO 4.
2. Perform ICC system action test. Refer to CCS-18, "ACTION TEST : Description".
3. Check that the vehicle ahead detection performance improves.
Does it improve?
NO >> GO TO 5.
>> GO TO 6.
6.CHECK ICC SYSTEM
>> INSPECTION END

THE SYSTEM DOES NOT DETECT THE VEHICLE AHEAD AT ALL
A
When ICC system is active, the ICC system does not perform any control even through there is a vehicle B
ahead.
C
1.CHECK ICC SYSTEM DISPLAY ON MULTI INFORMATION DISPLAY
1. Start the self-diagnosis mode of combination meter. Refer to MWI-43, "Diagnosis Description".
2. Check that the multi information display turns on normally. D
YES >> GO TO 2.
NO >> Replace the combination meter. E
2.VISUAL CHECK (1)
Check ICC sensor integrated unit body window for contamination and/or foreign materials. F
YES >> GO TO 3.
NO >> GO TO 4. G
H
>> GO TO 7.
4.VISUAL CHECK (2) I
Check ICC sensor integrated unit body window for cracks and/or scratches.
Are there cracks?
J
YES >> GO TO 6.
NO >> GO TO 5.
5.LASER BEAM AIMING ADJUSTMENT K
2. Perform ICC system action test. Refer to CCS-18, "ACTION TEST : Description".
3. Check that the vehicle ahead detection performance improves. L
Does it improve?
NO >> GO TO 6. M
2. Adjust the laser beam aiming. Refer to CCS-13, "LASER BEAM AIMING ADJUSTMENT : Description". N
>> GO TO 7.
CCS
7.CHECK ICC SYSTEM
test. (Refer to CCS-18, "ACTION TEST : Description" for action test.) P
>> INSPECTION END

NORMAL OPERATING CONDITION
PRECAUTIONS FOR VEHICLE-TO-VEHICLE DISTANCE CONTROL MODE

CAUTION:
• ICC 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.
• The system is primarily intended for use on straight, dry, open roads with light traffic. It is not advis-
able to use the system in city traffic or congested areas.
• This system will not adapt automatically to road conditions. This system should be used in evenly
flowing traffic. 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 under most conditions.
- Stationary and slow moving vehicles.
- Pedestrians or objects in the roadway.
- Oncoming vehicles in the some lane.
- Motorcycles traveling offset in the travel lane.
• As there is a performance limit to the distance control function, never rely solely on the ICC system.
This system does not correct careless, inattentive or absent-minded driving, or overcome poor visi-
bility 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 main-
tain a safe distance between vehicles.
• If the vehicle ahead comes to a stop, the vehicle decelerates to a standstill within the limitations of
the system. The system will cancel once it judges that the vehicle has come to a standstill and sound
a warning chime. To prevent the vehicle from moving, the driver must depress the brake pedal.
• The system may not detect the vehicle in front of the driver in certain road or weather conditions. To
avoid accidents, never use the ICC system under the following conditions:
- On roads where the traffic is heavy or there are sharp curves.
- On slippery road surfaces such as on ice or snow, etc.
- During bad weather (rain, fog, snow, etc.)
When the front wiper is operated at the low speed (LO) or high speed (HI) position, the ICC system is
- When strong light (for example, at sunrise or sunset) is directly shining on the front of the vehicle.
- When rain, snow or dirt adhere to the system sensor.
- On steep downhill roads (the vehicle may go beyond the set vehicle speed and frequent braking may
result in overheating the brakes).
- On repeated uphill and downhill roads.
- When traffic conditions make it difficult to keep a proper distance between vehicles because of fre-
quent acceleration or deceleration.
• Do not use the ICC system if own vehicle is towing a trailer. The system may not detect a vehicle
ahead.
• In some road or traffic conditions, a vehicle or object can unexpectedly come into the sensor detec-
tion zone and cause automatic braking. The driver may need to control the distance from other vehi-
cles using the accelerator pedal. Always stay alert and avoid using the ICC system when it is not
recommended in this section.
• The vehicle-to-vehicle distance control mode uses a sensor located on the front of the vehicle to
detect vehicles traveling ahead. The sensor generally detects the signals returned from the reflec-
tors on a vehicle ahead. Therefore, if the sensor cannot detect the reflector on the vehicle ahead, the
ICC system may not maintain the selected distance.
• The following are some conditions in which the sensor cannot detect the signals:
- When the reflector of the vehicle ahead is positioned high on the vehicle (trailer, etc.).
- When the reflector on the vehicle ahead is missing, damaged or covered.
- When the reflector of the vehicle ahead is covered with dirt, snow and road spray.
- When the snow or road spray from traveling vehicles reduces the sensor's visibility.
- When dense exhaust or other smoke (black smoke) from vehicles reduces the sensor's visibility.
- When excessively heavy baggage is loaded in the rear seat or the luggage room of own vehicle.
• The ICC system is designed to automatically check the sensor's operation within the limitation of the
system. When the sensor is covered with dirt or is obstructed, the system will automatically be can-
celed. If the sensor is covered with ice, a transparent or translucent vinyl bag, etc., the ICC system
may not detect them. In these instances, the vehicle-to-vehicle distance control mode may not can-

cel and may not be able to maintain the selected following distance from the vehicle ahead. Be sure
to check and clean the sensor regularly. A
• The ICC system does not control vehicle speed or warn the driver when own vehicle approaches sta-
tionary and slow moving vehicles. The driver must pay attention to vehicle operation to maintain
proper distance from vehicles ahead when approaching toll gates or traffic congestion.
B
• The detection zone of the ICC sensor is limited. A vehicle
ahead must be in the detection zone for the vehicle-to-vehicle
distance detection mode to maintain the selected distance
from the vehicle ahead. A vehicle ahead may move outside of C
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 D
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 ICC system may warn the driver by blinking
the system indicator and sounding the chime. The driver may E
have to manually control the proper distance away from vehi-
cle traveling ahead.
F
JPOIA0221ZZ
I
• When driving on some roads, such as winding, hilly, curved,
narrow roads, or roads which are under construction, the ICC
sensor may detect vehicles in a different lane, or may tempo- J
rarily not detect a vehicle traveling ahead. This may cause the
ICC system to decelerate or accelerate the vehicle. The detec-
tion of vehicles may also be affected by vehicle operation
(steering maneuver or traveling position in the lane, etc.) or K
vehicle condition. If this occurs, the ICC system may warn the
driver by blinking the system indicator and sounding the
chime unexpectedly. The driver will have to manually control L
the proper distance away from the vehicle traveling ahead.
CCS
JPOIA0220ZZ
P

• When driving on the freeway at a set speed and approaching a
slower traveling vehicle ahead, the ICC will adjust the speed
to maintain the distance, selected by the driver, from the vehi-
cle ahead. If the vehicle ahead changes lanes or exits the free-
way, the ICC system will accelerate and maintain the speed up
to the set speed. Pay attention to the driving operation to
maintain control of the vehicle as it accelerates to the set
speed. The vehicle may not maintain the set speed on winding
or hilly roads. If this occurs, the driver will have to manually
control the vehicle speed.
JPOIA0219ZZ
• The sensor sensitivity can be affected by vehicle operation (steering maneuver or driving position in
the lane) or traffic or vehicle condition (for example, if a vehicle is being driven with some damage).
• Normally when controlling the distance to a vehicle ahead, this system automatically accelerates or
decelerates own vehicle according to the speed of the vehicle ahead. Depress the accelerator to
properly accelerate own vehicle when acceleration is required for a lane change. Depress the brake
pedal when deceleration is required to maintain a safe distance to the vehicle ahead due to its sud-
den braking or if a vehicle cuts in. Always stay alert when using the ICC system.
PRECAUTIONS FOR CONVENTIONAL (FIXED SPEED) CRUISE CONTROL MODE
CAUTION:
• In the conventional (fixed speed) cruise control mode, a warning chime does not sound to warn the
driver if own vehicle is too close to the vehicle ahead, as neither the presence of the vehicle ahead
nor the vehicle-to-vehicle distance is detected.
• Pay special attention to the distance between own vehicle and the vehicle ahead or a collision could
occur.
• Always confirm the setting in the ICC system display.
• Do not use the conventional (fixed speed) cruise control mode when driving under the following
conditions:
- when it is not possible to keep the vehicle at a set speed.
- in heavy traffic or in traffic that varies in speed.
- on winding or hilly roads.
- on slippery roads (rain, snow, ice, etc.).
- in very windy areas.
• Doing so could cause a loss of vehicle control and result in an accident.
• To avoid accidentally engaging cruise control, make sure to the MAIN switch OFF when not using
ICC system.

PRECAUTIONS
< PRECAUTION > [ICC (FULL SPEED RANGE)]
PRECAUTION A
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT B
PRE-TENSIONER" INFOID:0000000003902706
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 seat belt switch inputs and dual stage front air bag modules. The SRS
system uses the seat belt switches to determine the front air bag deployment, and may only deploy one front
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted. D
Information necessary to service the system safely is included in the “SRS AIR BAG” and “SEAT BELT” of this
Service Manual.
WARNING: E
• 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, all maintenance must be performed by
an authorized NISSAN/INFINITI dealer.
F
• Improper maintenance, 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 “SRS AIR BAG”.
• Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this G
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 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) I
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 J
battery, and wait at least 3 minutes before performing any service.
Precautions For Harness Repair INFOID:0000000003902374
K
ITS communication uses a twisted pair line. Be careful when repairing it.
• Solder the repaired area and wrap tape around the soldered area.
NOTE:
L
A fray of twisted lines must be within 110 mm (4.33 in).
SKIB8766E
CCS

PRECAUTIONS
< PRECAUTION > [ICC (FULL SPEED RANGE)]
• Bypass connection is never 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
ICC System Service INFOID:0000000003902375
CAUTION:
• Never look straight into the laser beam discharger when adjusting laser beam aiming.
• Turn the MAIN switch OFF in conditions similar to driving, such as free rollers or a chassis dyna-
mometer.
• Never use the ICC sensor integrated unit removed from vehicle. Never disassemble or remodel.
• Erase DTC when replacing parts of ICC system, then check the operation of ICC system after adjust-
ing laser beam aiming if necessary.

PREPARATION
< PREPARATION > [ICC (FULL SPEED RANGE)]
PREPARATION A
PREPARATION
Special Service Tools INFOID:0000000003941591
B
The actual shapes of Kent-Moore tools may differ from those of special service tools illustrated here.
Tool number C
(Kent-Moore No.) Description
Tool name
D
KV99110100
(J-45718) Uses for laser beam aiming adjustment E
ICC target board
PKIA0358J F
CCS

< REMOVAL AND INSTALLATION > [ICC (FULL SPEED RANGE)]
REMOVAL AND INSTALLATION

Exploded View INFOID:0000000003902377
CAUTION:
Always perform the laser beam aiming adjustment and check the operation after the replacement,
removal and installation of ICC sensor integrated unit.
JPOIA0190ZZ
1. ICC sensor integrated unit 2. Air guide lower (LH)
Removal and Installation INFOID:0000000003902378
REMOVAL
1. Remove front bumper fascia. Refer to EXT-12, "Exploded View".
2. Remove air guide lower (LH). Refer to DLK-232, "Exploded View".
3. Disconnect ICC sensor integrated unit connector.
4. Remove mounting bolts from ICC sensor integrated unit.
5. Remove ICC sensor integrated unit.
INSTALLATION
Install in the reverse order of removal.
CAUTION:
removal, and installation of ICC sensor integrated unit. Refer to CCS-13, "ADDITIONAL SERVICE
WHEN REPLACING CONTROL UNIT (ICC SENSOR INTEGRATED UNIT) : Description".

A
G
JPOIA0193ZZ
1. Brake booster control unit

H
REMOVAL I
1. Remove clips on the back of the luggage side finisher lower (RH) to obtain space for work. Refer to INT-
28, "Exploded View".
2. Disconnect brake booster control unit connector. J
3. Remove mounting bolts from brake booster control unit.
4. Remove brake booster control unit.
K
INSTALLATION
L
CCS

ICC WARNING CHIME
ICC WARNING CHIME
JPOIA0191ZZ
1. ICC warning chime
REMOVAL
1. Remove the instrument lower panel LH. Refer to IP-11, "Exploded View".
2. Remove mounting screw from ICC warning chime.
3. Remove ICC warning chime from the instrument lower panel LH.
INSTALLATION

ICC STEERING SWITCH
ICC STEERING SWITCH
A
Refer to SR-5, "Exploded View". B
CCS

< BASIC INSPECTION > [DCA]
BASIC INSPECTION
OVERALL SEQUENCE
JPOIA0171GB
DETAILED FLOW
about the concerns carefully and understand the symptoms fully.
NOTE:

tomer mentioned this symptom”. A
>> GO TO 2.
2.SELF-DIAGNOSIS WITH CONSULT-III B

2. Check if the DTC is detected on the self-diagnosis results of “ICC” and/or “ACCELE PEDAL ACT”.
C
YES >> GO TO 5.
NO >> GO TO 3. D
3.ACTION TEST
Perform DCA system action test to check the operation status. Refer to CCS-187, "ACTION TEST : Descrip-
tion". E
Check if any other malfunctions occur.
>> GO TO 4. F
4.SYMPTOM DIAGNOSIS
Perform the applicable diagnosis according to the diagnosis chart by symptom. Refer to CCS-348, "Symptom G
Table".
>> GO TO 6. H
2. Perform trouble diagnosis for the detected DTC. Refer to CCS-330, "DTC Index" (ICC) and/or CCS-347, I
"DTC Index" (ACCELE PEDAL ACT).
NOTE:
If “DTC: U1000” is detected, first diagnose the CAN communication system or ITS communication system. J
>> GO TO 6.
6.MALFUNCTIONING PART REPAIR K

L
>> GO TO 7.
M
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 “ICC” and “ACCELE PEDAL ACT”.
YES >> GO TO 5.
NO >> GO TO 8.
CCS
Perform the DCA system action test. Check that the malfunction symptom is solved or no other symptoms
occur. P
Is there a malfunction symptom?
YES >> GO TO 4.

ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (ICC SENSOR IN-
TEGRATED UNIT)
GRATED UNIT) : Description INFOID:0000000003902385
• Always perform the laser beam aiming adjustment after removing and installing or replacing the ICC sensor
integrated unit.
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.
GRATED UNIT) : Special Repair Requirement INFOID:0000000003902386

Adjust the laser beam aiming. Refer to CCS-13, "LASER BEAM AIMING ADJUSTMENT : Description".
>> GO TO 2.
2.DCA SYSTEM ACTION TEST
1. Perform the DCA system action test. Refer to CCS-187, "ACTION TEST : Description".
2. Check that the DCA system operates normally.
>> INSPECTION END

ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (ACCELERATOR
PEDAL ASSEMBLY)
PEDAL ASSEMBLY) : Description INFOID:0000000003902387
• 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.
PEDAL ASSEMBLY) : Special Repair Requirement INFOID:0000000003902388
1.ACCELERATOR PEDAL RELEASED POSITION LEARNING

Perform accelerator pedal released position learning. Refer to EC-25, "ACCELERATOR PEDAL RELEASED
POSITION LEARNING : Description" (VQ35HR) or EC-582, "ACCELERATOR PEDAL RELEASED POSI-
TION LEARNING : Description" (VK50VE).
>> GO TO 2.
2.DCA SYSTEM ACTION TEST
1. Perform the DCA system action test. Refer to CCS-187, "ACTION TEST : Description".
2. Check that the DCA system operates normally.
>> INSPECTION END

ACTION TEST

ACTION TEST : Description INFOID:0000000003902389
A
Always perform the DCA system action test to check that the system operates normally after replacing the ICC
sensor integrated unit, replacing the accelerator pedal assembly, or repairing any DCA system malfunction.
CAUTION: B
Perform the DCA system action test after checking that the ICC system operates normally because the
DCA system shares components with the ICC system.
ACTION TEST : Special Repair Requirement (Distance Control Assist) INFOID:0000000003902390 C
NOTE:
When the ICC system is set, the information display changes to the ICC system display.
D
1.ICC SYSTEM ACTION TEST
Perform the ICC system action test. Refer to CCS-18, "ACTION TEST : Description".
E
>> GO TO 2.
2.CHECK DCA SWITCH F
2. After starting engine wait for 5 seconds or more.
3. Press the DCA switch (1).
G
4. Check that the DCA system switch indicator (2) on the informa-
tion display illuminates.
5. Check that the DCA system switch indicator turns off when the
system is turned OFF by pressing the DCA switch. H
6. Check that the DCA system switch indicator turns OFF when the
engine starts again.
NOTE:
I
The DCA system switch indicator does not illuminate even if the
DCA switch is turned ON within approximately 5 seconds after start-
ing the engine.
JPOIA0161ZZ
J
If the accelerator pedal assembly is not replaced>>INSPECTION END
If the accelerator pedal assembly is replaced>>GO TO 3.
K
3.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 L
CONSULT-III.
>> INSPECTION END M
CCS

DISTANCE CONTROL ASSIST SYSTEM
< SYSTEM DESCRIPTION > [DCA]
SYSTEM DESCRIPTION
JSOIA0111GB

When a vehicle is detected ahead
• The vehicle ahead detection indicator comes on. A
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- B
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.
C
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 D
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 E
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: F
• 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. G
• 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. H
• When the ICC system is set, the DCA system will be canceled.
Calculate the distance and relative speed with the vehicle ahead by ICC sensor integrated unit. Control the I
accelerator pedal actuator and brake booster control unit based on the calculated value via ITS communica-
tion.
J
If the driver is not depressing the acceler-

ator pedal, the system activates the K
brakes to decelerate smoothly as neces-
sary.
L
JSOIA0093ZZ
When vehicle approaches a vehicle ahead
M
If the driver is depressing the accelerator
pedal, the system moves the accelerator
pedal upward to assist the driver to re-
lease the accelerator pedal. N
JSOIA0094ZZ
CCS
The system alerts the driver by a warning
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, P
the system moves the accelerator pedal
upward to assist the driver to switch to the
brake pedal.
JPOIA0170GB

It transmits the brake fluid pressure command signal to the brake booster control unit via ITS commu-
Deceleration control
nication and performs the brake control.
Accelerator pedal actuation It transmits the accelerator pedal feedback force control signal to the accelerator pedal actuator via ITS
control communication and controls the accelerator pedal in the upward direction.
Operation Condition
ICC sensor integrated unit performs the control when the following conditions are satisfied.
• When the DCA switch is turned to ON.
• When the brake pedal is not depressed.
• 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.
No Operation Condition
The ICC sensor integrated unit is not operate when the system is under any conditions of the no operation
condition.
• When the brake pedal depressed.
• When the ICC system is set.
• 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
The ICC sensor integrated unit cancels the operation when the system is under any conditions of the opera-
tion cancellation condition.
• When the DCA 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 snow mode switch is turned ON.
• When driving into a strong light (i.e., sunlight).
• When the ICC sensor integrated unit body window 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.
OPERATION AND DISPLAY
DCA Switch
JPOIA0187ZZ
1. DCA switch
No. Switch name Description

1 DCA switch Turn the DCA system ON/OFF.

System Display
A
JPOIA0162ZZ
D
No. Display item Description
1 ICC system warning lamp This indicates that an abnormal condition is present in the ICC system.
E
2 DCA system switch indicator Indicates that the DCA switch is ON (DCA system ON).
Indicates whether it detects a vehicle ahead.
NOTE:
3 Vehicle ahead detection indicator
The vehicle ahead detection indicator turns OFF when the no operation condition is sat- F
isfied.

The DCA system switch indicator illuminates and the system is turned ON by pressing the DCA switch at the G
system OFF.
Condition Display on combination meter H
I
Vehicle ahead not detected
J
JPOIA0163ZZ
Operation status
K
Vehicle ahead detected

L
JPOIA0164ZZ
M
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 N
the brake pedal to maintain a safe vehicle distance if:
- 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 CCS
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 P
- When a vehicle cuts in near own vehicle

Condition Display on combination meter
When the system judges that the brake operation by the driver is necessary
JPOIA0188ZZ
Warning Lamp Display
Condition Description Display on combination meter
• When the VDC or ABS (including The DCA system is automatically can-
the TCS) operates celed. The chime will sound and the DCA
• When the VDC is turned OFF system switch indicator will blink.
• When the snow mode switch is NOTE:
turned ON The system operates if the DCA switch is
• When driving into a strong light turned OFF⇒ON after the condition im-
(i.e., sunlight) proves.
JPOIA0165ZZ
The DCA system is automatically can-

celed. The chime sounds and the ICC sys-
tem warning lamp will come on and the
“CLEAN SENSOR” indicator will appear.
When the sensor window is dirty,
Warning NOTE:
making it impossible to detect a vehi-
display Stop the vehicle in a safe location and turn
cle ahead
the ignition switch OFF. Clean the dirty
area with soft cloth. The system returns to
normal condition when turning the ignition JPOIA0166ZZ
switch ON again.
The chime sounds and the ICC system

warning lamp will come on.
NOTE:
When the DCA system is not operat-
Turn the ignition switch OFF, and then turn
ing properly
the ignition switch ON again. If there is no
malfunction, the system returns to the nor-
mal condition.
JPOIA0167ZZ
NOTE:
When the DCA system is automatically canceled, the cancellation condition can be displayed on “WORK SUPPORT” of CONSULT-III
(ICC).
ICC SENSOR INTEGRATED UNIT INPUT/OUTPUT SIGNAL ITEM

Input Signal Item

Receives the accelerator pedal position signal from ECM via CAN
Accelerator pedal position signal
communication.
Receives the ICC brake switch signal from ECM via CAN communi-
ICC brake switch signal
cation.
Receives the stop lamp switch signal from ECM via CAN communi-
ECM Stop lamp switch signal
cation.
Receives the closed throttle position signal from ECM via CAN com-
Closed throttle position signal
munication.
Receives the engine speed signal from ECM via CAN communica-
Engine speed signal
tion.

A
Shift position signal Receives the shift position signal from TCM via CAN communication.
Receives the output shaft revolution signal from TCM via CAN com-
munication.
TCM B
Receives the current gear position signal from TCM via CAN com-
munication.
Input speed signal Receives the input speed signal from TCM via CAN communication.
C
Receives the brake fluid pressure control signal from the brake
Brake fluid pressure control signal
Brake booster Receives the release switch signal from the brake booster control
Release switch signal D
control unit unit via ITS communication.
Receives the DCA switch signal from the brake booster control unit
DCA switch signal
via ITS communication.
E
ABS actuator
Receives the vehicle speed signal (wheel speed) from ABS actuator
and electric unit Vehicle speed signal
(control unit)
Steering angle Receives the steering angle sensor signal from the steering angle F
Steering angle sensor signal
sensor sensor via CAN communication.
Accelerator ped- Receives the accelerator pedal actuator status signal from the accel-
Accelerator pedal actuator status signal
al actuator erator pedal actuator via ITS communication. G
Output Signal Item

H
Vehicle ahead detection
Meter display indicator signal Transmits the meter display signal to the combination meter (via uni-
Combination I
meter (via uni- signal DCA system switch indi- fied meter and A/C amp.) via CAN communication.
fied meter and A/ cator signal
C amp.)
Transmits the ICC warning lamp signal to the combination meter
ICC warning lamp signal J
Buzzer output signal K
• Transmits the ICC brake hold relay drive signal to the brake boost-
ICC brake hold
ICC brake hold relay drive signal
er control unit via ITS communication. L
relay • The brake booster control unit outputs the ICC brake hold relay
drive signal and operates the ICC brake hold relay.
Brake booster Transmits the brake fluid pressure command signal to the brake
Brake fluid pressure command signal M
control unit booster control unit via ITS communication.
Transmits the accelerator pedal position signal received from ECM
Accelerator pedal position signal via CAN communication to the accelerator pedal actuator via ITS
Accelerator ped- communication. N
al actuator
Accelerator pedal feedback force control Transmits the accelerator pedal feedback force control signal to the
signal accelerator pedal actuator via ITS communication.
CCS

JPOIA0195ZZ
1. Information display, ICC system 2. ECM 3. ICC sensor integrated unit

warning lamp
4. ICC brake hold relay 5. Booster solenoid/ Release switch 6. Brake pressure sensor
7. Accelerator pedal actuator (acceler- 8. Stop lamp switch 9. ICC brake switch
ator pedal assembly)

10. DCA switch 11. ICC warning chime 12. Brake booster control unit
A. On the combination meter B. Behind the glove box C. Front bumper (LH) A
D. Right side of engine room E. Engine room (LH) F. Built in accelerator pedal assembly
G. Upper side of brake pedal H. Instrument lower panel (LH) I. Luggage room (RH)
B
C
ICC sensor integrated unit Refer to CCS-206, "Description".
ECM Refer to CCS-238, "Description". D
unit)
TCM Refer to CCS-298, "Description". E
Receives the meter display signal and ICC warning lamp signal from ICC sensor integrat-
Unified meter and A/C amp. ed unit via CAN communication and transmits them to the combination meter via the com-
munication line. F
• Perform the following operations using the signals received from the unified meter and
A/C amp. via the communication line.
Combination meter
- Displays the DCA system operation status using the meter display signal.
- Illuminates the ICC system warning lamp using the ICC warning lamp signal. G
ICC brake switch
Stop lamp switch H
ICC brake hold relay Refer to CCS-231, "Description".
Brake booster control unit Refer to CCS-249, "Description".
Brake booster Refer to CCS-249, "Description". I
Brake pressure sensor Refer to CCS-219, "Description".
Booster solenoid/release switch
J
ICC warning chime Refer to CCS-314, "Description".

Steering angle sensor Refer to CCS-273, "Description".
K
Accelerator pedal actuator Refer to CCS-279, "Description".
CCS

JPOIA0189GB

CAUTION:
• MAIN switch OFF
• DCA switch OFF
NOTE:
PKIB8371E
JSOIA0008GB
NOTE:

B
scription".
E

ECM malfunction

NOTE:
NOTE:
N
DESCRIPTION


WORK SUPPORT


NOTE:
×: Applicable
Conven-
tional
DCA
system
control mode cruise
control
mode
OPERATING WIPER ×
range.
LASER SUNBEAM × ×
light sensing part
OP SW DOUBLE
TOUCH
MPH)
CAN communication

INCHING LOST ×
B
APA HI TEMP ×
high
C
Laser Beam Adjust


DATA MONITOR
×: Applicable
Monitored item MAIN
Description
F
[Unit] SIGNAL
×
×
×
×
I
CRUISE OPE J
[On/Off]
×
K
×
L
SET DISTANCE
[Short/Mid/Long]
M
CRUISE LAMP
[On/Off]
OWN VHCL
[On/Off]
VHCL AHEAD
[On/Off]
CCS
ICC WARNING
[On/Off]
BA WARNING
[On/Off]
VHCL SPEED SE
[km/h] or [mph]
SET VHCL SPD
[km/h] or [mph]

Monitored item MAIN
Description
[Unit] SIGNAL
BUZZER O/P
[On/Off]
THRTL SENSOR NOTE:
×
YAW RATE NOTE:
RELEASE SW NO
[On/Off]
RELEASE SW NC
[On/Off]
STP LMP DRIVE
[On/Off]
×
[bar] sensor.
D RANGE SW
[On/Off]
PWR SUP MONI
[V]
VHCL SPD AT
[km/h] or [mph]
THRTL OPENING
[%]
tion).
GEAR
[1, 2, 3, 4, 5, 6, 7]
tion).
CLUTCH SW SIG NOTE:
×
NP SW SIG NOTE:
×
tion)
SET DISP IND
[On/Off]
DISTANCE
[m]
RELATIVE SPD
[m/s]

Monitored item MAIN
Description
[Unit] SIGNAL A
DCA ON SW
[On/Off]
DCA ON IND
[On/Off]
[On/Off] played.
APA TEMP
[°C]
APA PWR
[V] E
IBA SW
[On/Off]
ACTIVE TEST
CAUTION:
G
H
METER LAMP
STOP LAMP J
can be illuminated.
K
TUATOR
METER LAMP L
NOTE:
M
Off OFF
DCA INDICATOR
NOTE:

Oper-
ation
Off OFF
DCA INDICATOR
On ON
STOP LAMP
Oper-
ation
Off OFF
STOP LAMP
On ON
BOOSTER SOL/V
NOTE:

MODE1 10 bar
MODE2 20 bar
MODE3 30 bar
Reset —
NOTE:
PKIB1767J
ICC BUZZER

sound
MODE3 Beep sound
Reset —
the test.

CAUTION:
B
NOTE:
C
MODE1
for 8 seconds D
MODE2
MODE3
8 seconds
ACCELERATOR
MODE4
TOR 8 seconds F
Test start —
“MODE4”.
Reset —
NOTE: H
K
JPOIA0061GB
CCS

DIAGNOSIS SYSTEM (ACCELERATOR PEDAL ACTUATOR)
CONSULT-III Function (ACCELE PEDAL ACT) INFOID:0000000003902397
DESCRIPTION
CONSULT-III performs the following functions via CAN communication with ICC sensor integrated unit and the
communication 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.

Self Diagnostic Result
Refer to CCS-347, "DTC Index".
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]
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

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

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

ACCELERATOR PEDAL AC- STOP Finish the test.
TUATOR TEST1 START Generate the constant accelerator pedal actuation force for accelerator pedal.
CCS
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.

C1A00 CONTROL UNIT
< DTC/CIRCUIT DIAGNOSIS > [DCA]
DTC/CIRCUIT DIAGNOSIS
C1A00 CONTROL UNIT
ICC sensor integrated unit function description

• It detects the reflected light from the vehicle ahead by irradiating a laser forward. It calculates the vehicle dis-
tance from and relative speed with the vehicle ahead depending on the detected signal.
• It outputs the brake fluid pressure command signal to the brake booster control unit and the accelerator
pedal feedback force control signal to the accelerator pedal actuator depending on the signal from various
sensors and switches via ITS communication.
DTC DETECTION LOGIC
DTC
play)
C1A00 ICC sensor integrated unit internal malfunc-
CONTROL UNIT ICC sensor integrated unit
(0) tion

3. Check if the “C1A00” is detected as the current malfunction in self-diagnosis results of “ICC”.

DESCRIPTION
>> GO TO 2.

C1A00 CONTROL UNIT
2.CHECK DCA SYSTEM A

1. Erase the “self-diagnosis results”, and then perform “All DTC Reading” again after performing the action
2. Check that the DCA system is normal.
B
>> WORK END

C
CCS

The ICC sensor integrated unit controls the system with the ignition power supply.
DTC DETECTION LOGIC
DTC
Trouble diagnosis
name
play)
C1A01 POWER SUPPLY ICC sensor integrated unit power supply voltage
(1) CIR is excessively low (less than 8 V). • Connector, harness, fuse
C1A02 POWER SUPPLY ICC sensor integrated unit power supply voltage • ICC sensor integrated unit
(2) CIR 2 is excessively high (more than 19 V).

2. Turn the DCA switch ON.
4. Check if the “C1A01” or “C1A02” is detected as the current malfunction in self-diagnosis results of “ICC”.
1.CHECK ICC SENSOR INTEGRATED UNIT POWER SUPPLY AND GROUND CIRCUIT
Check power supply and ground circuit of ICC sensor integrated unit. Refer to CCS-311, "ICC SENSOR INTE-
GRATED UNIT : Diagnosis Procedure".
DESCRIPTION
>> GO TO 2.
2.CHECK DCA SYSTEM

>> WORK END A
CCS

The ICC sensor integrated unit receives the vehicle speed signal (wheel speed) from ABS actuator and elec-
tric unit (control unit) and the A/T vehicle speed sensor signal (output shaft revolution signal) from TCM via
CAN communication.
DTC DETECTION LOGIC
DTC
Trouble diagnosis
(On board DTC detecting condition Possible causes
name
display)
• Wheel speed sensor
If the vehicle speed signal (wheel speed) from
• ABS actuator and electric unit (control
ABS actuator and electric unit (control unit) and
unit)
C1A03 VHCL SPEED SE the A/T vehicle speed sensor signal (output
• Vehicle speed sensor A/T (output speed
(3) CIRC shaft revolution signal) from TCM, received by
sensor)
the ICC sensor integrated unit via CAN commu-
• TCM
nication, are inconsistent
NOTE:
If DTC “C1A03” is detected along with DTC “U1000” or “C1A04”, first diagnose the DTC “U1000” or “C1A04”.
• Refer to CCS-306, "ICC SENSOR INTEGRATED UNIT : DTC Logic" for DTC “U1000”.
CAUTION:

NO >> GO TO 2.
2.CHECK DATA MONITOR
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”.
CAUTION:

NO >> GO TO 3.
B
C
NO >> GO TO 4.
D
Is any DTC detected? E
NO >> Replace the ICC sensor integrated unit. Refer to CCS-363, "Exploded View". F
DESCRIPTION G
• Removal and installation of ICC sensor integrated unit H
I
ADJUSTMENT : Description". J
>> GO TO 2. K
2.CHECK DCA SYSTEM
L
M
>> WORK END
CCS

ABS actuator and electric unit (control unit) transmits the vehicle speed signal (wheel speed), and VDC/TCS/
ABS system operation condition to ICC sensor integrated unit via CAN communication.
DTC DETECTION LOGIC
DTC
Trouble diagnosis
name
play)
C1A04 If the malfunction occurs in the VDC/TCS/ABS ABS actuator and electric unit (control
ABS/TCS/VDC CIRC
(4) system unit)
NOTE:
If DTC “C1A04” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-306, "ICC
SENSOR INTEGRATED UNIT : DTC Logic".

Refer to CCS-306, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
NO >> GO TO 2.
DESCRIPTION
>> GO TO 2.
2.CHECK DCA SYSTEM

>> WORK END A
CCS

• ICC brake switch is turned OFF and stop lamp switch is turned ON, when depressing the brake pedal.
• ICC brake switch signal and stop lamp switch signal are input to ECM. These signals are transmitted from
ECM to ICC sensor integrated unit via CAN communication.
DTC DETECTION LOGIC
DTC
Trouble diagnosis
name
play)
If ICC sensor integrated unit receives the ICC • ICC brake switch
C1A05 BRAKE SE/STOP L
brake switch signal ON status during the stop • Incorrect stop lamp switch installa-
(5) SW
lamp switch signal ON status tion
tion
• ECM
NOTE:

NO >> GO TO 2.
YES >> GO TO 12.
YES >> GO TO 4.
YES >> GO TO 5.


B
Continuity
Terminal
3 4 Existed C
YES >> GO TO 6.
NO >> Replace ICC brake hold relay. D
1. Check for continuity between ICC brake hold relay harness connector and ICC brake switch harness con- E
nector.
ICC brake hold relay ICC brake switch F

Continuity
G

Continuity
E91 4 Not existed
YES >> GO TO 7.
J
2. Check for continuity between the ECM harness connector and ICC brake switch harness connector. K
VQ35HR

Continuity L
M107 126 E114 2 Existed
VK50VE M
Continuity
M160 117 E114 2 Existed
N

VQ35HR CCS
ECM
Continuity
P
VK50VE
ECM
Continuity

YES >> GO TO 12.
Check the stop lamp for illumination.
YES >> GO TO 9.
NO >> Repair the stop lamp circuit.

Continuity
Terminal
3 4 Existed
6 7 Not existed
YES >> GO TO 10.
VQ35HR

Continuity
VK50VE

Continuity
VQ35HR
ECM
Continuity
VK50VE
ECM
Continuity
YES >> GO TO 11.
2. Check for continuity between the brake booster control unit harness connector and brake hold relay har-
ness connector.

Brake booster control unit ICC brake hold relay A

Continuity
B
Brake booster control unit C

Continuity
B249 47 Not existed
D
YES >> GO TO 12.
E
2. Turn ignition switch ON. F
G
NO >> GO TO 13. H
2. Check if “STP LMP DRIVE” is turned ON when operating the test item. I
NO >> Replace ICC sensor integrated unit. Refer to CCS-363, "Exploded View". J
Component Inspection (ICC Brake Switch) INFOID:0000000003902417
K
Check for continuity between ICC brake switch terminals.
L
Not exist-
1 2 ed M
When brake pedal is released Existed
N
Component Inspection (Stop Lamp Switch) INFOID:0000000003902418
CCS
1.CHECK STOP LAMP SWITCH

Check for continuity between stop lamp switch terminals. P

1 2 Not exist-
ed

3 4 Not exist-
ed
NO >> Replace stop lamp switch.
DESCRIPTION
>> GO TO 2.
2.CHECK DCA SYSTEM
>> WORK END

A
• The brake pressure sensor detects the brake fluid pressure value in the brake master cylinder and outputs B
the value to the brake booster control unit.
• The brake booster control unit receives the brake fluid pressure command signal from the ICC sensor inte-
grated unit via ITS communication and controls the brake fluid pressure while feeding back the brake fluid
pressure value (brake fluid pressure control signal). C
D
DTC DETECTION LOGIC
DTC
E
display)
If the brake pressure sensor value that is input • Brake pressure sensor circuit
C1A08 F
PRESS SEN CIRCUIT to the brake booster control unit is malfunc- • Brake pressure sensor
(8)
tioning • Brake booster control unit
NOTE:
If DTC “C1A08” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-306, "ICC G
H
2. Turn the DCA switch ON. I
4. Check that the “C1A08” is detected as the current malfunction in self-diagnosis results of “ICC”.

L
M
NO >> GO TO 2.
2.CHECK HARNESS BETWEEN BRAKE BOOSTER CONTROL UNIT AND BRAKE PRESSURE SENSOR N
2. Disconnect connectors of brake booster control unit and brake pressure sensor.
3. Check for continuity between the brake booster control unit harness connector and brake pressure sensor CCS
harness connector.
Brake booster control unit Brake pressure sensor

Continuity P
8 3
24 1


Continuity
Connector Terminal
8 Ground
B250 17 Not existed
24
YES >> GO TO 3.
3.CHECK BRAKE PRESSURE SENSOR POWER SUPPLY CIRCUIT
1. Connect connectors of brake booster control unit and brake pressure sensor.
3. Check voltage between brake booster control unit harness connectors.
Terminals
(+) (–) Voltage
Connector Terminal
B250 8 24 5V
YES >> Replace the brake pressure sensor.
DESCRIPTION
>> GO TO 2.
2.CHECK DCA SYSTEM
>> WORK END

A
• The booster solenoid is integrated with the brake booster. B

• The brake booster control unit activates the booster solenoid to operate the brake booster (brake) according
to the brake fluid pressure command signal received from ICC sensor integrated unit via ITS communica-
tion.
C
DTC
display)
E
• Booster solenoid
C1A09
BOOSTER SOL/V CIRC If the booster solenoid is malfunctioning • Booster solenoid circuit
(9)
• Brake booster control unit F
NOTE:
SENSOR INTEGRATED UNIT : DTC Logic". G
1.PERFORM DTC CONFIRMATION PROCEDURE H
3. Perform “All DTC Reading”. I
YES >> Refer to CCS-221, "Diagnosis Procedure". J
K
L
M
NO >> GO TO 2.
Check power supply and ground circuit of brake booster control unit. Refer to CCS-311, "BRAKE BOOSTER N
YES >> GO TO 3. CCS
CONTROL UNIT P
connector.


Continuity
10 4
B250 E44 Existed
12 6

Continuity
Connector Terminal
Ground
10
B250 Not existed
12
YES >> GO TO 4.

nals.
Brake booster
Resistance
Terminal
4 6 Approx. 1.4 Ω
JPOIA0160GB
DESCRIPTION
>> GO TO 2.
2.CHECK DCA SYSTEM

A
>> WORK END
CCS

• The release switch is integrated with the brake booster.

• The release switch detects that the driver depresses the brake pedal, and it outputs the signal to the brake
booster control unit.
• The brake booster control unit transmits the release switch signal [release switch NO signal (normal open),
release switch NC signal (normal close)] to the ICC sensor integrated unit via ITS communication.
DTC logic INFOID:0000000003902435
DTC DETECTION LOGIC
DTC
play)
If the release switch NO signal and the release
• Release switch
C1A10 switch NC signal, received from the brake
RELEASE SW CIRC • Release switch circuit
(10) booster control unit via ITS communication,
are inconsistent
NOTE:
2. Turn the DCA switch ON, and wait for 5 minutes or more.
NO >> GO TO 2.
1. Depress the brake pedal strongly 10 times or more.

NO >> GO TO 2.
2.CHECK HARNESS BETWEEN BRAKE BOOSTER (RELEASE SWITCH) AND BRAKE BOOSTER CON-
TROL UNIT
2. Disconnect connectors of brake booster and brake booster control unit.
connector.

Brake booster control unit Brake booster A

Continuity
6 1
B
22 2
4. Check for continuity between brake booster control unit harness connector and ground. C

Continuity D
Connector Terminal
6 Ground
B250 15 Not existed E
22
YES >> GO TO 3. F
3.CHECK RELEASE SWITCH POWER SUPPLY CIRCUIT G
H
Terminal
(+) (–) Voltage I

B250 6 10 V J

YES >> GO TO 4. K
4.CHECK RELEASE SWITCH
Check the release switch. Refer to CCS-225, "Component Inspection". L
NO >> Replace the brake booster. M
N
1.CHECK BRAKE BOOSTER (RELEASE SWITCH)
Check for continuity between brake booster (release switch) termi- CCS
nals.
Condition 1–3 1–2 2–3 P

Brake pedal not de-
Continuity No continuity No continuity
pressed
No continu-
Brake pedal depressed ContinuityNOTE No continuity
ityNOTE
NOTE:
If the depressing force is weak, it may not be changed. JPOIA0160GB

DESCRIPTION
>> GO TO 2.
2.CHECK DCA SYSTEM
>> WORK END

A
• The brake booster control unit receives the brake fluid pressure command signal from ICC sensor integrated B
C
DTC
play)
E
C1A11
PRESSURE CONTROL If the brake booster is malfunctioning Brake booster
(11)
F
NOTE:
G
4. Check if the “C1A11” is detected as the current malfunction in self-diagnosis results of “ICC”. I
NO >> GO TO 2. M
2.CHECK BRAKE OPERATION
Check if the brake operates normally.
Does it operate normally? N
YES >> GO TO 4.
NO >> GO TO 3.
CCS
3.BRAKE LINE INSPECTION
1. Check the brake system, and then repair malfunctioning parts.
2. Erases All self-diagnosis results. P
3. Perform “BOOSTER SOL/V” on “Active Test” of “ICC”.
NO >> GO TO 4.

YES >> GO TO 5.
CONTROL UNIT
connector.

Continuity
10 4
B250 E44 Existed
12 6

Continuity
Connector Terminal
Ground
10
B250 Not existed
12

nals.
Brake booster
Resistance
Terminal
4 6 Approx. 1.4 Ω
JPOIA0160GB
DESCRIPTION
>> GO TO 2.


B
>> WORK END

C
CCS

ICC sensor integrated unit detects the reflected light from the vehicle ahead by irradiating a laser forward. It
calculates the distance from and relative speed with the vehicle ahead based on the detected signal.
DTC DETECTION LOGIC
DTC
play)
C1A12 Laser beam of ICC sensor integrated unit is
LASER BEAM OFFCNTR Laser beam is off the aiming point
(12) off the aiming point

1. Adjust the laser beam aiming with CONSULT-III. Refer to CCS-13, "LASER BEAM AIMING ADJUST-
MENT : Description".
DESCRIPTION
>> GO TO 2.
2.CHECK DCA SYSTEM
>> WORK END

A
• The ICC sensor integrated unit transmits the ICC brake hold relay drive signal to the brake booster control B
• The ICC brake hold relay activates the stop lamp by the ICC brake hold relay drive signal (stop lamp drive
signal) outputted by the brake booster control unit.
C
DTC
play)
E
• If the stop lamp is not activated even • ICC brake switch circuit
though the ICC sensor integrated unit is • ICC brake hold relay circuit F
transmitting a ICC brake hold relay drive • Stop lamp switch
C1A13
STOP LAMP RLY FIX signal. • ICC brake switch
(13)
• If the stop lamp is activated even though • ICC brake hold relay
the ICC sensor integrated unit is not trans- • Incorrect stop lamp switch installation G
mitting a ICC brake hold relay drive signal. • Incorrect ICC brake switch installation
• ECM
NOTE: H

1. Start the engine. J
2. Perform the active test item “STOP LAMP” with CONSULT-III.
4. Check if the “C1A13” is detected as the current malfunction in the self-diagnosis results of “ICC”.
K
NO >> GO TO 2.
L
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. M
CAUTION:
NOTE: N
If it is outside the above conditions, repeat the step 1.
Is “C1A13” detected as the current malfunction? CCS
P


NO >> GO TO 2.
YES >> GO TO 12.
YES >> GO TO 4.
YES >> GO TO 5.

Continuity
Terminal
3 4 Existed
YES >> GO TO 6.
1. Check for continuity between ICC brake hold relay harness connector and ICC brake switch harness con-
nector.
ICC brake hold relay ICC brake switch

Continuity

Continuity
E91 4 Not existed
YES >> GO TO 7.

VQ35HR A
Continuity
B
M107 126 E114 2 Existed
VK50VE

C
Continuity
M160 117 E114 2 Existed D
VQ35HR
E
ECM
Continuity
M107 126 Not existed F
VK50VE
ECM
Continuity G
Is the inspection result normal? H
YES >> GO TO 8.
8.CHECK ICC BRAKE HOLD RELAY POWER SUPPLY CIRCUIT I
1. Connect ECM connector.
3. Check the voltage between ICC brake hold relay harness connector and ground. J
Terminals
K
(+) (–) Voltage
Connector Terminal L
Ground
Battery
E91 3
voltage
Is the inspection result normal? M
YES >> GO TO 20.
NO >> Repair ICC brake hold relay power supply circuit.
9.CHECK STOP LAMP FOR ILLUMINATION N

3. Check that the stop lamp is illuminated by depressing the brake pedal to turn the stop lamp ON. CCS
YES >> GO TO 10.
NO >> Check the stop lamp circuit, and repair or replace the malfunctioning parts. P
10.CHECK ICC BRAKE HOLD RELAY CIRCUIT

1. Connect ICC brake hold relay.
3. Check that the stop lamp does not illuminate when brake pedal is not depressed.

YES >> GO TO 20.
NO >> GO TO 11.

Continuity
Terminal
6 7 Not existed
YES >> GO TO 20.
2. Disconnect brake booster control unit connector and remove ICC brake hold relay.
3. Check for continuity between the brake booster control unit harness connector and ICC brake hold relay
harness connector.
Brake booster control unit ICC brake hold relay

Continuity

Continuity
B249 47 Not existed
YES >> GO TO 13.
13.CHECK HARNESS BETWEEN ICC BRAKE HOLD RELAY AND GROUND
Check for continuity between ICC brake hold relay harness connector and ground.

Continuity
E91 2 Existed
YES >> GO TO 14.
Check resistance between ICC brake hold relay terminals.

Resistance
Terminal
1 2 Approx. 75 Ω
YES >> GO TO 15.

15.CHECK BRAKE BOOSTER CONTROL UNIT OUTPUT VOLTAGE A

3. Perform “STOP LAMP” on “Active Test” of “ICC”, and then check the voltage between ICC brake hold
B
relay harness connector and ground.
Terminal
Condition C
(+) (–)
Voltage
ICC brake hold relay Active Test (Approx.)
item
Connector Terminal D
“STOP LAMP”
Ground
Off 0V
E91 1 Battery
On E
voltage
YES >> GO TO 16. F
NO >> GO TO 21.
1. Turn ignition switch OFF. G
H
Terminal
(+) (–) Voltage
I
Connector Terminal
Ground
Battery
E91 7
voltage J
YES >> GO TO 17.
NO >> Repair or replace ICC brake hold relay power supply circuit. K
17.CHECK HARNESS BETWEEN ICC BRAKE HOLD RELAY AND ECM
1. Disconnect ECM, rear combination lamp, and high-mounted stop lamp connectors. L
2. Check for continuity between ICC brake hold relay harness connector and ECM harness connector.
VQ35HR
ICC brake hold relay ECM M

Continuity
N
VK50VE

Continuity
Connector Terminal Connector Terminal CCS
P

Continuity
E91 6 Not existed
YES >> GO TO 18.

1. Connect ECM, rear combination lamp, and high-mounted stop lamp connectors and ICC brake hold relay.
4. Perform “STOP LAMP” on “Active Test” of “ICC”, and then check the stop lamp for illumination.
YES >> GO TO 19.
19.CHECK ICC BRAKE SWITCH STANDARD VOLTAGE
2. Connect the stop lamp switch connector.
4. Perform “STOP LAMP” on “Active Test” of “ICC”, and then check the voltage between ICC brake switch
harness connector and ground.
Terminal
Condition
(+) (–)
Voltage
ICC brake switch Active Test (Approx.)
item
Ground
Battery
Off
E114 1 voltage
On 0V
YES >> GO TO 20.
NO >> GO TO 21.
2. Check that “STP LMP DRIVE” is turned ON when operating the test item.

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

Not exist- B
3 4
When the battery voltage is applied ed
6 7 Existed
3 4 Existed
C
When the battery voltage is not ap-
plied Not exist-
6 7
ed MBIB0063E
D
E
DESCRIPTION F
• Removal and installation of ICC sensor integrated unit G
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT H
I
>> GO TO 2.
J
2.CHECK DCA SYSTEM
test. (Refer to CCS-187, "ACTION TEST : Description" for action test.) K
>> WORK END L
CCS

C1A14 ECM
C1A14 ECM
ECM transmits the accelerator pedal position signal, ICC brake switch signal, stop lamp switch signal, etc. to
ICC sensor integrated unit via CAN communication.
DTC DETECTION LOGIC
DTC
play)
• Accelerator pedal position sensor
C1A14
ECM CIRCUIT If ECM is malfunctioning • ECM
(14)
NOTE:
CAUTION:

NO >> GO TO 2.
DESCRIPTION

C1A14 ECM
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT A

B
>> GO TO 2.
2.CHECK DCA SYSTEM C
2. Check that the DCA system is normal. D
>> WORK END

E
CCS

C1A15 GEAR POSITION
C1A15 GEAR POSITION
ICC sensor integrated unit judges the gear position based on the following signals.
• Shift position signal transmitted from TCM via CAN communication.
• Value of gear ratio calculated from input speed signal transmitted from TCM via CAN communication.
• Value of gear ratio calculated from the vehicle speed signal transmitted from ABS actuator and electric unit
(control unit) via CAN communication.
DTC DETECTION LOGIC
DTC
Trouble diagnosis
name
play)
If a mismatch occurs between an shift posi- • Input speed sensor
C1A15 tion signal transmitted from TCM via CAN • Vehicle speed sensor A/T (output speed
GEAR POSITION
(15) communication and the gear position calcu- sensor)
lated by ICC sensor integrated unit • TCM
NOTE:
If DTC “C1A15” is detected along with DTC “U1000”, “C1303” or “C1A04”, first diagnose the DTC “U1000”,
“C1A03” or “C1A04”.
• Refer to CCS-306, "ICC SENSOR INTEGRATED UNIT : DTC Logic" for DTC “U1000”.
3. Drive the vehicle at 10 km/h (6 MPH) or faster for approximately 15 minutes or more.
CAUTION:

Check if “C1A03”, “C1A04”, or “U1000” is detected other than “C1A15” in “Self Diagnostic Result” of “ICC”.
NO >> GO TO 2.
2.CHECK VEHICLE SPEED SIGNAL
Check that “VHCL SPEED SE” operates normally in “DATA MONITOR” of “ICC”.
CAUTION:
YES >> GO TO 3.
NO >> GO TO 7.

C1A15 GEAR POSITION
3.CHECK GEAR POSITION A

Check that “GEAR” operates normally in “DATA MONITOR” of “ICC”.
CAUTION:
B
YES >> GO TO 5.
NO >> GO TO 4.
C
4.CHECK GEAR POSITION SIGNAL
Check that “GEAR” operates normally in “DATA MONITOR” of “TRANSMISSION”.
Is the inspection result normal? D
YES >> GO TO 5.
NO >> GO TO 6.
E
5.CHECK INPUT SPEED SENSOR SIGNAL
Check that “INPUT SPEED” operates normally in “DATA MONITOR” of “TRANSMISSION”.
NO >> GO TO 6.
6.CHECK TCM SELF-DIAGNOSIS RESULTS G
H
NO >> Replace the ICC sensor integrated unit. Refer to CCS-363, "Exploded View". I
1. Perform “All DTC Reading”. J
2. Check if any DTC is detected in “Self Diagnostic Result” of “ABS”.
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to K
L
DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following M
• Replacement of ICC sensor integrated unit N
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT CCS
P
>> GO TO 2.
2.CHECK DCA SYSTEM

C1A15 GEAR POSITION
>> WORK END

C1A16 RADAR STAIN
C1A16 RADAR STAIN
A
ICC sensor integrated unit detects the reflected light from the vehicle ahead by irradiating a laser beam for- B
ward. It calculates the distance from and relative speed with the vehicle ahead based on the detected signal.
C
DTC DETECTION LOGIC
DTC
Trouble diagnosis
D
name
play)
• Stain or foreign materials is deposit- E
C1A16 If any stain occurs to ICC sensor integrated
RADAR STAIN ed
(16) unit body window
• Cracks or scratches exist
NOTE:
F
DTC “C1A16” may be detected under the following conditions. (Explain to the customer about the difference
between the contamination detection function and the indication when the error is detected and tell them “This
is not malfunction”.)
• When contamination or foreign materials adhere on the ICC sensor integrated unit body window G
• When driving while it is snowing or when frost forms on the ICC sensor integrated unit body window
• When the ICC sensor integrated unit body window is temporarily fogged
H
1.VISUAL CHECK 1
I
Does contamination or foreign materials adhere?
YES >> Wipe out the contamination and foreign materials from the ICC sensor integrated unit body win- J
dow.
NO >> GO TO 2.
2.VISUAL CHECK 2 K
Is it found?
YES >> Replace the ICC sensor integrated unit. Refer to CCS-363, "Exploded View". L
NO >> GO TO 3.
3.INTERVIEW
M
1. Ask if there is any trace of contamination or foreign materials adhering to the ICC sensor integrated unit
body window.
2. Ask if ICC sensor integrated unit body window was frosted during driving or if vehicle was driven in snow.
3. Ask if ICC sensor integrated unit body window was temporarily fogged. (Front window glass may also N
tend to fog, etc.)
What is the result of the interview with the customer?
YES >> Explain to the customer about the difference between the contamination detection function and CCS
the indication when the malfunction is detected and tell them “This is not malfunction”.
P
DESCRIPTION

C1A16 RADAR STAIN
>> GO TO 2.
2.CHECK DCA SYSTEM
>> WORK END

A
Always perform the laser beam aiming adjustment after replacing the ICC sensor integrated unit. B
DTC
Trouble diagnosis
name
play)
• No laser beam aiming adjustment is
C1A18 LASER AIMING IN- Laser beam aiming of ICC sensor integrated unit performed
E
(18) CMP is not adjusted • Laser beam aiming adjustment has
been interrupted
DTC CONFIRMATION PROCEDURE F

G
Is “C1A18” detected as the current malfunction? H
I
1.ADJUST LASER BEAM AIMING J

2. Erase All self-diagnosis results with CONSULT-III.
3. Perform “All DTC Reading”. K
YES >> Replace the ICC sensor integrated unit. Refer to CCS-363, "Exploded View". L
M
DESCRIPTION
operation is performed. N
SPECIAL REPAIR REQUIREMENT CCS
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-13, "LASER BEAM AIMING P
>> GO TO 2.
2.CHECK DCA SYSTEM

>> WORK END

A
ICC sensor integrated unit integrates the temperature sensor. B

DTC
Trouble diagnosis
name
play)
C1A21 If the temperature sensor (integrated in the ICC Temperature around ICC sensor inte-
UNIT HIGH TEMP
(21) sensor integrated unit) detects a high temperature grated unit is excessively high
E
1.PERFORM DTC CONFIRMATION PROCEDURE F
2. Wait for 10 minutes or more and cool the ICC sensor integrated unit.
H
I
1.CHECK ENGINE COOLING SYSTEM J

Check for any malfunctions in engine cooling system.
Is engine cooling system normal?
YES >> Replace the ICC sensor integrated unit. Refer to CCS-363, "Exploded View". K
NO >> Repair engine cooling system.
L
DESCRIPTION
M
N
Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-13, "LASER BEAM AIMING CCS
P
>> GO TO 2.
2.CHECK DCA SYSTEM

>> WORK END

C1A22 BCU CIRCUIT
C1A22 BCU CIRCUIT
A
• The brake booster control unit receives the brake fluid pressure command signal from ICC sensor integrated B
C
DTC
display)
E
• Stop lamp switch F
• ICC brake switch
C1A22 If the brake booster control unit cannot control
BCU CIRCUIT • Incorrect stop lamp switch installation
(22) the brake booster
tion G
• ECM
NOTE: H

K
L

N
NO >> GO TO 2.
2.CHECK STOP LAMP SWITCH AND ICC BRAKE SWITCH CCS
YES >> GO TO 10.

C1A22 BCU CIRCUIT
YES >> GO TO 4.
YES >> GO TO 7.
NO >> Replace the ICC brake switch.
Check stop lamp illumination.
YES >> GO TO 6.

Continuity
Terminal
3 4 Existed
6 7 Not existed
YES >> GO TO 7.
VQ35HR

Continuity
VK50VE

Continuity
VQ35HR
ECM
Continuity
VK50VE
ECM
Continuity

C1A22 BCU CIRCUIT
YES >> GO TO 8.
NO >> Repair the harnesses or connectors. A
B
VQ35HR

Continuity
Connector Terminal Connector Terminal C
M107 126 E114 2 Existed
VK50VE
D
Continuity
M160 117 E114 2 Existed E
VQ35HR
F
ECM
Continuity
M107 126 Not existed G
VK50VE
ECM H
Continuity
YES >> GO TO 9.
J
9.CHECK HARNESS BETWEEN ICC BRAKE SWITCH AND ICC BRAKE HOLD RELAY
2. Check for continuity between ICC brake switch harness connector and ICC brake hold relay harness con- K
nector.
ICC brake switch ICC brake hold relay L

Continuity
M
3. Check for continuity between ICC brake switch harness connector and ground.
ICC brake switch

Continuity N
E114 1 Not existed
Is the inspection result normal? CCS
YES >> GO TO 10.
10.PERFORM SELF-DIAGNOSIS OF ECM P


C1A22 BCU CIRCUIT
DESCRIPTION
>> GO TO 2.
2.CHECK DCA SYSTEM
>> WORK END

C1A24 NP RANGE
C1A24 NP RANGE
A
ICC sensor integrated unit judges the NP position status from the shift position signal and current gear position B
signal received from TCM via CAN communication.
C
DTC DETECTION LOGIC
DTC D
play)
If the shift position signal and the current gear E
C1A24 • TCM
NP RANGE position signal, transmitted from TCM via CAN
(24) • Transmission range switch
communication, are inconsistent
NOTE:
F
2. Turn the DCA switch ON. H
3. Wait for approximately 5 minutes or more after shifting the selector lever to “P” position.
5. Check if the “C1A24” is detected as the current malfunction in self-diagnosis results of “ICC”. I
NO >> GO TO 2. J
1. Wait for approximately 5 minutes or more after shifting the selector lever to “N” position.
K
L
M

Check if “U1000” is detected other than “C1A24” in “Self Diagnostic Result” of “ICC”. N
Refer to CCS-306, "ICC SENSOR INTEGRATED UNIT : DTC Logic". CCS
NO >> GO TO 2.
2.CHECK NP POSITION SWITCH SIGNAL
P
Check that “NP RANGE SW” operates normally in “DATA MONITOR” of “ICC”.
YES >> GO TO 3.
3.CHECK TCM DATA MONITOR
Check that “SLCT LVR POSI” operates normally in “DATA MONITOR” of “TRANSMISSION”.

C1A24 NP RANGE
NO >> GO TO 4.
DESCRIPTION
>> GO TO 2.
2.CHECK DCA SYSTEM
>> WORK END

CIRCUIT2
A
CIRCUIT2
B
The brake booster control unit controls the brake booster, etc. with the battery power supply and ignition
power supply.
C
DTC DETECTION LOGIC

D
DTC
Trouble diagnosis
name
play) E
C1A28 The brake booster control unit power supply
BCU PWR SUPLY CIR
(28) voltage is excessively low (less than 8 V). • Brake booster control unit
C1A29 BCU PWR SUPLY The brake booster control unit power supply • Harness, connector, fuse F
(29) CIR2 voltage is excessively high (more than 19 V).
NOTE:
If DTC “C1A28” or “C1A29” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to G
CCS-306, "ICC SENSOR INTEGRATED UNIT : DTC Logic".
H
2. Turn the DCA switch ON. I
4. Check if the “C1A28” or “C1A29” is detected as the current malfunction in self-diagnosis results.
Is “C1A28” or “C1A29” detected as the current malfunction? J

Check if “U1000” is detected other than “C1A28”, “C1A29” in “Self Diagnostic Result” of “ICC”. L
Refer to CCS-306, "ICC SENSOR INTEGRATED UNIT : DTC Logic". M
NO >> GO TO 2.
2.CHECK BRAKE BOOSTER CONTROL UNIT POWER SUPPLY AND GROUND CIRCUIT N
Check brake booster control unit power supply and ground circuit. Refer to CCS-311, "BRAKE BOOSTER
Is the inspection result normal? CCS
NO >> Repair brake booster control unit power supply and ground circuit.
Special Repair Requirement INFOID:0000000003902484 P
DESCRIPTION

CIRCUIT2
>> GO TO 2.
2.CHECK DCA SYSTEM
>> WORK END

A
The brake booster control unit communicates with ICC sensor integrated unit for brake booster control via ITS B
communication.
C
DTC DETECTION LOGIC
DTC
Trouble diagnosis
D
name
play)
If ICC sensor integrated unit receives the sig- E
C1A30
BCU CAN COMM CIRC nal for improper condition for brake booster ITS communication system
(30)
control unit via ITS communication
Diagnosis Procedure INFOID:0000000003902487 F

4. Check if the “C1A30” is detected as the current malfunction in self-diagnosis results of “ICC”. H
YES >> Perform trouble diagnosis for the ITS communication system. Refer to LAN-22, "Trouble Diagno-
sis Flow Chart". I
J
DESCRIPTION
operation is performed. K
SPECIAL REPAIR REQUIREMENT L

Adjust the laser beam aiming of the ICC sensor integrated unit. Refer to CCS-13, "LASER BEAM AIMING M
N
>> GO TO 2.
2.CHECK DCA SYSTEM
CCS
P
>> WORK END

The brake booster control unit inputs the brake fluid pressure control signal and release switch signal and
transmits them to ICC sensor integrated unit via ITS communication. Also, it receives the brake fluid pressure
command signal from ICC sensor integrated unit via ITS communication and activates the booster solenoid to
operate the brake booster (brake).
DTC DETECTION LOGIC
DTC
play)
C1A31
BCU INTERNAL MALF Brake booster control unit internal malfunction Brake booster control unit
(31)


DESCRIPTION
>> GO TO 2.
2.CHECK DCA SYSTEM

A
>> WORK END
CCS

ICC sensor integrated unit shares components with the IBA system.
DTC DETECTION LOGIC
DTC
play)
C1A32 If the control (detection) of IBA is malfunction- • ICC sensor integrated unit
IBA FLAG STUCK
(32) ing • Brake booster control unit
NOTE:
2. Turn the DCA switch ON, and wait for 5 minutes or more.

NO >> GO TO 2.
DESCRIPTION


B
>> GO TO 2.
>> WORK END

E
CCS

ICC sensor integrated unit transmits the signal required by the DCA system control to ECM via CAN commu-
nication.
DTC DETECTION LOGIC
DTC
play)
If an error occurs in the CAN communication
C1A33 CAN TRANSMISSION
signal that ICC sensor integrated unit trans- ICC sensor integrated unit
(33) ERROR
mits to ECM
NOTE:

DESCRIPTION
>> GO TO 2.
2.CHECK DCA SYSTEM
>> WORK END B
CCS

C1A34 COMMAND ERROR
C1A34 COMMAND ERROR
ICC sensor integrated unit transmits the command signal required for the ECM control via CAN communica-
tion.
DTC DETECTION LOGIC
DTC
play)
If an error occurs in the command signal that
C1A34
COMMAND ERROR ICC sensor integrated unit transmits to ECM ICC sensor integrated unit
(34)
via CAN communication
NOTE:
CAUTION:

DESCRIPTION

C1A34 COMMAND ERROR
>> GO TO 2.
B
>> WORK END

C
CCS

C1A35 ACCELERATOR PEDAL ACTUATOR
C1A35 ACCELERATOR PEDAL ACTUATOR
• The accelerator pedal actuator is integrated into the accelerator pedal assembly.
• The accelerator pedal actuator consists of the control unit and motor.
DTC DETECTION LOGIC
DTC
Trouble diagnosis
name
play)
C1A35 If the accelerator pedal actuator is malfunc-
APA CIR Accelerator pedal actuator
(35) tioning

YES >> Replace the accelerator pedal assembly.
DESCRIPTION
The accelerator pedal released position learning is necessary when the following operation is performed.
• Disconnection and connection of accelerator pedal assembly connector
• Replace accelerator pedal assembly
Perform the accelerator pedal released position learning. Refer to EC-25, "ACCELERATOR PEDAL
RELEASED POSITION LEARNING : Description" (VQ35HR) or EC-582, "ACCELERATOR PEDAL
RELEASED POSITION LEARNING : Description" (VK50VE).
>> GO TO 2.
2.CHECK DCA SYSTEM
>> WORK END

C1A36 ACCELERATOR PEDAL ACTUATOR CAN COMM
A
• ITS communication is a multiplex communication system. This enables the system to transmit and receive B
C
DTC
play)
E
If an error occurs in the signal that the accel- • ICC sensor integrated unit
C1A36
APA CAN COMM CIR erator pedal actuator transmits via ITS com- • Accelerator pedal actuator
(36)
munication • ITS communication system F
NOTE:
3. Perform “All DTC Reading” with CONSULT-III. I
K
1.CHECK ICC SENSOR INTEGRATED UNIT SELF-DIAGNOSIS RESULTS
L
M
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”. N
CCS-347, "DTC Index". CCS
P
DESCRIPTION
Check the operation after performing the accelerator pedal released position learning when the following oper-
ation is performed.

• Disconnection and connection of accelerator pedal position sensor connector
1.CHECK CONTROL UNIT REPLACED, REMOVED AND/OR INSTALLED
Perform the adjustment work after the replacement or removal and installation of ICC sensor integrated unit,
replacement of accelerator pedal assembly, or disconnection or connection of accelerator pedal position sen-
sor connector.
Which is replaced, removed or installed?

ICC sensor integrated unit>>GO TO 2.
Accelerator pedal assembly>>GO TO 3.
>> GO TO 4.
Perform the Accelerator Pedal Released Position Learning. Refer to EC-25, "ACCELERATOR PEDAL
>> GO TO 4.
4.CHECK DCA SYSTEM
>> WORK END

C1A37 ACCELERATOR PEDAL ACTUATOR CAN 2
A
C
DTC
play)
E
C1A37
APA CAN CIR2 signal that is received from accelerator pedal Accelerator pedal actuator malfunction
(133)
actuator via ITS communication F
NOTE:
K
L
M
NO >> GO TO 2.
2.REPLACE ACCELERATOR PEDAL ASSEMBLY
1. Turn the ignition switch OFF. N
2. Replace the accelerator pedal assembly.
4. Erases All self-diagnosis results. CCS
5. Perform “All DTC Reading” again.
6. Check if the DTC “C1A37” is detected in self-diagnosis results of “ICC”.
P
DESCRIPTION

ation is performed.
sor connector.

>> GO TO 4.
>> GO TO 4.
4.CHECK DCA SYSTEM
>> WORK END

A
C
DTC
play)
E
C1A38
APA CAN CIR1 signal that is received from accelerator pedal Accelerator pedal actuator malfunction
(132)
actuator via ITS communication F
NOTE:
K
L
M
NO >> GO TO 2.
1. Turn the ignition switch OFF. N
2. Replace the accelerator pedal assembly.
4. Perform “All DTC Reading” again. CCS
5. Check if the “C1A38” is detected in self-diagnosis results of “ICC”.
YES >> Replace the ICC sensor integrated unit. Refer to CCS-363, "Exploded View". P
DESCRIPTION

ation is performed.
sor connector.

>> GO TO 4.
>> GO TO 4.
4.CHECK DCA SYSTEM
>> WORK END

A
C
DTC DETECTION LOGIC
DTC D
play)
C1A39 E
STRG SEN CIR If the steering angle sensor is malfunction Steering angle sensor is malfunction
(39)
NOTE:
If DTC “C1A39” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-306, "ICC F

J

Check if “U1000” is detected other than “C1A39” in “Self Diagnostic Result” of “ICC”. K
Refer to CCS-306, "ICC SENSOR INTEGRATED UNIT : DTC Logic". L
NO >> GO TO 2.
M
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to N
DESCRIPTION

>> GO TO 2.
2.CHECK DCA SYSTEM
>> WORK END

A
DCA SWITCH B
• The DCA system ON/OFF operation is performed by the DCA switch.
• The DCA switch signal is input to the brake booster control unit, and transmitted from the brake booster con-
trol unit to the ICC sensor integrated unit via ITS communication. C
IBA OFF SWITCH
• The IBA ON/OFF operation is performed by IBA OFF switch.
• The IBA OFF switch signal is input to the brake booster control unit and transmits from the brake booster D
control unit to the ICC sensor integrated unit via ITS communication.
E
DTC DETECTION LOGIC
DTC F
Trouble diagnosis
name
play)
• DCA switch circuit G
• DCA switch
C1A40 If the DCA switch or the IBA OFF switch is stuck
SYSTEM SW CIRC • IBA OFF switch circuit
(40) to ON
• IBA OFF switch
• Brake booster control unit H
NOTE:
If DTC “C1A40” is displayed along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-306,
"ICC SENSOR INTEGRATED UNIT : DTC Logic". I
1.PERFORM DTC CONFIRMATION PROCEDURE J
1. Start the engine and wait for approximately 10 minutes or more.
3. Check if the “C1A40” is detected as the current malfunction in “Self Diagnostic Result” of “ICC”. K
NO >> Refer to GI-35, "Intermittent Incident". L
Is “U1000” detected? N
NO >> GO TO 2. CCS
2. CHECK DATA MONITOR
Check that “DCA ON SW” and “IBA SW” operate normally in “DATA MONITOR” of “ICC”.
YES >> Refer toGI-35, "Intermittent Incident".
NO-1 >> When “DCA ON SW” is malfunctioning: GO TO 3
NO-2 >> When “IBA SW” is malfunctioning: GO TO 7
3.CHECK DCA SWITCH
2. Disconnect the DCA switch connector.

3. Check the DCA switch. Refer to CCS-277, "Component Inspection (DCA Switch)".
YES >> GO TO 4.
4.CHECK HARNESS BETWEEN BRAKE BOOSTER CONTROL UNIT AND DCA SWITCH
2. Check for continuity between brake booster control unit harness connector and DCA switch harness con-
nector.
Brake booster control unit DCA switch

Continuity
3. Check for continuity between brake booster control unit and ground.

Continuity
B250 9 Not existed
YES >> GO TO 5.
5.CHECK DCA SWITCH GROUND CIRCUIT
Check for continuity between DCA switch harness connector and ground.
DCA switch
Continuity
M18 2 Existed
YES >> GO TO 6.
6.CHECK DCA SWITCH SIGNAL
Terminals
(+) (–) Voltage

2. Disconnect the IBA OFF switch connector.
3. Check the IBA OFF switch. Refer to CCS-278, "Component Inspection (IBA OFF Switch)".
YES >> GO TO 8.

8.CHECK HARNESS BETWEEN BRAKE BOOSTER CONTROL UNIT AND IBA OFF SWITCH A

2. Check for continuity between the brake booster control unit harness connector and IBA OFF switch har-
B
ness connector.
Brake booster control unit IBA OFF switch

Continuity C
3. Check for continuity between brake booster control unit and ground. D

Continuity E
B249 40 Not existed
YES >> GO TO 9.
9.CHECK IBA OFF SWITCH GROUND CIRCUIT G
Check for continuity between IBA OFF switch harness connector and ground.
H
IBA OFF switch
Continuity
M184 6 Exists I
YES >> GO TO 10.
NO >> Repair the harnesses or connectors. J
10.CHECK IBA OFF SWITCH SIGNAL
1. Connect the brake booster control unit connector. K
L
Terminals
(+) (–) Voltage
Brake booster control unit (Approx.) M
N
CCS
Component Inspection (DCA Switch) INFOID:0000000003960133
1.CHECK DCA SWITCH P

Check for continuity of DCA switch.

When the DCA switch is pressed Existed
1 2
When the DCA switch is released Not existed

Component Inspection (IBA OFF Switch) INFOID:0000000003960134

Check for continuity of IBA OFF switch.

When the IBA OFF switch is pressed Existed
6 7
When the IBA OFF switch is released Not existed
DESCRIPTION
>> GO TO 2.
2.CHECK DCA SYSTEM
>> WORK END

A
• The accelerator pedal actuator is integrated into the accelerator pedal assembly. B
C
DTC DETECTION LOGIC
DTC D
play)
C1F01 If the accelerator pedal actuator motor error Accelerator pedal actuator integrated E
APA MOTOR MALF
(91) is detected motor malfunction

F
2. Turn the ignition switch ON. G
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” or H
“ACCELE PEDAL ACT”.
Is “C1F01” detected as the current malfunction?
J
Perform DTC confirmation procedure. If “C1F01” is detected as the current malfunction, replace the accelera- K
tor pedal assembly. Refer to CCS-279, "DTC Logic".
>> INSPECTION END L

DESCRIPTION M
• Replace accelerator pedal assembly N
1.ACCELERATOR PEDAL RELEASED POSITION LEARNING CCS
RELEASED POSITION LEARNING : Description" (VK50VE). P
>> GO TO 2.
2.CHECK DCA SYSTEM

>> WORK END

A
• The accelerator pedal actuator is integrated into the accelerator pedal assembly. B
C
DTC DETECTION LOGIC
DTC D
play)
C1F02 If the accelerator pedal actuator integrated Accelerator pedal actuator integrated E
APA C/U MALF
(92) control unit error is detected control unit malfunction
F
2. Turn the DCA switch ON. G
4. Check if the DTC “C1F02” is detected as the current malfunction on the self-diagnosis results of “ICC” or
“ACCELE PEDAL ACT”. H
NO >> INSPECTION END I
J
DESCRIPTION
• Replace accelerator pedal assembly K

1.ACCELERATOR PEDAL RELEASED POSITION LEARNING L
RELEASED POSITION LEARNING : Description" (VK50VE). M
>> GO TO 2.
N
2.CHECK DCA SYSTEM
test. (Refer to CCS-187, "ACTION TEST : Description" for action test.) CCS
>> WORK END P

The accelerator pedal actuator is integrated into with a temperature sensor.

DTC DETECTION LOGIC
Trouble diagnosis
DTC DTC detecting condition Possible causes
name
If the accelerator pedal actuator integrated motor Accelerator pedal actuator integrated
C1F03 APA HI TEMP
temperature is excessively high motor malfunction
NOTE:
When the accelerator pedal actuator operates excessively, “C1F03” may be detected temporarily.

2. Wait for 10 minutes or more and cool the accelerator pedal actuator integrated motor.
3. Drive the vehicle with DCA switch ON and operate the system.
CAUTION:
6. Check if the DTC “C1F03” is detected as the current malfunction in self-diagnosis results of “ACCELE
PEDAL ACT”.

Perform DTC confirmation procedure. If “C1F03” is detected, replace the accelerator pedal assembly. Refer to
CCS-282, "DTC Logic".
>> INSPECTION END

DESCRIPTION
>> GO TO 2.
2.CHECK DCA SYSTEM

>> WORK END B
CCS

C1F05 ACCELERATOR PEDAL ACTUATOR POWER SUPPLY CIRCUIT
Power is supplied from ignition power supply and battery power supply to the accelerator pedal actuator.
DTC DETECTION LOGIC
DTC
display)
The voltage input to accelerator pedal actuator
C1F05 is excessively low (approximately 8 V or less) • Harness, connector, or fuse
APA PWR SUPLY CIR
(95) or excessively high (approximately 19 V or • Accelerator pedal actuator
more).

4. Check if the “C1F05” is detected as the current malfunction on the self-diagnosis results of “ICC” or
“ACCELE PEDAL ACT”.
1.CHECK POWER SUPPLY CIRCUIT

Check the accelerator pedal actuator power supply circuit. Refer to CCS-312, "ACCELERATOR PEDAL
ACTUATOR : Diagnosis Procedure".
DESCRIPTION
>> GO TO 2.
2.CHECK DCA SYSTEM

>> WORK END A
CCS

C1F06 CAN CIRCUIT2
C1F06 CAN CIRCUIT2
DTC DETECTION LOGIC
DTC
play)
If accelerator pedal actuator detects an error
C1F06 CAN CIR 2 signal that is received from ICC sensor inte- ICC sensor integrated unit malfunction
grated unit via ITS communication
NOTE:
If DTC “C1F06” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-306, "ICC
4. Check if the “C1F06” is detected as the current malfunction in self-diagnosis results of “ACCELE PEDAL
ACT”.

Check if “U1000” is detected other than “C1F06” in “Self Diagnostic Result” of “ACCELE PEDAL ACT”.
NO >> GO TO 2.
5. Check if the “C1F06” is detected in self-diagnosis results of “ACCELE PEDAL ACT”.
Is “C1F06” detected?
DESCRIPTION

C1F06 CAN CIRCUIT2
• Replacement of ICC sensor integrated unit A
ation is performed.
B
1.CHECK CONTROL UNIT REPLACED, REMOVED AND/OR INSTALLED C
sor connector. D

ICC sensor integrated unit>>GO TO 2. E
2.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT F
G
>> GO TO 4.
3.ACCELERATOR PEDAL RELEASED POSITION LEARNING H
RELEASED POSITION LEARNING : Description" (VK50VE). I
>> GO TO 4. J
4.CHECK DCA SYSTEM
1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action K
L
>> WORK END
CCS

C1F07 CAN CIRCUIT1
C1F07 CAN CIRCUIT1
DTC DETECTION LOGIC
DTC
play)
If accelerator pedal actuator detects an error
C1F07 CAN CIR 1 signal that is received from ICC sensor inte- ICC sensor integrated unit malfunction
grated unit via ITS communication
NOTE:
If DTC “C1F07” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-306, "ICC
4. Check if the “C1F07” is detected as the current malfunction in self-diagnosis results of “ACCELE PEDAL
ACT”.

Check if “U1000” is detected other than “C1F07” in “Self Diagnosis Result” of “ACCELE PEDAL ACT”.
NO >> GO TO 2.
5. Check if the “C1F07” is detected in self-diagnosis results of “ACCELE PEDAL ACT”.
Is “C1F07” detected?
DESCRIPTION

C1F07 CAN CIRCUIT1
• Replacement of ICC sensor integrated unit A
ation is performed.
B
1.CHECK CONTROL UNIT REPLACED, REMOVED AND/OR INSTALLED C
sor connector. D

ICC sensor integrated unit>>GO TO 2. E
2.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT F
G
>> GO TO 4.
3.ACCELERATOR PEDAL RELEASED POSITION LEARNING H
RELEASED POSITION LEARNING : Description" (VK50VE). I
>> GO TO 4. J
4.CHECK DCA SYSTEM
1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action K
L
>> WORK END
CCS

U0121 VDC CAN 2
U0121 VDC CAN 2
ABS actuator and electric unit (control unit) transmits the VDC system signal to ICC sensor integrated unit via
CAN communication.
DTC DETECTION LOGIC
DTC
play)
VDC CAN CIR2
tion
NOTE:
If DTC “U0121” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-306, "ICC
4. Check if the “U0121” is detected as the current malfunction in self-diagnosis results of “ICC”.

NO >> GO TO 2.
DESCRIPTION

U0121 VDC CAN 2

B
>> GO TO 2.
>> WORK END

E
CCS

It measures the rotation amount, rotation speed, and rotation direction of steering wheel, and then transmits
DTC DETECTION LOGIC
DTC
play)
U0126
STRG SEN CAN CIR1 signal that is received from steering angle sen- Steering angle sensor error
(130)
NOTE:

NO >> GO TO 2.
DESCRIPTION
ADJUSTMENT : Description". A
>> GO TO 2. B
2.CHECK DCA SYSTEM
C
D
>> WORK END
CCS

U0129 BCU CAN 2
U0129 BCU CAN 2
The brake booster control unit transmits the signal related to brake control to ICC sensor integrated unit via
ITS communication.
DTC DETECTION LOGIC
DTC
Trouble diagnosis
name
play)
U0129
BCU CAN CIR 2 signal that is received from brake booster con- Brake booster control unit
(125)
NOTE:

NO >> GO TO 2.
2. Replace brake booster control unit.
6. Check if the “U0129” is detected in “Self Diagnostic Result” of “ICC”.
DESCRIPTION

U0129 BCU CAN 2
A
>> GO TO 2. C
2.CHECK DCA SYSTEM
>> WORK END E
CCS

U0401 ECM CAN 1
U0401 ECM CAN 1
ECM transmits the signal related to engine control [DCA system] to ICC sensor integrated unit via CAN com-
munication.
DTC DETECTION LOGIC
DTC
display)
U0401
ECM CAN CIR1 signal that is received from ECM via CAN ECM
(120)
communication
NOTE:

NO >> GO TO 2.
2.CHECK ECM SELF-DIAGNOSIS RESULTS
DESCRIPTION
U0401 ECM CAN 1
>> GO TO 2. B
2.CHECK DCA SYSTEM
C
D
>> WORK END
CCS

U0402 TCM CAN 1
U0402 TCM CAN 1
TCM transmits the signal related to A/T control to ICC sensor integrated unit via CAN communication.
DTC DETECTION LOGIC
DTC
Trouble diagnosis
name
play)
U0402
TCM CAN CIR1 signal that is received from TCM via CAN TCM
(122)
communication
NOTE:

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

U0402 TCM CAN 1
>> GO TO 2. B
2.CHECK DCA SYSTEM
C
D
>> WORK END
CCS

U0415 VDC CAN 1
U0415 VDC CAN 1
ABS actuator and electric unit (control unit) transmits the signal related to the VDC system to ICC sensor inte-
DTC DETECTION LOGIC
DTC
play)
VDC CAN CIR1
tion
NOTE:

NO >> GO TO 2.
DESCRIPTION

U0415 VDC CAN 1

B
>> GO TO 2.
>> WORK END

E
CCS

U0418 BCU CAN 1
U0418 BCU CAN 1
The brake booster control unit transmits the signal related to brake control to ICC sensor integrated unit via
ITS communication.
DTC DETECTION LOGIC
DTC
Trouble diagnosis
name
play)
U0418
(124)
trol unit via CAN communication
NOTE:

NO >> GO TO 2.
6. Check if the “U0418” is detected in “Self Diagnostic Result” of “ICC”.
DESCRIPTION

U0418 BCU CAN 1
A
>> GO TO 2. C
2.CHECK DCA SYSTEM
>> WORK END E
CCS

It detects the rotation amount, rotation speed, and rotation direction of steering wheel, and then transmits them
to ICC sensor integrated unit via CAN communication.
DTC DETECTION LOGIC
DTC
play)
U0428
STRG SEN CAN CIR2 signal that is received from steering angle sen- Steering angle sensor
(131)
NOTE:

NO >> GO TO 2.
DESCRIPTION
>> GO TO 2. B
2.CHECK DCA SYSTEM
C
D
>> WORK END
CCS

ICC SENSOR INTEGRATED UNIT : Description INFOID:0000000003902581
CAN COMMUNICATION
vehicle is equipped with many electronic control units, and each control unit shares information and links with
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-32, "CAN Communication Signal Chart".
ITS COMMUNICATION
ICC SENSOR INTEGRATED UNIT : DTC Logic INFOID:0000000003902582
DTC DETECTION LOGIC
DTC
display)
If ICC sensor integrated unit is not transmitting or
U1000 • CAN communication system
CAN COMM CIRCUIT receiving CAN communication signal or ITS com-
(100) • ITS communication system
munication signal for 2 seconds or more
NOTE:
If “U1000” is detected, first diagnose the CAN communication system.

2. Turn the DCA switch ON, and wait for 2 seconds or more.
ICC SENSOR INTEGRATED UNIT : Special Repair Requirement INFOID:0000000003902584
DESCRIPTION
ation is performed.
replacement of accelerator pedal assembly, or disconnection or connection of accelerator pedal position sen- A
sor connector.
Which is replaced, removed or installed? B

2.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT C
D
>> GO TO 4.
E
RELEASED POSITION LEARNING : Description" (VQ35HR) or EC-582, "ACCELERATOR PEDAL F
G
>> GO TO 4.
4.CHECK DCA SYSTEM
1. Erase the self-diagnosis results, and then perform “All DTC Reading” again after performing the action H
I
>> WORK END
J
ACCELERATOR PEDAL ACTUATOR : Description INFOID:0000000003902585
• ITS communication is a multiplex communication system. This enables the system to transmit and receive K
CAUTION: L
ITS communication uses the twisted pair line. Be careful when repairing the wiring.
ACCELERATOR PEDAL ACTUATOR : DTC Logic INFOID:0000000003902586
M
DTC DETECTION LOGIC
DTC Trouble diagnosis name DTC detecting condition Possible causes

N
If accelerator pedal actuator is not transmitting or

U1000 CAN COMM CIRCUIT receiving ITS communication signal for 2 sec- ITS communication system
onds or more. CCS
ACCELERATOR PEDAL ACTUATOR : Diagnosis Procedure INFOID:0000000003902587
P
2. Turn the DCA switch ON, and wait for 2 seconds or more.
4. Check if the “U1000” is detected as the current malfunction in self-diagnosis results of “ACCELE PEDAL
ACT”.

ACCELERATOR PEDAL ACTUATOR : Special Repair Requirement INFOID:0000000003902588
DESCRIPTION
ation is performed.
sor connector.

>> GO TO 4.
>> GO TO 4.
4.CHECK DCA SYSTEM
>> WORK END

A
ICC SENSOR INTEGRATED UNIT : Description INFOID:0000000003902589
B
CAN controller controls the communication of CAN communication signal and the error detection.
ICC SENSOR INTEGRATED UNIT : DTC Logic INFOID:0000000003902590
C
DTC DETECTION LOGIC
D
DTC
display)
U1010 If ICC sensor integrated unit detects malfunc- E
CONTROL UNIT (CAN) ICC sensor integrated unit
(110) tion by CAN controller initial diagnosis

F

1. Turn the DCA switch ON. G
Is “U1010” detected as the current malfunction? H
YES >> Replace the ICC sensor integrated unit.
ICC SENSOR INTEGRATED UNIT : Special Repair Requirement INFOID:0000000003902592 I
DESCRIPTION
Perform the action test after adjusting the laser beam aiming of ICC sensor integrated unit when the following J
• Replacement of ICC sensor integrated unit K
1.LASER BEAM AIMING ADJUSTMENT OF ICC SENSOR INTEGRATED UNIT L
M
>> GO TO 2.
2.CHECK DCA SYSTEM N
2. Check that the DCA system is normal. CCS
>> WORK END

ACCELERATOR PEDAL ACTUATOR P
ACCELERATOR PEDAL ACTUATOR : Description INFOID:0000000003902593
CAN controller controls the communication of ITS communication signal and the error detection.

ACCELERATOR PEDAL ACTUATOR : DTC Logic INFOID:0000000003902594
DTC DETECTION LOGIC
DTC Trouble diagnosis name DTC detecting condition Possible causes

If accelerator pedal actuator detects malfunc-
U1010 CONTROL UNIT (CAN) Accelerator pedal actuator
tion by CAN controller initial diagnosis.

3. Check if the DTC “U1010” is detected as the current malfunction in self-diagnosis results of “ACCELE
PEDAL ACT”.
ACCELERATOR PEDAL ACTUATOR : Special Repair Requirement INFOID:0000000003902596
DESCRIPTION
>> GO TO 2.
2.CHECK DCA SYSTEM
>> WORK END

A
B
1.CHECK FUSES
C
D
YES >> GO TO 2.
NO >> Replace the blown fuse after repairing the affected circuit if a fuse is blown. E
2.CHECK ICC SENSOR INTEGRATED UNIT POWER SUPPLY CIRCUIT
2. Check voltage between ICC sensor integrated unit harness connector and ground. F
Terminal
G
(+) (–) Voltage
ICC sensor integrated unit (Approx.)
Connector Terminal Ground H

E67 1 Battery voltage
YES >> GO TO 3. I
NO >> Repair the ICC sensor integrated unit power supply circuit.
3.CHECK ICC SENSOR INTEGRATED UNIT GROUND CIRCUIT J
2. Disconnect the ICC sensor integrated unit connector.
3. Check for continuity between ICC sensor integrated unit harness connector and ground.
K

Continuity
Connector Terminal Ground L
E67 4 Existed
M
NO >> Repair the ICC sensor integrated unit ground circuit.
N
BRAKE BOOSTER CONTROL UNIT : Diagnosis Procedure INFOID:0000000003902598
1.CHECK FUSES CCS

Signal name Fuse No. P

YES >> GO TO 2.


Terminal
Condition
(+) (–) Voltage
Ignition
1
B250 Ground OFF
2 Battery volt-
33 age
B249 ON
42
YES >> GO TO 3.
NO >> Repair the brake booster control unit power supply circuit.
3.CHECK BRAKE BOOSTER CONTROL UNIT GROUND CIRCUIT

Continuity
Connector Terminal
19 Ground
B250
20 Existed
B249 46
NO >> Repair the brake booster control unit ground circuit.
1.CHECK FUSES
Power supply Fuse No.

YES >> GO TO 2.
2.CHECK ACCELERATOR PEDAL ACTUATOR POWER SUPPLY CIRCUIT
2. Disconnect the accelerator pedal actuator connector.
3. Check voltage between accelerator pedal actuator harness connector and ground.

Terminals A
Condition
(+) (–)
Voltage
Accelerator pedal actuator Ignition B
Ground
2 OFF Battery volt-
E115
1 ON age C
YES >> GO TO 3.
NO >> Repair the accelerator pedal actuator power supply circuit. D
3.CHECK ACCELERATOR PEDAL ACTUATOR GROUND CIRCUIT
Check for continuity between accelerator pedal actuator harness connector and ground. E
Accelerator pedal actuator

Continuity
Connector Terminal Ground F
E115 4 Existed
G
NO >> Repair the accelerator pedal actuator ground circuit.
H
CCS

• The ICC sensor integrated unit transmits the buzzer output signal to the brake booster control unit via ITS
communication.
• A warning chime sounds when the system is canceled or when the vehicle distance from the vehicle ahead
is too close.
1.ICC WARNING CHIME OPERATION INSPECTION

1. Select the active test item “ICC BUZZER” of “ICC” with CONSULT-III.
2. Check if the ICC warning chime sounds when operating each test item.
Does the ICC warning chime sound?
YES >> The ICC warning chime circuit is normal.
1.CHECK ICC WARNING CHIME POWER SUPPLY CIRCUIT

2. Disconnect the ICC warning chime connector.
4. Check voltage between ICC warning chime harness connector and ground.
Terminals
(+) (–) Voltage
ICC warning chime (Approx.)

YES >> GO TO 2.
2.CHECK ICC WARNING CHIME SIGNAL CIRCUIT
3. Check for continuity between the ICC warning chime harness connector and brake booster control unit
harness connector.
ICC warning chime Brake booster control unit

Continuity
M17 3 B250 21 Existed
YES >> GO TO 3.
3.CHECK ICC WARNING CHIME SIGNAL CIRCUIT SHORT
Check for continuity between ICC warning chime harness connector and ground.

ICC warning chime A

Continuity
M17 3 Not existed
B
YES >> GO TO 4.
NO >> Repair the harnesses or connectors. C
4.CHECK ICC WARNING CHIME
Check the ICC warning chime. Refer to CCS-315, "Component Inspection".
D
NO >> Replace the ICC warning chime.
E
1.ICC WARNING CHIME INSPECTION F

Apply the battery voltage between ICC warning chime terminals, and then check if the ICC warning chime
sounds.
G
Terminal Warning
Condition
(+) (–) chime
H
When the battery voltage is applied Sounds
1 3 Does not
When the battery voltage is not applied
sound
I
NO >> Replace the ICC warning chime. J
CCS

< ECU DIAGNOSIS INFORMATION > [DCA]
ECU DIAGNOSIS INFORMATION


When MAIN switch is not pressed Off
When RESUME/ACCELERATE switch is pressed On
DISTANCE SW Ignition switch ON

CRUISE OPE
the ICC system. When ICC system is not controlling Off
Idling On
IDLE SW Engine running
ICC system ON.
SET DISTANCE
ting.
ICC system ON
On
CRUISE LAMP
Off
ICC system ON
On
Start the engine and press (Own vehicle indicator ON)
OWN VHCL
Off
When a vehicle ahead is detected (vehicle ahead de-
Off
On
ICC WARNING
Off

A
IBA OFF indicator lamp OFF B
Value of vehicle C
(wheel speed)
Displays the set D
vehicle speed.
When the buzzer output signal is not output Off E
NOTE:
THRTL SENSOR 0.0
Equivalent to ta- F
ing
G
NOTE: H
YAW RATE 0.0
RELEASE SW NO Engine running I
When brake pedal is not depressed On J
K
sure value
L
On
ual mode
When the selector lever is in any position other than “D”, M
Off
Off N
“P”
Power supply
voltage value of
PWR SUP MONI Engine running CCS
ICC sensor inte-
grated unit
Value of A/T ve-
VHCL SPD AT While driving hicle speed sen- P
sor signal
Displays the
throttle position.
Displays the
GEAR While driving
shift position.

NOTE:
CLUTCH SW SIG Off
NOTE:
NP SW SIG —
MODE SIG vated
MAIN switch
ASCD
activated
• Start the engine and acti- SET switch indicator lamp ON On
SET DISP IND
Displays the dis-
control mode. cle.

RELATIVE SPD the vehicle-to-vehicle distance ative speed.
DCA ON SW Ignition switch ON
DCA system OFF
Off
DCA ON IND Start the engine
DCA system ON
On
Off
DCA VHL AHED
On
Display the ac-
celerator pedal
grated motor
temperature
Power supply
voltage
TERMINAL LAYOUT
JPOIA0105ZZ

PHYSICAL VALUES A
Terminal No.
Description
(Wire color) Value
Condition B
Input/ (Approx.)
+ – Signal name
Output
1
(R)
Ignition power supply Input Ignition switch ON Battery voltage C
2 Input/
(L) Output
D
3 Input/
CAN-H — —
(G) Output
Ground
4
Ground — Ignition switch ON 0V E
(B)
5 Input/
(P) Output
6 Input/
F
CAN-L — —
(BR) Output
CCS

Wiring Diagram - DISTANCE CONTROL ASSIST - INFOID:0000000003902608
JCOWM0052GB

CCS
JCOWM0053GB

JCOWM0054GB

CCS
JCOWM0055GB

JCOWM0056GB

CCS
JCOWM0057GB

JCOWM0058GB

CCS
JCOWM0059GB

JCOWM0060GB

CCS
JCOWM0061GB
Fail-Safe INFOID:0000000003902609 P


1
• C1A31: BCU INTERNAL MALF
2
• C1A02: POWER SUPPLY CIR 2
• C1A08: PRESS SEN CIRCUIT
• C1A12: LASER BEAM OFFCNTR
• C1A18: LASER AIMING INCMP
• C1A24: NP RANGE
• C1A32: IBA FLAG STUCK
• C1A35: APA CIR
• C1A36: APA CAN COMM CIR
• C1A40: SYSTEM SW CIRC
• U0402: TCM CAN CIR1
4 • C1A03: VHCL SPEED SE CIRC
NOTE:
- 1 - 39: It increases from 0 → 1 → 2 ··· 38 → 39 after returning to the normal condition whenever the ignition

- 1 - 49: It increases from 0 → 1 → 2 ··· 38 → 49 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. A
NOTE:
B
×: Applicable
ICC system warning
CONSULT- On board CONSULT-III display Reference
lamp DCA system C
III display
C1A00 0 CONTROL UNIT × × CCS-206
C1A01 1 POWER SUPPLY CIR × × CCS-208 D
C1A02 2 POWER SUPPLY CIR 2 × × CCS-208
C1A03 3 VHCL SPEED SE CIRC × × CCS-210
C1A04 4 ABS/TCS/VDC CIRCUIT × × CCS-212 E
C1A05 5 BRAKE SW/STOP L SW × × CCS-214
C1A06 6 OPERATION SW CIRC × × CCS-65
F
C1A08 8 PRESS SEN CIRCUIT × × CCS-219
C1A09 9 BOOSTER SOL/V CIRC × × CCS-221
C1A10 10 RELEASE SW CIRC × × CCS-224 G
C1A11 11 PRESSURE CONTROL × × CCS-227
C1A12 12 LASER BEAM OFFCNTR × × CCS-230
H
C1A13 13 STOP LAMP RLY FIX × × CCS-231
C1A14 14 ECM CIRCUIT × × CCS-238
C1A15 15 GEAR POSITION × × CCS-240 I
C1A16 16 RADAR STAIN × × CCS-243
C1A18 18 LASER AIMING INCMP × × CCS-245
J
C1A21 21 UNIT HIGH TEMP × × CCS-247
C1A22 22 BCU CIRCUIT × × CCS-249
C1A24 24 NP RANGE × × CCS-253 K
C1A28 28 BCU PWR SUPLY CIR × × CCS-255
C1A29 29 BCU PWR SUPLY CIR2 × × CCS-255
C1A30 30 BCU CAN COMM CIRC × × CCS-257
L
C1A31 31 BCU INTERNAL MALF × × CCS-258

C1A32 32 IBA FLAG STUCK × × CCS-260
M
C1A33 33 CAN TRANSMISSION ERROR × × CCS-262
C1A34 34 COMMAND ERROR × × CCS-264
C1A35 35 APA CIR × × CCS-266 N
C1A37 133 APA CAN CIR2 × × CCS-269
CCS
C1A38 132 APA CAN CIR1 × × CCS-271
C1A39 39 STRG SEN CIR × × CCS-273
C1A40 40 SYSTEM SW CIRC × × CCS-275 P
NO DTC IS
DETECT-
ED. NO DTC IS DETECTED.
FURTHER 55 FURTHER TESTING MAY BE — — —
TESTING REQUIRED
MAY BE
REQUIRED

ICC system warning
CONSULT- On board CONSULT-III display Reference
lamp DCA system
III display
C1F02 92 APA C/U MALF × × CCS-281
U0121 127 VDC CAN CIR2 × × CCS-290
U0126 130 STRG SEN CAN CIR1 × × CCS-292
U0129 125 BCU CAN CIR2 × × CCS-294
U0401 120 ECM CAN CIR1 × × CCS-296
U0402 122 TCM CAN CIR1 × × CCS-298
U0415 126 VDC CAN CIR1 × × CCS-300
U0418 124 BCU CAN CIR1 × × CCS-302
U0428 131 STRG SEN CAN CIR2 × × CCS-304
U1000 100 CAN COMM CIRCUIT × × CCS-306
U1010 110 CONTROL UNIT (CAN) × × CCS-309

A
TERMINAL LAYOUT B
JPOIA0106ZZ E
PHYSICAL VALUES
F
Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ − Signal name G
Output
Ignition
1
(W) H
OFF
Ignition
2
(W) Ground OFF I
5 Input/
ITS communication-L — — —
(P) Output
6 Release switch power Ignition J
— — 10 V
(SB) supply switch ON
8 24 Brake pressure sensor Ignition
— — 5V
(R) (O) power supply switch ON K
9 Ignition DCA switch pressed 0V
DCA switch Input
(Y) switch ON DCA switch not pressed 12 V
L
10 Booster solenoid pow- Ignition
— — 12 V
(G) er supply switch ON
12 Booster solenoid Ignition At “BOOSTER SOL/V ” test

Ground Output
(R) ground switch ON of “Active test” N
PKIB1763J
CCS
14 Input/
ITS communication-H — — —
(L) Output
15 Release switch (nor- Ignition Press the brake pedal. 0V

— P
(V) mal close) switch ON Brake pedal not depressed 10 V
Brake pedal not depressed 0.5 V
17 24 Brake pressure sensor Ignition 0.5 - 3.5 V
Input
(G) (O) signal switch ON Press the brake pedal. Note: The harder the brake is
pressed, the higher the voltage.

Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ − Signal name
Output
19 Ignition
Ground — — 0V
(B) switch ON
20 Ignition
Ground — — 0V
(B) switch ON
ICC warning chime not oper-
12 V
21 ICC warning chime Ignition ating
Output
(GR) signal switch ON ICC warning chime opera-
0V
tion
22 Release switch Ignition Brake pedal depressed 10 V

Input
(BR) (normal open) switch ON Brake pedal not depressed 0V
24 Brake pressure sensor
— — — —
(O) Ground ground
33 Ignition
(G) switch ON
40 Ignition IBA OFF switch pressed 0V

IBA OFF switch Input
(SB) switch ON IBA OFF switch not pressed 12 V
42 Ignition
(G) switch ON
46 Ignition
Ground — — 0V
(B) switch ON
— 0V
47 ICC brake hold relay Ignition
Output At “STOP LAMP” test of “Ac-
(LG) drive signal switch ON 12 V
tive test”

A
VALUES ON THE DIAGNOSIS TOOL B

Drive the vehicle and When the ICC sensor integrated unit is C
It changes with the demand from
TGT FBK FRC operate the DCA sys- controlling the accelerator pedal actua-
the ICC sensor integrated unit.
tem tor
NOTE: D
TGT MOT POSI —
The item is indicated, but not used.
It changes according to the de-
ACT MOT POSI Engine running Depress accelerator pedal pressed amount of accelerator
E
pedal
It changes according to the de-
AP OPEN Engine running Depress accelerator pedal pressed amount of accelerator
pedal F
Display the accelerator pedal ac-
APA TEMP Engine running tuator integrated motor tempera-
ture G
Drive the vehicle and When the ICC sensor integrated unit is Display the accelerator pedal ac-
APA CURRENT operate the DCA sys- controlling the accelerator pedal actua- tuator motor operation consump-
tem tor tion current H
APA PWR Ignition switch ON Battery voltage
When the accelerator pedal actuator
On
control is permitted I
APA OPE STATS Engine running
When the accelerator pedal actuator
Off
control is invalid
When the accelerator pedal actuator is
Ready
J
normal
TP NG
temporarily malfunctioning
APA STATS Engine running K
NG
malfunctioning
During the accelerator pedal actuator L
Init
operation preparations
TERMINAL LAYOUT
M
CCS
JPOIA0104ZZ
P
PHYSICAL VALUES

Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
1
Ignition power supply Input Ignition switch ON Battery voltage
(R)
2
Battery power supply Input Ignition switch OFF Battery voltage
(O)
3 Input/
Ground ITS communication-L — —
(P) Output
4
Ground — Ignition switch ON 0V
(B)
5 Input/
(L) Output

Wiring Diagram - DISTANCE CONTROL ASSIST - INFOID:0000000003902614
CCS
JCOWM0052GB
P

JCOWM0053GB

CCS
JCOWM0054GB

JCOWM0055GB

CCS
JCOWM0056GB

JCOWM0057GB

CCS
JCOWM0058GB

JCOWM0059GB

CCS
JCOWM0060GB

JCOWM0061GB

Priority Detected items (DTC) A

1
2 • C1F02: APA C/U MALF B
• C1F03: APA HI TEMP
3 • C1F05: APA PWR SUPLY CIR C
• C1F06: CAN CIR2
• C1F07: CAN CIR1
DTC Index INFOID:0000000003902616 D
NOTE:
• The details of time display are as per the following. E
• IGN counter is displayed in FFD (Freeze Frame Data).
- 0: The malfunctions that are detected now F
- If it is over 39, it is fixed to 39 until the self-diagnosis results are erased. G
×: Applicable
CONSULT-III display ICC system warning lamp Fail-safe function Reference
C1F01: APA MOTOR MALF × × CCS-279 H
C1F02: APA C/U MALF × × CCS-281
C1F03: APA HI TEMP — — CCS-282
C1F05: APA PWR SUPLY CIR × × CCS-284 I
C1F06: CAN CIR2 × × CCS-286
C1F07: CAN CIR1 × × CCS-288 J
U1000: CAN COMM CIRCUIT × × CCS-307
U1010: CONTROL UNIT (CAN) × × CCS-310
K
CCS

DISTANCE CONTROL ASSIST SYSTEM SYMPTOMS
< SYMPTOM DIAGNOSIS > [DCA]
SYMPTOM DIAGNOSIS
DISTANCE CONTROL ASSIST SYSTEM SYMPTOMS
Symptoms Reference page

Switch does not turn ON
Operation Switch does not turn OFF
DCA system not activated (switch is ON) Refer to CCS-351, "Description".
Information display is not illuminated (vehicle
Refer to MWI-43, "Diagnosis Description".
Display/Chime ahead indicator)
Chime does not sound Refer to CCS-353, "Description".
No force generated for putting back the accelera-
Control Refer to CCS-355, "Description".
tor pedal
Frequently cannot detect the vehicle ahead
Detection zone is short
Detection of lead System misidentifies a vehicle even though there • Adjust laser beam aiming: Refer to CCS-13, "LASER
vehicle is no vehicle ahead BEAM AIMING ADJUSTMENT : Description".
• Perform action test. Refer to CCS-187, "ACTION TEST :
System misidentifies a vehicle in the next lane Description".
System does not detect the vehicle ahead at all Refer to CCS-357, "Description".

SWITCH DOES NOT TURN ON / SWITCH DOES NOT TURN OFF
A
B
The switch does not turn ON
• The DCA system switch indicator does not illuminate even if the DCA switch is depressed.
The switch does not turn OFF C
• The DCA system switch indicator does not turn off even if the DCA switch is pressed when the DCA system
switch indicator illuminates.
NOTE:
The system cannot be operated when setting conventional (fixed speed) cruise control mode. D
1.PERFORM THE SELF-DIAGNOSIS E

2. Check if the DTC is detected in self-diagnosis results of “ICC”. Refer to CCS-330, "DTC Index".
F
YES >> GO TO 6.
NO >> GO TO 2. G
2.DCA SWITCH INSPECTION
2. Check that “DCA ON SW” operates normally in “DATA MONITOR” of “ICC” with CONSULT-III. H
YES >> GO TO 3.
NO >> GO TO 5. I
3.CHECK DCA SYSTEM SWITCH INDICATOR CIRCUIT
2. Select the active test item “DCA INDICATOR” of “ICC” with CONSULT-III.
3. Check if the DCA system switch indicator illuminates when the test item is operated.
Is the inspection result normal? K
YES >> Refer to GI-35, "Intermittent Incident".
NO >> GO TO 4.
4.CHECK DATA MONITOR OF UNIFIED METER AND A/C AMP. L
Check that “DCA IND” operates normally in “DATA MONITOR” of “METER/M&A” with CONSULT-III.
M
YES >> Replace the combination meter.
NO >> Replace the unified meter and A/C amp.
5.CHECK DCA SWITCH CIRCUIT N
Check the DCA switch circuit. Refer to CCS-275, "Diagnosis Procedure".
YES >> GO TO 7. CCS
NO >> GO TO 6.
6.REPAIR OR REPLACE MALFUNCTIONING PARTS.
P
Repair or replace malfunctioning parts.
>> GO TO 7.
7.CHECK DCA SYSTEM
1. Erase “self-diagnosis result”, and then perform “All DTC Reading” again after performing the action test.
(Refer to CCS-187, "ACTION TEST : Description" for action test.)

>> INSPECTION END

DCA SYSTEM NOT ACTIVATED (SWITCH IS ON)
A
The DCA switch can be turned ON/OFF, but the DCA system does not operate. B
NOTE:
Never start the operation under the following conditions.
No operation condition
• When the brake pedal depressed C
• 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 D
Operation cancellation condition
• When the DCA switch is turned to OFF
• When the system malfunction occurs
• When ABS or VDC (including the TCS) operates E
• When the VDC is turned OFF
• When the snow mode switch is turned ON
• When driving into a strong light (i.e., sunlight) F
• When the ICC sensor integrated unit body window is dirty and the measurement of the distance between the
vehicles becomes difficult
Diagnosis Procedure INFOID:0000000003902623 G
1.CHECK CAUSE OF AUTOMATIC CANCELLATION

Check if there is any cancellation cause in the “CAUSE OF AUTO-CANCEL” on “WORK SUPPORT” of “ICC” H
with CONSULT-III.
Is it displayed?
Not displayed>>GO TO 2. I
“VHCL SPD UNMATCH”>>Refer to CCS-210, "DTC Logic".
“IGN LOW VOLT”>>Refer to CCS-208, "DTC Logic".
“CAN COMM ERROR”>>Refer to CCS-306, "ICC SENSOR INTEGRATED UNIT : DTC Logic". J
“ABS/TCS/VDC CIRC”>>Refer to CCS-212, "DTC Logic".
“BCU CIRCUIT”>>Refer to CCS-249, "DTC Logic".
“APA HI TEMP”>>Refer to CCS-282, "DTC Logic".
K
2.PERFORM ALL OF THE SELF-DIAGNOSIS
2. Check if any DTC is detected in self-diagnosis results of “ICC”. Refer to CCS-330, "DTC Index". L
YES >> GO TO 3.
NO >> GO TO 4. M
Repair or replace malfunctioning parts identified by the self-diagnosis result. N
>> GO TO 6.
4.CHECK EACH SWITCH AND VEHICLE SPEED SIGNAL CCS

2. Check that the following items operate normally in “DATA MONITOR” of “ICC”.
- “VHCL SPEED SE” P
- “BRAKE SW”
- “DCA ON SW”
Is there a malfunctioning item?
All items are normal>>GO TO 5.
“VHCL SPEED SE”>>Refer to CCS-210, "DTC Logic".
“BRAKE SW”>>Refer to CCS-214, "DTC Logic".
“DCA ON SW”>>Refer to CCS-275, "DTC Logic".


>> GO TO 6.
6.CHECK DCA SYSTEM
>> INSPECTION END

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 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 CCS-356, "Descrip-
tion".)
1.PERFORM ACTIVE TEST

Check if the warning chime sounds on the active test item “ICC BUZZER” of “ICC” with CONSULT-III. F
Does the warning chime sound?
YES >> GO TO 2.
NO >> GO TO 3. G
2.CHECK THE MALFUNCTION SYMPTOM DURING WARNING CHIME OPERATION
1. Understand the vehicle ahead detection condition when the malfunction occurred. If the warning chime H
should have sounded, replace the ICC sensor integrated unit. Refer to CCS-363, "Exploded View".
I
>> GO TO 8.
3.CHECK ICC WARNING CHIME CIRCUIT
J
Check the ICC warning chime circuit. Refer to CCS-314, "Component Function Check".
YES >> GO TO 4.
K
NO >> GO TO 6.
1. Perform “All DTC Reading” with CONSULT-III. L
YES >> GO TO 5. M
NO >> GO TO 7.
N
Check the CAN communication and repair or replace malfunctioning parts. Refer to CCS-306, "ICC SENSOR
INTEGRATED UNIT : DTC Logic".
CCS
>> GO TO 8.
Repair or replace malfunctioning parts. P
>> GO TO 8.

>> GO TO 8.
8.CHECK DCA SYSTEM
2. Check if the DCA system is normal.
>> INSPECTION END

NO FORCE GENERATED FOR PUTTING BACK THE ACCELERATOR PEDAL
NO FORCE GENERATED FOR PUTTING BACK THE ACCELERATOR
A
PEDAL
B
The DCA 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 C
not performed.
• The actuation force of accelerator pedal may not be generated sufficiently depending on depressing method
or depressing amount of accelerator pedal.
D
1.PERFORM THE SELF-DIAGNOSIS E

2. Check if any DTC is detected in self-diagnosis results of “ICC” or “ACCELE PEDAL ACT“.
Is any DTC detected? F
YES >> GO TO 2.
NO >> GO TO 3.
2.REPAIR OR REPLACE THE MALFUNCTIONING PARTS G
Repair or replace malfunctioning parts. Refer to CCS-330, "DTC Index" (ICC) or CCS-347, "DTC Index"
(ACCELE PEDAL ACT).
H
>> GO TO 5.
3.PERFORM ACTIVE TEST I
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-
III. J
Does it operate?
YES >> GO TO 4.
NO >> Replace the accelerator pedal assembly. K
4.CHECK VEHICLE AHEAD DETECTION PERFORMANCE
Understand the vehicle ahead detection condition when the malfunction occurred. If the detecting function is L
malfunctioning, check according to CCS-356, "Description".
>> INSPECTION END M

5.CHECK DCA SYSTEM
(Refer to CCS-187, "ACTION TEST : Description" for action test.) N
2. Check if the DCA system is normal.
>> INSPECTION END CCS

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

YES >> GO TO 2.
NO >> GO TO 3.
2.WIPE OUT DIRT AND FOREIGN OBJECTS
>> GO TO 6.
3.VISUAL CHECK (2)
Are there cracks?
YES >> GO TO 5.
NO >> GO TO 4.
2. Perform action test. Refer to CCS-187, "ACTION TEST : Description".
3. Check that the vehicle ahead detection performance improves.
Does it improve?
NO >> GO TO 5.
>> GO TO 6.
6.CHECK DCA SYSTEM
>> INSPECTION END

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-43, "Diagnosis 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 ICC sensor integrated unit body window for contamination and/or foreign materials. F
YES >> GO TO 3.
NO >> GO TO 4. G
H
>> GO TO 7.
4.VISUAL CHECK (2) I
Are there cracks?
J
YES >> GO TO 6.
NO >> GO TO 5.
5.LASER BEAM AIMING ADJUSTMENT K
2. Perform action test. Refer to CCS-187, "ACTION TEST : Description".
3. Check that the vehicle ahead detection performance improves. L
Does it improve?
NO >> GO TO 6. M
2. Adjust the laser beam aiming. Refer to CCS-13, "LASER BEAM AIMING ADJUSTMENT : Description". N
>> GO TO 7.
CCS
7.CHECK DCA SYSTEM
(Refer to CCS-187, "ACTION TEST : Description" for action test.) P
>> INSPECTION END

PRECAUTIONS FOR DISTANCE CONTROL ASSIST (DCA)SYSTEM

CAUTION:
• If the vehicle ahead comes to a stop, the vehicle decelerates to a standstill within the limitations of
the system. 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 is depressing 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 under most conditions.
- 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 visi-
bility 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 main-
tain 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 strong light (for example, at sunrise or sunset) is directly shining on the front of the vehicle
- 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
• Do not use the DCA system if own vehicle are towing a trailer. The system may not detect a vehicle
ahead.
• In some road or traffic conditions, a vehicle or object can unexpectedly come into the sensor detec-
tion zone and cause automatic braking. Driver may need to control the distance from other vehicles
using the accelerator pedal. Always stay alert and avoid using the DCA system when it is not recom-
mended in this section.
• The following are some conditions in which the sensor cannot detect the signals.
- When the reflector of the vehicle ahead is positioned high on the vehicle (trailer, etc.)
- When the reflector on the vehicle ahead is missing, damaged or covered
- When the reflector of the vehicle ahead is covered with dirt, snow and road spray
- When the snow or road spray from traveling vehicles reduces the sensor's visibility
- When dense exhaust or other smoke (black smoke) from 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 is cov-
ered with dirt or is obstructed, the system will automatically be canceled. If the sensor is covered
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 maintain the proper distance to a vehicle moving ahead. To maintain
the distance, the system will decelerate the vehicle as necessary. However, the DCA system can only
apply up to 25% of the vehicles total braking power. If a vehicle moves into the traveling lane ahead
or if a vehicle traveling ahead rapidly decelerates, the distance between vehicles may become closer
because the DCA system cannot decelerate the vehicle quickly enough. If this occurs, the DCA sys-
tem will sound a warning chime and blink the system display 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
B
offset from the center line of the lane. A vehicle that is enter-
ing 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 sound- C
ing the chime. The driver may have to manually control the
proper distance away from vehicle traveling ahead.
D
G
JPOIA0221ZZ
- When driving on some roads, such as winding, hilly, curved, H

narrow roads, or roads which are under construction, the sen-
sor may detect vehicles in a different lane, or may temporarily
not detect a vehicle traveling ahead. This may cause the sys-
tem to work inappropriately. The detection of vehicles may I
also be affected by vehicle 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 J
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 system dis- K
play may blink when the sensor detects some reflectors
which are fitted on vehicles in other lanes or on the side of the
road. This may cause the DCA system to operate inappropri- L
ately. The sensor may detect these reflectors when the vehicle
is driven on winding roads, hilly roads or when entering or
exiting a curve. The sensor may also detect reflectors on nar-
row roads or in road construction zones. In these cases driver M
will have to manually control the proper distance ahead of
own vehicle. Also, the sensor sensitivity can be affected by
vehicle operation (steering maneuver or driving position in N
the lane) or traffic or vehicle condition (for example, if a vehi-
JPOIA0220ZZ
cle is being driven with some damage).
• The DCA system automatically decelerates own vehicle to help assist the driver to maintain a follow-
CCS
ing distance from the vehicle 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 P
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 release the accelerator pedal appropriately.
• 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
system will resume control automatically once the system reaches 5 km/h (3 MPH)].

PRECAUTIONS
< PRECAUTION > [DCA]
PRECAUTION A
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT B
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along C
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted. D
Service Manual.
WARNING: E
F
• Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this G
ness connectors.
PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS H
WARNING:
ignition ON or engine running, DO NOT use air or electric power tools or strike near the sensor(s) I
• When using air or electric power tools or hammers, always switch the ignition OFF, disconnect the J
Precautions For Harness Repair INFOID:0000000003902634
K
ITS communication uses a twisted pair line. Be careful when repairing it.
• Solder the repaired area and wrap tape around the soldered area.
NOTE:
L
A fray of twisted lines must be within 110 mm (4.33 in).
SKIB8766E
CCS

PRECAUTIONS
< PRECAUTION > [DCA]
• Bypass connection is never 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
DCA System Service INFOID:0000000003902635
CAUTION:
• Turn the MAIN switch OFF in conditions similar to driving, such as free rollers or a chassis dyna-
mometer.
• Erase DTC when replacing parts of DCA system, then check the operation of DCA system after
adjusting laser beam aiming if necessary.

< REMOVAL AND INSTALLATION > [DCA]
REMOVAL AND INSTALLATION A

B
CAUTION:
removal and installation of ICC sensor integrated unit. C
JPOIA0190ZZ
I
1. ICC sensor integrated unit 2. Air guide lower (LH)

J
REMOVAL
1. Remove front bumper fascia. Refer to EXT-12, "Exploded View".
K
2. Remove air guide lower (LH). Refer to DLK-232, "Exploded View".
3. Disconnect ICC sensor integrated unit connector.
4. Remove mounting bolts from ICC sensor integrated unit. L
5. Remove ICC sensor integrated unit.
INSTALLATION
Install in the reverse order of removal. M
CAUTION:
removal, and installation of ICC sensor integrated unit. Refer to CCS-186, "ADDITIONAL SERVICE N
WHEN REPLACING CONTROL UNIT (ICC SENSOR INTEGRATED UNIT) : Description".
CCS

JPOIA0193ZZ
REMOVAL
1. Remove clips on the back of the luggage side finisher lower (RH) to obtain space for work. Refer to INT-
28, "Exploded View".
3. Remove mounting bolts from brake booster control unit.
4. Remove brake booster control unit.
INSTALLATION

ICC WARNING CHIME
ICC WARNING CHIME
A
G
JPOIA0191ZZ
1. ICC warning chime

H
REMOVAL I
1. Remove the instrument lower panel LH. Refer to IP-11, "Exploded View".
2. Remove mounting screw from ICC warning chime.
3. Remove ICC warning chime from the instrument lower panel LH. J
INSTALLATION
Install in the reverse order of removal. K
CCS

ACCELERATOR PEDAL ASSEMBLY
ACCELERATOR PEDAL ASSEMBLY
Refer to ACC-4, "MODELS WITH DISTANCE CONTROL ASSIST SYSTEM : Exploded View".
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 CCS-186,
"ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (ACCELERATOR PEDAL ASSEMBLY) :
Description".

DCA SWITCH
DCA SWITCH
A
JPOIA0192ZZ
1. DCA switch G
A. Pawl
Removal and Installation INFOID:0000000003943131 H
REMOVAL
1. Remove the instrument lower panel LH. Refer to IP-11, "Exploded View". I
2. Disengage the pawl. Then remove DCA switch.
INSTALLATION J
CCS

< BASIC INSPECTION > [FCW]
BASIC INSPECTION
OVERALL SEQUENCE
JPOIA0171GB
DETAILED FLOW
NOTE:
The FCW system shares component parts with the ICC system. If the FCW system has a malfunction perform
diagnosis for the ICC system.
< BASIC INSPECTION > [FCW]
about the concerns carefully and understand the symptoms fully. A
NOTE:
tomer mentioned this symptom”.
B
>> GO TO 2.
2.SELF-DIAGNOSIS WITH CONSULT-III C
2. Check if the DTC is detected on the self-diagnosis results of “ICC” and/or “LANE CAMERA”.
Is any DTC detected? D
YES >> GO TO 5.
NO >> GO TO 3.
E
3.ACTION TEST
Perform the ICC system action test to check the operation status. Refer to CCS-18, "ACTION TEST : Descrip-
tion". F
>> GO TO 4.
4.SYMPTOM DIAGNOSIS G
Perform the applicable diagnosis according to the diagnosis chart by symptom. Refer to CCS-407, "Symptom
Table".
H
>> GO TO 6.
5.TROUBLE DIAGNOSIS BY DTC I
2. Perform trouble diagnosis for the detected DTC. Refer to CCS-395, "DTC Index" (ICC) and/or CCS-406,
"DTC Index" (LANE CAMERA). J
>> GO TO 6.
6.MALFUNCTIONING PART REPAIR K

L
>> GO TO 7.
M
2. Perform “All DTC Reading” again after repairing or replacing the specific items.
3. Check if the DTC is detected on the self-diagnosis results of “ICC”.
YES >> GO TO 5.
NO >> GO TO 8.
CCS
Perform the ICC system action test. Check that the malfunction symptom is solved or no other symptoms
occur. P
Is there any malfunction symptom?
YES >> GO TO 4.

FORWARD COLLISION WARNING SYSTEM
< SYSTEM DESCRIPTION > [FCW]
SYSTEM DESCRIPTION
JPOIA0177GB
OUTLINE
• The Forward Collision Warning (FCW) system will warn the driver by a warning lamp (vehicle ahead detec-
tion indicator) and chime when own vehicle is getting close to the vehicle ahead in the traveling lane.
• The FCW system will function when own vehicle is driven at speeds of approximately 15 km/h (10 MPH) and
above.
NOTE:
The FCW system shares the diagnosis function with ICC system.
They share the ICC sensor integrated unit.
BASIC OPERATIONS
Switches And Indicator/Warning Lamps
JPOIA0210ZZ
1. FCW switch (Shared with LDW sys- 2. FCW ON indicator (Shared with LDW 3. Vehicle ahead detection indicator
tem) system)
4. IBA OFF indicator lamp
A. On the instrument driver lower panel B. On the combination meter
Fail-safe Indication

Vehicle condition Indication on the combination meter A
• When the FCW system malfunctions

• When the sensor window is dirty B
• When driving into a strong light (i.e. sunlight)
NOTE:
Check that the IBA system is not OFF. The indicator lamp is shared
with IBA system. C
JPOIA0179ZZ
NOTE:
FCW ON indicator blinks when “C1B03” is detected. D
FCW INITIAL STATE CHANGE

CAUTION:
E
Never change FCW initial state “ON” ⇒ “OFF” without the consent of the customer.
FCW initial state can be changed.
• FCW initial ON* - FCW function is automatically turned ON, when the ignition switch OFF ⇒ ON.
• FCW initial OFF - FCW function is still OFF when the ignition switch OFF ⇒ ON. F
*: Factory setting
How to change FCW initial state
1. Turn ignition switch ON. G
2. Switch FCW and LDP functions to OFF.
3. Push and hold FCW switch for more than 4 seconds.
4. Buzzer sounds and blinking of the lane departure warning lamp informs that the FCW initial state change H
is completed.
FCW OPERATING CONDITION
• FCW ON indicator: ON I
• Vehicle speed: Approximately 15 km/h (10 MPH) and above.
ICC sensor integrated unit input/output signal item
J
Input Signal Item
Transmission Unit Signal Name Description

K
ABS actuator and elec- Receives the vehicle speed signal (wheel speed) from ABS actuator and
Vehicle speed signal
tric unit (control unit) electric unit (control unit) via CAN communication
Lame camera unit L
[through ABS actuator Receives the FCW switch signal from lame camera unit [through ABS ac-
FCW switch signal
and electric unit (con- tuator and electric unit (control unit)] via CAN communication.
trol unit)]
M
Output Signal Item

N
Combination Meter display Vehicle ahead detection Transmits the meter display signal to the combination meter
meter (through signal indicator signal (through unified meter and A/C amp.) via CAN communication.
unified meter Transmits the IBA OFF indicator signal to the combination meter
and A/C amp.) IBA OFF indicator lamp signal CCS
Buzzer output signal P

JPOIA0196ZZ
1. Lane camera unit 2. Information display, IBA OFF indica- 3. ICC sensor integrated unit
tor lamp
4. ABS actuator and electric unit (con- 5. FCW switch 6. ICC warning chime
trol unit)
A. Front of the map lamp B. On the combination meter C. Front bumper (LH)
D. Inside the brake master cylinder cov- E. Instrument driver lower panel (LH) F. Luggage room (RH)
er

A
• Transmits FCW switch signal to ABS actuator and electric unit (control unit) unit via CAN com-
Lane camera unit munication.
• Controls the FCW ON indicator.
ABS actuator and electric unit • Transmits vehicle speed signal to ICC sensor integrated unit via CAN communication. B
(control unit) • Transmits FCW switch signal to ICC sensor integrated unit via CAN communication.
FCW switch Inputs the switch signal to lane camera unit.
FCW ON indicator C
Indicates FCW system status.
(On the FCW switch)
• The ICC sensor integrated unit transmits the buzzer output signal to the brake booster control
Brake booster control unit unit via ITS communication. D
Receives the meter display signal, and IBA OFF indicator lamp signal from ICC sensor integrated
Unified meter and A/C amp. unit via CAN communication and transmits them to the combination meter via the communication E
line.
Perform the following operations using the signals received from the unified meter and A/C amp.
via the communication line.
Combination meter
• Displays the FCW operation status using the meter display signal.
F
• Illuminates the IBA OFF indicator lamp using the IBA OFF indicator lamp signal.
ICC warning chime Warning chime sounds when the vehicle distance from the vehicle ahead is too close
G
CCS

JPOIA0189GB

CAUTION:
• MAIN switch OFF
• DCA switch OFF
NOTE:
PKIB8371E
JSOIA0008GB
NOTE:

B
scription".
E

ECM malfunction

NOTE:
NOTE:
N
DESCRIPTION


WORK SUPPORT


NOTE:
×: Applicable
Conven-
tional
DCA
system
control mode cruise
control
mode
OPERATING WIPER ×
range.
LASER SUNBEAM × ×
light sensing part
OP SW DOUBLE
TOUCH
MPH)
CAN communication

INCHING LOST ×
B
APA HI TEMP ×
high
C
Laser Beam Adjust


DATA MONITOR
×: Applicable
Monitored item MAIN
Description
F
[Unit] SIGNAL
×
×
×
×
I
CRUISE OPE J
[On/Off]
×
K
×
L
SET DISTANCE
[Short/Mid/Long]
M
CRUISE LAMP
[On/Off]
OWN VHCL
[On/Off]
VHCL AHEAD
[On/Off]
CCS
ICC WARNING
[On/Off]
BA WARNING
[On/Off]
VHCL SPEED SE
[km/h] or [mph]
SET VHCL SPD
[km/h] or [mph]

Monitored item MAIN
Description
[Unit] SIGNAL
BUZZER O/P
[On/Off]
THRTL SENSOR NOTE:
×
YAW RATE NOTE:
RELEASE SW NO
[On/Off]
RELEASE SW NC
[On/Off]
STP LMP DRIVE
[On/Off]
×
[bar] sensor.
D RANGE SW
[On/Off]
PWR SUP MONI
[V]
VHCL SPD AT
[km/h] or [mph]
THRTL OPENING
[%]
tion).
GEAR
[1, 2, 3, 4, 5, 6, 7]
tion).
CLUTCH SW SIG NOTE:
×
NP SW SIG NOTE:
×
tion)
SET DISP IND
[On/Off]
DISTANCE
[m]
RELATIVE SPD
[m/s]

Monitored item MAIN
Description
[Unit] SIGNAL A
DCA ON SW
[On/Off]
DCA ON IND
[On/Off]
[On/Off] played.
APA TEMP
[°C]
APA PWR
[V] E
IBA SW
[On/Off]
ACTIVE TEST
CAUTION:
G
H
METER LAMP
STOP LAMP J
can be illuminated.
K
TUATOR
METER LAMP L
NOTE:
M
Off OFF
DCA INDICATOR
NOTE:

Oper-
ation
Off OFF
DCA INDICATOR
On ON
STOP LAMP
Oper-
ation
Off OFF
STOP LAMP
On ON
BOOSTER SOL/V
NOTE:

MODE1 10 bar
MODE2 20 bar
MODE3 30 bar
Reset —
NOTE:
PKIB1767J
ICC BUZZER

sound
MODE3 Beep sound
Reset —
the test.

CAUTION:
B
NOTE:
C
MODE1
for 8 seconds D
MODE2
MODE3
8 seconds
ACCELERATOR
MODE4
TOR 8 seconds F
Test start —
“MODE4”.
Reset —
NOTE: H
K
JPOIA0061GB
CCS

DIAGNOSIS SYSTEM (LANE CAMERA UNIT)
CONSULT-III Function (LANE CAMERA) INFOID:0000000004024976
DESCRIPTION
CONSULT-III performs the following functions by communicating with the lane camera unit.
Select diag mode Function

• Performs the camera aiming.
Work support
• Displays causes of automatic cancellation of the LDP function.
Self Diagnostic Result Displays memorized DTC in the lane camera unit.
Data Monitor Displays real-time data of lane camera unit.
Active Test Enables operation check of electrical loads by sending driving signal to them.
Ecu Identification Displays part number of lane camera unit.
WORK SUPPORT
Work support item Function

CAUSE OF AUTO-CANCEL Indicates causes of automatic cancellation of the LDP.
Outputs camera unit, calculates dislocation of the camera, and displays adjustment direction.
AUTO AIM
Refer to CCS-418, "CAMERA AIMING ADJUSTMENT : Description".
NOTE:
AIM CHECK
Cause of Auto-Cancel Display Item List

When LDP control is canceled under the operating condition, “CAUSE OF AUTO-CANCEL” is memorized.
• Last five cancel (system cancel) causes are displayed.
• “CAUSE OF AUTO-CANCEL” displays the number of times of ignition switch ON/OFF up to a maximum of
“39”. “39” is kept even when the number exceeds “39”. The number returns to 0 when detecting the same
cancellation causes are detected.
Cause of cancellation Description

NO RECORD —
Operating VDC/ABS VDC or ABS function was operated.
Vehicle dynamics Vehicle behavior exceeds specified value.
Steering speed Steering speed was more than the specified value in evasive direction.
End by yaw angle Yaw angle was the end of LDP control.
Departure yaw large Detected more than the specified value of yaw angle in departure direction.
ICC WARNING Target approach warning of ICC system was activated.
VDC OFF SW VDC OFF switch was pressed.
CURVATURE Road curve was more than the specified value.
Steering angle large Steering angle was more than the specified value.
ICC main SW hold ON ICC MAIN switch was held ON for more than a certain period.
Brake is operated Brake pedal was operated.
Operating BA IBA (Intelligent Brake Assist) was activated.
Lateral offset Distance of vehicle and lane was detached in lateral direction more than the specified value.
Lane marker lost Lane camera unit lost the trace of lane marker.
Lane marker unclear Detected lane marker was unclear.
Bank Road bank angle was more than the specified value.
Yaw acceleration Detected yawing speed was more than the specified value.
Deceleration large Deceleration in a longitudinal direction was more than the specified value.

Accel is operated Accelerator pedal was depressed.
A
Departure steering Steering wheel was steered more than the specified value in departure direction.
Evasive steering Steering wheel was steered more than the specified value in the evasive direction.
R range Selector lever was operated to R range. B
Parking brake drift Rear wheels lock was detected.
Not operating condition Did not meet the operating condition (vehicle speed, turn signal operation, etc.).
C
Displays memorized DTC in lane camera unit. Refer to CCS-483, "DTC Index".
DATA MONITOR D
Monitored Item [unit] Description

E
Switch status judged from LDW switch signal
LDW SW [On/Off] NOTE:
Shared with the FCW system
Signal output status of LDW ON indicator F
LDW ON LAMP [On/Off] NOTE:
LDP ON IND [On/Off] Request signal status of LDP ON indicator lamp G
LANE DPRT W/L [On/Off] Request signal status of lane departure warning lamp
BUZZER OUTPUT [On/Off] Signal output status of lane departure warning buzzer
H
LC INACCURAT [On/Off] Lane camera unit status
CAM HIGH TEMP [On/Off] Status of lane camera unit high temperature judgment
Vehicle speed received from ABS actuator and electric unit (control unit) via CAN communi- I
VHCL SPD SE [km/h] or [mph]
cation
TURN SIGNAL [Off/LH/RH] Status of “Turn signal” determined from BCM via CAN communication
LANE DETCT LH [On/Off] Left side lane marker detection J
LANE DETCT RH [On/Off] Right side lane marker detection
CROSS LANE LH [On/Off] Condition that the vehicle is crossing left lane marker
K
CROSS LANE RH [On/Off] Condition that the vehicle is crossing right lane marker
WARN LANE LH [On/Off] Warning for left lane marker
WARN LANE RH [On/Off] Warning for right lane marker L
VALID POS LH [VLD/INVLD] Lateral position for left lane marker is valid
VALID POS RH [VLD/INVLD] Lateral position for right lane marker is valid
AIMING DONE [OK/NG] Status that camera aiming is done
M
AIMING RESULT [OK/NOK] Result of camera aiming
XOFFSET [pixel] Lane camera unit installation condition
N
CHK AIM YAW [deg] Check result of camera aiming
CHK AIM ROLL [deg] Check result of camera aiming
CHK AIM PITCH [deg] Check result of camera aiming CCS
FCTRY AIM YAW [deg] Lane camera unit installation condition
FCTRY AIM ROL [deg] Lane camera unit installation condition
P
FCTRY AIM PIT [deg] Lane camera unit installation condition
ACTIVE TEST
CAUTION:
• Never perform the active test while driving.
• Active test cannot be started while the lane departure warning lamp is illuminated.


On Outputs the voltage to sound the lane departure warning buzzer.
BUZZER DRIVE
Off Stops the voltage to sound the lane departure warning buzzer.
On Outputs the voltage to illuminate the LDW ON indicator (on the LDW switch).
NOTE:
LDW ON IND Shared with the FCW system
Off Stops the voltage to illuminate the LDW ON indicator.
On Requests the LDP ON indicator lamp ON [on the combination meter (Green)] to com-
LDP ON IND bination meter (through unified meter and A/C amp.) via CAN communication.
Off Stops the illumination request.
On Requests the lane departure warning lamp ON [on the combination meter (Yellow)]
LANE DEPARTURE W/L to combination meter (through unified meter and A/C amp.) via CAN communication.
NOTE:
“Active test” of indicator/warning lamp cannot be performed when applicable indicator/warning lamp is turned ON.

< ECU DIAGNOSIS INFORMATION > [FCW]
ECU DIAGNOSIS INFORMATION A

B

C
When MAIN switch is not pressed Off D
E
When RESUME/ACCELERATE switch is pressed On F
DISTANCE SW Ignition switch ON G

CRUISE OPE
the ICC system. When ICC system is not controlling Off H
When brake pedal is depressed On I
Idling On
IDLE SW Engine running J
ICC system ON. K
SET DISTANCE
ting. L
ICC system ON
On
CRUISE LAMP
MAIN switch. ICC system OFF M
Off
ICC system ON
On
Start the engine and press (Own vehicle indicator ON) N
OWN VHCL
Off
When a vehicle ahead is detected (vehicle ahead de- CCS
Off
P
On
ICC WARNING
Off

IBA OFF indicator lamp OFF
Value of vehicle
(wheel speed)
Displays the set
vehicle speed.
When the buzzer output signal is not output Off
NOTE:
THRTL SENSOR 0.0
Equivalent to ta-
ing
NOTE:
YAW RATE 0.0
RELEASE SW NO Engine running

sure value
On
ual mode
When the selector lever is in any position other than “D”,
Off
Off
“P”
Power supply
voltage value of
PWR SUP MONI Engine running
ICC sensor inte-
grated unit
Value of A/T ve-
VHCL SPD AT While driving hicle speed sen-
sor signal
Displays the
throttle position.
Displays the
GEAR While driving
shift position.

A
NOTE:
CLUTCH SW SIG Off
NOTE:
NP SW SIG — B
C
MODE SIG vated
MAIN switch D
ASCD
activated
• Start the engine and acti- SET switch indicator lamp ON On E
SET DISP IND
Displays the dis- F
control mode. cle.
G

RELATIVE SPD the vehicle-to-vehicle distance ative speed. H
DCA ON SW Ignition switch ON I
DCA system OFF
Off
DCA ON IND Start the engine J
DCA system ON
On
Off K
DCA VHL AHED
On
L
Display the ac-
celerator pedal
grated motor M
temperature
Power supply
voltage
N
CCS
TERMINAL LAYOUT
JPOIA0105ZZ

PHYSICAL VALUES
Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
1
Ignition power supply Input Ignition switch ON Battery voltage
(R)
2 Input/
(L) Output
3 Input/
CAN-H — —
(G) Output
Ground
4
Ground — Ignition switch ON 0V
(B)
5 Input/
(P) Output
6 Input/
CAN-L — —
(BR) Output

Wiring Diagram - FORWARD COLLISION WARNING - INFOID:0000000004024980
CCS
JCOWM0062GB
P

JCOWM0063GB

CCS
JCOWM0064GB

JCOWM0065GB

CCS
JCOWM0066GB

JCOWM0067GB
Fail-Safe INFOID:0000000004024981

Priority Detected items (DTC) A

1
• C1A31: BCU INTERNAL MALF B
2
• C1A02: POWER SUPPLY CIR 2 C
• C1A08: PRESS SEN CIRCUIT D
• C1A12: LASER BEAM OFFCNTR E
• C1A18: LASER AIMING INCMP F
• C1A24: NP RANGE
G
• C1A32: IBA FLAG STUCK H
• C1A35: APA CIR
• C1A36: APA CAN COMM CIR I
• C1A40: SYSTEM SW CIRC J
• U0126: STRG SEN CAN CIR1 K
• U0402: TCM CAN CIR1 L
4 • C1A03: VHCL SPEED SE CIRC M
N
NOTE: CCS
P

NOTE:
×: Applicable
ICC sys- Conven-

tem tional
control mode
cruise con-
trol mode
C1A00 0 CONTROL UNIT × × × × CCS-52
C1A01 1 POWER SUPPLY CIR × × × × CCS-54
C1A02 2 POWER SUPPLY CIR 2 × × × × CCS-54
C1A03 3 VHCL SPEED SE CIRC × × × × CCS-56
C1A04 4 ABS/TCS/VDC CIRC × × × × CCS-58
C1A05 5 BRAKE SW/STOP L SW × × × × CCS-60
C1A06 6 OPERATION SW CIRC × × × CCS-65
C1A08 8 PRESS SEN CIRCUIT × × × × CCS-68
C1A09 9 BOOSTER SOL/V CIRC × × × × CCS-70
C1A10 10 RELEASE SW CIRC × × × × CCS-73
C1A11 11 PRESSURE CONTROL × × × × CCS-76
C1A12 12 LASER BEAM OFFCNTR × × × CCS-79
C1A13 13 STOP LAMP RLY FIX × × × CCS-80
C1A14 14 ECM CIRCUIT × × × CCS-87
C1A15 15 GEAR POSITION × × × × CCS-89
C1A16 16 RADAR STAIN × × × CCS-92
C1A18 18 LASER AIMING INCMP × × × CCS-94
C1A21 21 UNIT HIGH TEMP × × × × CCS-96
C1A22 22 BCU CIRCUIT × × × × CCS-98
C1A24 24 NP RANGE × × × × CCS-102
C1A28 28 BCU PWR SUPLY CIR × × × × CCS-104
C1A29 29 BCU PWR SUPLY CIR2 × × × × CCS-104
C1A30 30 BCU CAN COMM CIRC × × × × CCS-106
C1A31 31 BCU INTERNAL MALF × × × × CCS-107
C1A32 32 IBA FLAG STUCK × × × × CCS-109
C1A33 33 CAN TRANSMISSION ERROR × × × × CCS-111
C1A34 34 COMMAND ERROR × × × × CCS-113
C1A35 35 APA CIR × × CCS-266
C1A37 133 APA CAN CIR2 × × × CCS-269
C1A38 132 APA CAN CIR1 × × × CCS-271
C1A39 39 STRG SEN CIR × × × CCS-115
C1A40 40 SYSTEM SW CIRC × × × × CCS-117

A
ICC sys- Conven-
tem tional
display lamp speed) tem B
control mode
cruise con-
trol mode
NO DTC IS
DETECTED.
C
NO DTC IS DETECTED.
FURTHER
55 FURTHER TESTING — — — — —
TESTING
MAY BE REQUIRED.
MAY BE RE- D
QUIRED
C1F02 92 APA C/U MALF × × CCS-281 E
U0121 127 VDC CAN CIR2 × × × × CCS-121
F
U0129 125 BCU CAN CIR2 × × × × CCS-125
U0401 120 ECM CAN CIR1 × × × × CCS-127
G
U0402 122 TCM CAN CIR1 × × × × CCS-129
U0415 126 VDC CAN CIR1 × × × × CCS-131
U0418 124 BCU CAN CIR1 × × × × CCS-133 H
U1000 100 CAN COMM CIRCUIT × × × × CCS-137
I
U1010 110 CONTROL UNIT (CAN) × × × × CCS-139
CCS

LANE CAMERA UNIT
LANE CAMERA UNIT

CONSULT-III MONITOR ITEM
Monitor Item Condition Value/Status

LDW switch (FCW switch) is ON. (LDW ON indicator illuminates.) On
LDW SW
LDW switch (FCW switch) is OFF. (LDW ON indicator OFF.) Off
LDW ON indicator (FCW ON indicator) illuminates. On
LDW ON LAMP
LDW ON indicator (FCW ON indicator) OFF Off
LDP ON indicator lamp illuminates. On
LDP ON IND
LDP ON indicator lamp OFF Off
Lane departure warning lamp illuminates. On
LANE DPRT W/L
Lane departure warning lamp OFF Off
Lane departure warning buzzer is sounding. On
BUZZER OUTPUT
Lane departure warning buzzer is not sounding. Off
Lane camera malfunction On
LC INACCURAT
Lane camera normal Off
Approximately equivalent to speed-
VHCL SPD SE While driving
ometer reading
Turn signal lamp LH and RH blinking. LH/RH
Turn signal lamp LH blinking. LH
TURN SIGNAL
Turn signal lamp RH blinking. RH
Turn signal lamps OFF. Off
Left side lane marker is detected. On
LANE DETCT LH
Left side lane marker is not detected. Off
Right side lane marker is detected. On
LANE DETCT RH
Right side lane marker is not detected. Off
The vehicle is crossing left side lane marker. On
CROSS LANE LH
The vehicle is not crossing left side lane marker. Off
The vehicle is crossing right side lane marker. On
CROSS LANE RH
The vehicle is not crossing right side lane marker. Off
Warning for left side lane. On
WARN LANE LH
Not warning for left side lane. Off
Warning for right side lane. On
WARN LANE RH
Not warning for right side lane. Off
Lateral position for left side lane marker is valid. VLD
VALID POS LH
Lateral position for left side lane marker is invalid. INVLD
Lateral position for right side lane marker is valid. VLD
VALID POS RH
Lateral position for right side lane marker is invalid. INVLD
Camera aiming is completed. OK
AIMING DONE
Camera aiming is not adjusted. NG
AIMING RESULT
Camera aiming is not completed. NOK
XOFFSET Camera aiming is completed. Approx. 180 pixel

LANE CAMERA UNIT
A
NOTE:
CHK AIM YAW —
NOTE:
CHK AIM ROLL — B
NOTE:
CHK AIM PITCH —
Camera aiming is not completed. +12.0 deg C
FCTRY AIM YAW
Camera aiming is completed. 0 ± 5.0 deg
Camera aiming is not completed. 0.0 deg
FCTRY AIM ROL D
Camera aiming is not completed. +12.0 deg
FCTRY AIM PIT
Camera aiming is completed. 0 ± 5.0 deg E
TERMINAL LAYOUT
F
JPOIA0280ZZ
I
PHYSICAL VALUES
Terminal No. J
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
K
1
Ground Ignition power supply Input Ignition switch ON Battery voltage
(Y)
3 Sounding 0V L
Ground Lane departure warning buzzer Output Lane departure warning buzzer
(R) Not sounding 12 V
4 Illuminated 0V
Ground LDW ON indicator Output LDW ON indicator
(SB) OFF 12 V M
5
Ground CAN-L — — —
(P)
6 N
Ground Ground — — 0V
(B)
9 Pressed 0V
Ground LDW switch Input LDW switch CCS
(V) Released 5V
10
Ground CAN-H — — —
(L)
P
12
(B)

LANE CAMERA UNIT
Wiring Diagram - FORWARD COLLISION WARNING - INFOID:0000000004172893
JCOWM0062GB

LANE CAMERA UNIT
CCS
JCOWM0063GB

LANE CAMERA UNIT
JCOWM0064GB

LANE CAMERA UNIT
CCS
JCOWM0065GB

LANE CAMERA UNIT
JCOWM0066GB

LANE CAMERA UNIT
CCS
JCOWM0067GB
Fail-safe INFOID:0000000004024986 P
FAIL-SAFE CONTROL BY DTC

When any DTC is detected, the LDW/LDP systems do not operate.
TEMPORARY DISABLED STATUS AT HIGH TEMPERATURE
When using LDW

LANE CAMERA UNIT
• If the vehicle is parked in direct sunlight under high temperature conditions [approximately over 104°F
(40°C)] and then started, the system may sound a buzzer and cancel automatically. In this case LDW ON
indicator will blink.
• When the interior temperature is reduced, LDW ON indicator is turned ON.
When using LDP
(40°C)] and then started, the system may sound a buzzer and cancel automatically. In this case LDP ON
indicator lamp will blink.
• When the interior temperature is reduced, LDP ON indicator lamp is turned ON.
If some DTCs are displayed at the same time, perform inspections one by one based on the following priority
chart.

1
• U0122: VDC CAN CIR1(LDP)
2
3 C1B00: CAMERA UNIT MALF
• C1B01: CAM AIMING INCMP
• C1B02: VHCL SPD DATA MALF
4
• C1B03: ABNRML TEMP DETECT
• C1B07: ABS DIAGNOSIS
×: Applicable
Lane departure LDP ON indicator Reference
DTC LDW ON indicator Fail-safe
warning lamp lamp page
C1B00 CAMERA UNIT MALF ON — — × CCS-445
C1B01 CAM AIMING INCMP Blink — — × CCS-446
C1B02 VHCL SPD DATA MALF ON — — × CCS-447
Blink Blink
C1B03 ABNRML TEMP DETECT — × CCS-448
(When using LDW) (When using LDP)
C1B07 ABS DIAGNOSIS ON — — × CCS-449
U1000 CAN COMM CIRCUIT ON — — × CCS-450
U1010 CONTROL UNIT (CAN) ON — — × CCS-451
U0122 VDC CAN CIR1 (LDP) ON — — × CCS-452

FORWARD COLLISION WARNING SYSTEM SYMPTOMS
< SYMPTOM DIAGNOSIS > [FCW]
SYMPTOM DIAGNOSIS A
FORWARD COLLISION WARNING SYSTEM SYMPTOMS
B
CAUTION:
Perform the self-diagnosis with CONSULT-III before the symptom diagnosis. Perform the trouble diag-
nosis if any DTC is detected. C
Symptom Possible cause Inspection item/Reference page

• Harness between lane cam- D
FCW ON indicator is not era unit and FCW switch.
FCW switch circuit
FCW system is not activated. turned ON ⇔ OFF when op- • Harness between FCW
CCS-408
erating FCW switch. switch and ground.
E
• Lane camera unit
CCS

FCW SYSTEM IS NOT ACTIVATED
FCW SYSTEM IS NOT ACTIVATED
FCW system does not operate by pressing the FCW switch.

NOTE:
FCW switch is shared with LDW system.

2. Check if the DTC is detected in self-diagnosis results of “ICC” or “LANE CAMERA”. Refer to CCS-395,
"DTC Index" (ICC) or CCS-406, "DTC Index" (LANE CAMERA).
YES >> GO TO 3.
NO >> GO TO 2.
2.CHECK FCW SWITCH CIRCUIT
Check FCW switch circuit. Refer to CCS-469, "Component Function Check".
NOTE:
FCW switch is shared with LDW system.
YES >> Replace the lane camera unit.
NO >> GO TO 3.
3.REPAIR OR REPLACE THE SPECIFIC ITEMS
Repair or replace malfunctioning items.
>> INSPECTION END

A
FORWARD COLLISION WARNING (FCW) B

CAUTION:
• FCW system is intended to warn the driver before a collision but will not avoid a collision. It is the
drive's responsibility to stay alert, drive safely and be in control of the vehicle at all times. C
• As there is a performance limit, the FCW system may not provide a warning in certain conditions.
• The FCW system will not detect the following objects.
- Pedestrians, animals, or obstacles in the roadway.
- On coming vehicles in the same lane D
• FCW system will not detect under the following conditions.
- When the sensor gets dirty, it is impossible to detect the distance from the vehicle ahead.
- When driving into a strong light(i.e. sunlight) E
• The sensor generally detects signals returned from the reflectors on a vehicle ahead. Therefore, the
FCW system may not warn properly under the following conditions:
- When the reflectors of the vehicle ahead are positioned high or close to each other (including a
small vehicle such as motorcycles). F
- When the sensor gets dirty and it is impossible to detect the distance to the vehicle ahead.
- When the reflectors on the vehicle ahead is missing, damaged or covered.
- When the reflector of the vehicle ahead is covered with dirt, snow and road spray. G
- When visibility is low (such as rain, fog, snow, etc.).
- When snow or road spray from traveling vehicles are splashed.
- When dense exhaust or other smoke (black smoke) from vehicles reduces the sensor visibility.
H
- When excessively heavy baggage is loaded in the rear seat or the luggage room of own vehicle.
- When abruptly accelerating or decelerating.
- On steep downhill or roads with sharp curves.
- When there is a highly reflective object near the vehicle ahead. I
i.e.) very close to other vehicle, signboard, etc.
- When own vehicle are towing a trailer.
• Depending on certain road conditions (curved, beginning of a curve), vehicle conditions (steering
J
position, vehicle position), or preceding vehicle's conditions (position in lane, etc.), the FCW system
may not function properly. The FCW system may detect highly reflective objects such as reflectors,
signs, white markers, and other stationary objects on the road or near the traveling lane, and provide
unnecessary warning. K
• The FCW system may not function in offset conditions.
• The FCW system may not function when the distance to the vehicle ahead is extremely close.
• The FCW system is designed to automatically check the sensor's functionality. If the sensor is cov- L
ered with ice, a transparent or translucent plastic bag, etc., the system may not detect them. In these
instances the FCW system may not be able to warn properly. Be sure to check and clean the sensor
regularly.
• Excessive noise will interfere with the warning chime sound, and the chime may not be heard. M
• A sudden appearance of the vehicle in front (i.e.: when a vehicle abruptly cuts in) may not be
detected and the system may not warn soon enough.
• The FCW system will be canceled automatically with a chime sound and the IBA OFF indicator light N
will illuminate under the following conditions:
- When the sensor window is dirty
- When the FCW system malfunctions
CCS

PRECAUTIONS
< PRECAUTION > [FCW]
PRECAUTION
PRECAUTIONS
Precaution for FCW System Service INFOID:0000000003902136
CAUTION:
• Turn the FCW switch OFF in conditions similar to driving, such as free rollers or a chassis dyna-
mometer.
• Erase DTC when replacing parts of ICC system, then check the operation of ICC system after adjust-
ing laser beam aiming if necessary.
• Never change FCW initial state ON ⇒ OFF without the consent of the customer.

FCW SWITCH
< REMOVAL AND INSTALLATION > [FCW]

FCW SWITCH
B
Refer to CCS-502, "Exploded View".
NOTE:
FCW switch is shared with LDW system. C
CCS

< BASIC INSPECTION > [LDW & LDP]
BASIC INSPECTION
OVERALL SEQUENCE
JPOIA0010GB
DETAILED FLOW
Interview the customer to obtain information about symptoms using “Diagnostic Work Sheet”. (Refer to CCS-
413, "Diagnostic Work Sheet".)

>> GO TO 2. A
2.SELF-DIAGNOSIS WITH CONSULT-III
Perform self-diagnosis with CONSULT-III. Check if any DTC is detected. B
YES >> GO TO 5.
NO >> GO TO 3. C
3.PRE-INSPECTION FOR DIAGNOSIS
Perform pre-inspection for diagnosis. Refer to CCS-415, "Inspection Procedure".
D
>> GO TO 4.
4.VERIFY CUSTOMER CONCERN (ACTION TEST) E
Perform action test and verify the customer's information. Refer to CCS-416, "Description".
>> GO TO 6. F

Perform trouble diagnosis for the detected DTC. Specify a malfunctioning part. Refer to CCS-483, "DTC G
Index" (Lane camera unit) and/or CCS-494, "DTC Index" [ABS actuator and electric unit (control unit)].
>> GO TO 7. H
6.SYMPTOM DIAGNOSIS
Perform symptom diagnosis. Specify malfunctioning part. Refer to CCS-496, "Symptom Table". I
>> GO TO 7.
7.MALFUNCTION PART REPAIR J
K
>> GO TO 8.
Perform self-diagnosis with CONSULT-III. Check that any DTC is not detected. Erase DTC if DTC is detected L
before the repair. Check that DTC is not detected again.
YES >> GO TO 5. M
NO >> GO TO 9.
9.REPAIR CHECK (ACTION TEST) N
Perform action test. Also check the system operation.
YES >> INSPECTION END CCS
NO >> GO TO 4.
Diagnostic Work Sheet INFOID:0000000003867040
P
DESCRIPTION
In general, each customer feels differently about an incident. It is important to fully understand the symptoms
or conditions for a customer complaint.
There are many operating conditions that lead to the malfunction. A good grasp of such conditions can make
troubleshooting faster and more accurate.
Some conditions may cause the lane departure warning lamp to stay ON.
Utilize a work sheet sample to organize all of the information for troubleshooting.

KEY POINTS
• WHAT..... System and functions
• WHEN..... Date, Frequencies
• WHERE..... Road conditions
• HOW..... Operating conditions, Symptoms
WORK SHEET SAMPLE
JPOIA0203GB

PRE-INSPECTION FOR DIAGNOSIS
PRE-INSPECTION FOR DIAGNOSIS
A
Inspection Procedure INFOID:0000000003867041
1.CHECK CAMERA LENS AND WINDSHIELD B
Are camera lens and windshield contaminated with foreign materials?

C
YES >> Clean camera lens and windshield.
NO >> GO TO 2.
2.CHECK LANE CAMERA UNIT INSTALLATION CONDITION D
Check lane camera unit installation condition (installation position, properly tightened, a bent bracket).
Is it properly installed?
YES >> GO TO 3. E
NO >> Install lane camera unit properly, and perform camera aiming. Refer to CCS-418, "CAMERA AIM-
ING ADJUSTMENT : Description".
3.CHECK VEHICLE HEIGHT F
Check vehicle height. Refer to FSU-20, "Wheel Height" (2WD) or FSU-40, "Wheel Height" (AWD).
Is vehicle height appropriate?
G
NO >> Repair vehicle to appropriate height.
H
CCS

ACTION TEST
ACTION TEST
• Perform action test to verify the customer's concern.

• Perform action test and check the system operation after system diagnosis.
WARNING:
Be careful of traffic conditions and safety around the vehicle when performing road test.
CAUTION:
• Fully understand the following items well before the road test;
- Precautions: Refer to CCS-500, "Precaution for LDW/LDP System Service".
- System description for LDW: Refer to CCS-423, "System Description".
- System description for LDP: Refer to CCS-428, "System Description".
- Normal operating condition: Refer to CCS-498, "Description".
Inspection Procedure INFOID:0000000003867043
WARNING:
CAUTION:
• Fully understand the following items well before the road test;
- Precautions: Refer to CCS-500, "Precaution for LDW/LDP System Service".
- System description for LDW: Refer to CCS-423, "System Description".
- System description for LDP: Refer to CCS-428, "System Description".
- Normal operating condition: Refer to CCS-498, "Description".
1.ACTION TEST FOR LDW
2. Turn LDW switch ON (LDW ON indicator is ON).
NOTE:
LDP system is OFF.
3. Check the LDW operation according to the following table.
Input Output
Vehicle
speed Vehicle condition/ Driver's oper- LDW ON Indication on the combination
Action Buzzer
[km/h ation indicator meter
(MPH)]
Less than
Close to lane marker No action ON OFF —
64 (40)
Warning
• Buzzer sounds Short continu-
Close to lane marker ON
72 (45) or • Warning lamp ous beeps
more blinks
JPOIA0018GB
• Close to lane marker

No action ON OFF —
• Turn signal ON (Deviate side)
>> GO TO 2.
2.ACTION TEST FOR LDP
1. Turn LDP ON switch ON (LDP ON indicator lamp is ON).
NOTE:
LDW system is OFF.
2. Check the LDP operation according to the following table.

ACTION TEST
Input Output A
Vehicle speed Vehicle condition/ Driver's
Action Indication on the combination meter Buzzer
[km/h (MPH)] operation
B
Less than 64
(40)
Close to lane marker No action — C
JPOIA0021GB D
Warning and yawing E

Close to lane marker
• Warning lamp blinks ous beeps
• Brake control
F
JPOIA0022GB
G
• Turn signal ON (Deviate No action —
side) H
JPOIA0021GB
I
Warning J
72 (45) or Close to lane marker with Short continu-
• Buzzer sounds
more soft braking ous beeps
• Warning lamp blinks
K
JPOIA0022GB
Cancellation
• Buzzer sounds L
• Indicator lamp blinks
VDC OFF switch:
NOTE: Beep
OFF ⇒ ON
When LDP ON switch is ON ⇒
OFF, indicator lamp is turned M
OFF.
JPOIA0023GB
N
Cancellation
• Buzzer sounds
Snow mode switch: • Indicator lamp blinks
OFF ⇒ ON NOTE: Beep CCS
(If equipped) When LDP ON switch is ON ⇒
OFF, indicator lamp is turned
OFF.
JPOIA0023GB
P
>> WORK END

ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT (LANE CAMERA
UNIT)
UNIT) : Description INFOID:0000000003867044
Always perform the camera aiming adjustment after replacing the lane camera unit.
UNIT) : Special Repair Requirement INFOID:0000000003867045
1.CAMERA AIMING ADJUSTMENT

Perform the camera aiming adjustment with CONSULT-III. Refer to CCS-418, "CAMERA AIMING ADJUST-
MENT : Description".
>> GO TO 2.
2.PERFORM SELF-DIAGNOSIS
Perform the self-diagnosis of lane camera unit with CONSULT-III. Check if any DTC is detected.
YES >> Perform the trouble diagnosis for the detected DTC. Refer to CCS-483, "DTC Index".
NO >> GO TO 3.
3.LDW/LDP SYSTEM ACTION TEST
1. Perform the LDW/LDP system action test. Refer to CCS-416, "Description".
2. Check that the LDW/LDP system operates normally.
>> WORK END

CAMERA AIMING ADJUSTMENT
CAMERA AIMING ADJUSTMENT : Description INFOID:0000000003867046
OUTLINE
Perform the camera aiming every time the lane camera unit is removed and installed.
CAUTION:
• Place the vehicle on level ground when the camera aiming adjustment is operated.
• Follow the CONSULT-III when performing the camera aiming. (Camera aiming adjustment cannot be
operated without CONSULT-III.)
CAMERA AIMING ADJUSTMENT : Special Repair Requirement (Preparation)
INFOID:0000000003867047
Perform self-diagnosis of lane camera unit.
Except “C1B01”>>Perform diagnosis on the detected DTC and repair or replace the applicable item. Refer to
“C1B01” or no DTC>>GO TO 2.
2.PREPARATION BEFORE CAMERA AIMING ADJUSTMENT
1. Adjust the tire pressure to the specified pressure value.
2. Maintain no-load in vehicle.
3. Check if coolant and Engine oil are filled up to correct level and fuel tank is full.
4. Shift the selector lever to “P” position and release the parking brake.
5. Clean the windshield.

6. Completely clear off the instrument panel.
A
>> GO TO 3.
3. PREPARATION OF AIMING ADJUSTMENT JIG B
Prepare the aiming adjustment jig according to the following procedure and the figure.
1. Print out the target mark attached in this SM. Refer to CCS-422, "CAMERA AIMING ADJUSTMENT : Spe-
cial Repair Requirement (Target Mark Sample)".
C
2. Stick a printed target mark on the board with a scotch tape or a piece of double-sided tape.
NOTE:
• Use the board that peripheral area of the target is monochrome such as a white-board.
• Notice that the cross of the target is horizontal and vertical. D
JPOIA0011ZZ
J
1. Board 2. String 3. Cone
: Target mark
K
Diameter of a target (D) : 200 mm (7.87 in)
Height of a target center (H) : 1450 mm (57.09 in)
Width between a right target cen- : 600 mm (23.62 in) L
ter from a left target center (W)
M
>> Go to CCS-419, "CAMERA AIMING ADJUSTMENT : Special Repair Requirement (Target Set-
ting)".
CAMERA AIMING ADJUSTMENT : Special Repair Requirement (Target Setting) N
INFOID:0000000003867048
CAUTION:
• Perform this operation in a horizontal position where there is a clear view for 5 m (16.4 ft) forward CCS
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 P
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”) : 3850 mm (151.57 in)
1. Mark points “A”, “B”, “C” and “D”at the center of the lateral sur-
face of each wheels.
NOTE:
Hang a string with a cone from the fender so as to pass through
the center of wheel, and then mark a point at the center of the
lateral surface of the wheel.
2. Draw line “LH” passing through points “A” and “B” on the left side
of vehicle.
NOTE:
Approximately 4 m (13.12 ft) or more from the front end of vehi-
cle.
JPOIA0172GB
3. Mark point “E” on the line “LH” at the positions 3850 mm (151.57
in) from point “A”.
4. Draw line “RH” passing through points “C” and “D” on the right side of vehicle in the same way as step 2.
NOTE:
Approximately 4 m (13.12 ft) or more from the front end of vehicle.
5. Mark point “F” on the line “RH” at the positions 3850 mm (151.57 in) from point “C”.
6. Draw line “FW” passing through the points “E” and “F” on the front side of vehicle.
7. Mark point “X” at the center of point “E” and “F” on the line “FW”.
CAUTION:
Make sure that “E” to “X” is equal to “F” to “X”.
8. Position the center of the right target to point of “X”.
>> Go to CCS-420, "CAMERA AIMING ADJUSTMENT :

Special Repair Requirement (Camera Aiming Adjust-
ment)".
JPOIA0173GB
CAMERA AIMING ADJUSTMENT : Special Repair Requirement (Camera Aiming Ad-

justment) INFOID:0000000003867049
CAUTION:
Perform the adjustment under unloaded vehicle condition.

1.CHECK VEHICLE HEIGHT A

Measure the wheelarch height. Calculate “Dh”.
Dh [mm] = (Hfl + Hfr) ÷ 2 − 831 B

where,
Hfl: Front left wheelarch height [mm]
Hfr: Front right wheelarch height [mm] C
NOTE:
“Dh” may be calculated as a minus value.
D
JPOIA0174ZZ
>> GO TO 2.
2.CAMERA AIMING ADJUSTMENT E
CONSULT-III WORK SUPPORT
CAUTION:
Operate CONSULT-III outside the vehicle, and close all the doors. (To retain vehicle attitude appropri- F
ately)
1. Select “Work Support” on “LANE CAMERA” with CONSULT-III.
2. Select “AUTO AIM”.
G
3. Confirm the following items;
- The target should be accurately placed.
- The vehicle should be stopped.
4. Select “Start” to perform camera aiming. H
CAUTION:
Never select “Start” when the target is not accurately placed.
5. Input “Dh”, and then select “Start”. I
CAUTION:
Never change “Ht” and “Dt”.
6. Confirm the displayed item.
- “Normally Completed”: Select “Completion”. J
- “SUSPENSION” or “ABNORMALLY COMPLETED”: Perform the following services.
Displayed item Service procedure K

00H Routine not activated
SUSPENSION Position the target appropriately again. Perform the aiming again.
10H Writing error Refer to CCS-419, "CAMERA AIMING ADJUSTMENT : Special Re-
pair Requirement (Target Setting)". L
ABNORMALLY COMPLETED —
NOTE:
Replace camera unit if “SUSPENSION” is repeatedly indicated during the above two services are performed.
M
7. Confirm that “Normally Completed” is displayed and then select “End” to close the aiming adjustment pro-
cedure.
N
>> GO TO 3.
Perform self-diagnosis of lane camera unit with CONSULT-III. CCS
YES >> Perform diagnosis on the detected DTC and repair or replace the applicable item. Refer to CCS-
483, "DTC Index". P
NO >> GO TO 4.
4.ACTION TEST
Test the LDW/LDP system operation by action test. Refer to CCS-416, "Description".
>> WORK END

CAMERA AIMING ADJUSTMENT : Special Repair Requirement (Target Mark Sample)
INFOID:0000000003867050
NOTE:
Print this illustration so that the diameter of the circle is 200 mm (7.87 in).
PGIA0105J

LANE DEPARTURE WARNING (LDW) SYSTEM
< SYSTEM DESCRIPTION > [LDW & LDP]
SYSTEM DESCRIPTION A
B
G
JSOIA0096GB
System Description INFOID:0000000003867052 H
OUTLINE
• Lane Departure Warning (LDW) system provides a lane departure warning function when the vehicle is I
driven at speeds of approximately 72 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 function will stop when the vehicle returns inside of the lane markers. J
JPOIA0014GB
CCS
BASIC OPERATIONS
P

JPOIA0175ZZ
1. LDW switch 2. LDW ON indicator 3. Lane departure warning lamp

(Shared with the FCW system) (Shared with the FCW system) (Yellow)
A. On the instrument driver lower panel B. On the combination meter
Bulb Check Action and Fail-safe Indication
LDW ON indi-
Vehicle condition/ Driver's operation Indication on the combination meter
cator
Ignition switch:
2 sec. ON
OFF ⇒ ON
JPOIA0017GB
When DTC is detected

ON
(Except “C1B01” or “C1B03”)
JPOIA0019GB
Camera aiming is not completed

ON
(“C1B01” is detected)
JPOIA0020GB
Temporary disabled status at high temperature

Blink OFF
LDW INITIAL STATE CHANGE

CAUTION:
Never change LDW initial state “ON” ⇒ “OFF” without the consent of the customer.
LDW initial state can be changed.
• LDW initial ON* - LDW function is automatically turned ON, when the ignition switch OFF ⇒ ON.
• LDW initial OFF - LDW function is still OFF when the ignition switch OFF ⇒ ON.
*: Factory setting
How to change LDW initial state
2. Switch LDW and LDP functions to OFF.
3. Push and hold LDW switch for more than 4 seconds.
4. Buzzer sounds and blinking of the lane departure warning lamp informs that the LDW initial state change
is completed.

LDW SYSTEM CONTROL DESCRIPTION
• LDW system is controlled by lane camera unit. A
• Lane camera unit monitors lane markers of the traveling lane.
• Combination meter turns the lane departure warning lamp ON/OFF according to the signal from the lane
camera unit via CAN communication (through unified meter and A/C amp.). B
• When the lane camera unit judges vehicle deviation from the traveling lane, it controls following actions to
alert the driver.
- Requests the lane departure warning lamp activation to combination meter.
- Controls the lane departure warning buzzer. C
LDW OPERATING CONDITION

• LDW ON indicator: ON
NOTE: D
LDP ON indicator lamp is OFF.
• Vehicle speed: approximately 72 km/h (45 MPH) or more
NOTE: E
For details of LDW system operating conditions, refer to normal operating condition CCS-498, "Description".
Input Output
F
Vehicle speed
Vehicle condition/ Driver's op- LDW ON Indication on the combination
(Approx.) Action Buzzer
eration indictor meter
[km/h (MPH)]
G
Less than 64
Close to lane marker No action ON OFF —
(40)
H
Warning
Close to lane marker ON
• Warning lamp ous beeps I
72 (45) or blinks
more
JPOIA0018GB
J
• Turn signal ON (Deviate No action ON OFF —
side)
K
SIGNAL INPUT/OUTPUT BY CAN COMMUNICATION
Lane camera unit receives signals via CAN communication. It also detects vehicle conditions that are neces-
sary for LDW control. L
Reception Unit Signal Name Transmission Unit Description
ABS actuator and elec-
Vehicle speed signal
tric unit (control unit)
Detects the vehicle speed M
Lane camera unit
Turn indicator signal BCM Detects operation of turn signals
Combination meter N
Lane departure warning lamp Turns the lane departure warning lamp ON/OFF
(through unified meter Lane camera unit
signal according to the request
and A/C amp.)
CCS

JPOIA0199ZZ
1. Lane camera unit 2. BCM 3. Unified meter and A/C amp.

4. ABS actuator and electric unit (con- 5. Lane departure warning buzzer 6. LDW switch
trol unit)
7. Lane departure warning lamp (Yel-
low)
JPOIA0200ZZ
1. Lane camera unit 2. BCM 3. Unified meter and A/C amp.

4. ABS actuator and electric unit (control 5. Lane departure warning buzzer 6. LDW switch
unit)
7. Lane departure warning lamp (Yellow)
A. Front of the map lamp B. Dash side lower (passenger side) C. Behind the cluster lid C

D. Inside the brake master cylinder cover E. Behind the console finisher assem- F. Instrument driver lower panel (LH)
bly A
G. On the combination meter

B
C
• Detects the lane marker by the built-in camera.
Lane camera unit
• Judges the lane departure depending on the lane detection result and each signals.
(LDW controller)
• Controls the lane departure warning buzzer, lane departure warning lamp and LDW ON indicator.
ABS actuator and electric unit D
Transmits vehicle speed signal to lane camera unit via CAN communication.
(control unit)
LDW switch Inputs the switch signal to lane camera unit.
E
LDW ON indicator
Indicates LDW system status.
(On the LDW switch)
Lane departure warning buzzer Gives a warning according to the direction from lane camera unit.
F
Turns the lane departure warning lamp and LDP ON indicator lamp ON/OFF according to the sig-
Combination meter
nals from the lane camera unit via CAN communication (through unified meter and A/C amp.).
Lane departure warning lamp • Blinks when LDW is functioning to alert the driver.
(Yellow) • Stays ON when LDW system is malfunctioning. G
BCM Transmits turn indicator signal to lane camera unit via CAN communication.
CCS

LANE DEPARTURE PREVENTION (LDP) SYSTEM
JSOIA0112GB
OUTLINE
• Lane Departure Prevention (LDP) system provides a lane departure warning and brake control assistance
when the vehicle is driven at speeds of approximately 72 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 system 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.

• The warning and assist functions stop when the vehicle returns to a position inside of the lane marker.
A
E
JPOIA0013GB
BASIC OPERATIONS
F
JPOIA0176ZZ
1. • LDP ON indicator lamp (Green) 2. LDP ON switch

J
• Lane departure warning lamp (Yel-
low)
A. On the combination meter B. On the ICC steering switch K
Bulb Check Action and Fail-safe Indication
Vehicle condition/Driver's operation Indication on the combination meter

L
M
Ignition switch:
OFF ⇒ ON
N
JPOIA0017GB
CCS
When DTC is detected

(Except “C1B01” or “C1B03”) P
JPOIA0019GB

Vehicle condition/Driver's operation Indication on the combination meter
Camera aiming is not completed

JPOIA0020GB
Temporary disabled status at high temperature

JPOIA0036GB
LDP SYSTEM CONTROL DESCRIPTION

• LDP system is controlled by lane camera unit and LDP controller [ABS actuator and electric unit (control
unit)].
NOTE:
LDP controller is integrated in the ABS actuator and electric unit (control unit).
• Lane camera unit monitors lane markers of the traveling lane. It transmits the detected lane condition signal
to ABS actuator and electric unit (control unit) via CAN communication.
• ABS actuator and electric unit (control unit) detects vehicle conditions depending on each signal.
• Combination meter turns the lane departure warning lamp and LDP ON indicator lamp ON/OFF according to
the signals from the lane camera unit via CAN communication (through unified meter and A/C amp.).
• When ABS actuator and electric unit (control unit) judges vehicle deviation from the traveling lane, it controls
following actions.
- Requests warning to the lane camera unit via CAN communication to alert the driver. And then lane camera
unit controls the lane departure warning buzzer and it requests the lane departure warning lamp activation to
combination meter.
- Calculates the necessary yaw moment. And then it controls the brake pressure of each wheel individually to
generate the intended movement.
LDP OPERATING CONDITION
• LDP ON indicator lamp: ON
NOTE:
LDW ON indicator is OFF.
• Vehicle speed: approximately 72 km/h (45 MPH) or more
NOTE:
For details of LDP system operating conditions, refer to normal operating condition CCS-498, "Description".

Input Output A
Vehicle speed
Vehicle condition/ Driver's
(Approx.) Action Indication on the combination meter Buzzer
operation
[km/h (MPH)]
B
Less than 64
C
Close to lane marker No action —
(40)
D
JPOIA0021GB
E
Warning and yawing
Close to lane marker
• Warning lamp blinks ous beeps
• Brake control F
JPOIA0022GB

• Turn signal ON (Deviate No action — H
side)
JPOIA0021GB I
J
Warning
72 (45) or Close to lane with soft brak- Short continu-
• Buzzer sounds
more ing ous beeps
• Warning lamp blinks
K
JPOIA0022GB
Cancellation L
• Buzzer sounds
• Indicator lamp blinks
VDC OFF switch:
NOTE: Beep
OFF ⇒ ON M
When LDP ON switch is ON ⇒
OFF.
JPOIA0023GB
N
Cancellation
• Buzzer sounds
SNOW MODE switch: • Indicator lamp blinks CCS
OFF ⇒ ON NOTE: Beep
(If equipped) When LDP ON switch is ON ⇒
OFF. P
JPOIA0023GB
SIGNAL INPUT/OUTPUT BY CAN COMMUNICATION

The lane camera unit and ABS actuator and electric unit (control unit) transmit/receive each signals via CAN
communication. They also detect the vehicle conditions necessary for LDP control.

Description
Reception Unit Signal Name Transmission Unit
(Reception unit uses...)
LDP operation signal Detects the LDP operating condition
LDP condition signal Detects the LDP conditions
Controls the lane departure warning buzzer ac-
LDP buzzer request signal
ABS actuator and elec- cording to the request
LDP meter indication request tric unit (control unit) Controls the LDP ON indicator lamp and lane de-
Lane camera unit signal parture warning lamp according to the request
Vehicle speed signal Detects the vehicle speed
Front wiper status signal Detects operation of the front wiper
Turn indicator signal BCM Detects operation of turn signals
Unified meter and A/C
Ambient temperature signal Detects the ambient temperature
amp.
Detected lane condition signal Detects the lane marker condition
Lane camera status signal Detects the lane camera status
LDW operation signal Detects the LDW operation
Lane departure buzzer opera- Detects the lane departure warning buzzer opera-
tion signal Lane camera unit tion
LDW switch signal Detects LDW switch status
LDP ON indicator lamp signal Detects the LDP ON indicator lamp condition
Lane departure warning lamp
Detects the lane departure warning lamp condition
signal
Snow mode switch signal Detects the snow mode status
ICC steering switch signal
Detects LDP ON switch status
(LDP ON switch signal)
ABS actuator and ECM
Accelerator pedal position sig-
electric unit (control Detects vehicle conditions to calculate the acceler-
nal
unit) ation/deceleration of the vehicle
Engine speed signal
Shift position signal
TCM Detects the transmission conditions
Input speed signal
Steering angle sensor signal Steering angle sensor Detects the steering angle
ICC operation signal
ICC sensor integrated
Target approach warning signal Detects ICC system conditions
unit
Buzzer output signal
Turn indicator signal Detects operation of turn signals
BCM
Front wiper request signal Detects operation of the front wiper
Turns the LDP ON indicator lamp ON/OFF accord-
Combination meter LDP ON indicator lamp signal
ing to the request
(through unified meter Lane camera unit
and A/C amp.) Lane departure warning lamp Turns the lane departure warning lamp ON/OFF
signal according to the request
Revision: 2009 March C C S - 4 3 2

2009 FX35/FX50
JPOIA0201ZZ
G
1. Lane camera unit 2. TCM 3. BCM
4. ECM 5. Unified meter and A/C amp. 6. ICC sensor integrated unit
7. ABS actuator and electric unit (con- 8. Lane departure warning buzzer 9. • LDP ON indicator lamp (Green)
trol unit) • Lane departure warning lamp (Yel- H
low)
10. Steering angle sensor 11. LDP ON switch 12. Yaw rate/side G sensor
I
CCS

JPOIA0202ZZ
1. Lane camera unit 2. TCM 3. BCM

4. ECM 5. Unified meter and A/C amp. 6. ICC sensor integrated unit
7. ABS actuator and electric unit (con- 8. Lane departure warning buzzer 9. • LDP ON indicator lamp (Green)
trol unit) • Lane departure warning lamp (Yel-
low)
10. Steering angle sensor 11. LDP ON switch 12. Yaw rate/side G sensor
A. Front of the map lamp B. Integrated in the A/T assembly C. Dash side lower (passenger side)
D. Behind the glove box E. Behind the cluster lid C F. Front bumper LH
G. Inside brake master cylinder cover H. Behind the console finisher assem- I. On the combination meter
bly
J. Integrated in the spiral cable K. On the ICC steering switch L. Under the center console

A
• Detects the lane marker by the built-in camera.
• Judges the lane departure depending on the lane detection result and each signal.
• Transmits the detected lane conditions to ABS actuator and electric unit (control unit) via CAN com-
Lane camera unit
munication. B
• Controls the lane departure warning buzzer, lane departure warning lamp, LDW ON indicator and
LDP ON indicator lamp.
• Transmits vehicle speed signal to lane camera unit via CAN communication.
ABS actuator and electric unit
• Judges necessary yaw moment depending on each signal.
C
(control unit)
• Controls the brake pressure of each wheel individually to generate the intended movement.
Lane departure warning buzz-
Gives a warning according to the direction from lane camera unit. D
er
LDP ON switch
Inputs the switch signal to ECM.
(On the ICC steering switch)
Turns the lane departure warning lamp and LDP ON indicator lamp ON/OFF according to the signals E
Combination meter
from the lane camera unit via CAN communication (through unified meter and A/C amp.).
LDP ON indicator lamp
Indicates LDP system status.
(Green) F
Lane departure warning lamp • Blinks when LDP is functioning to alert the driver.
(Yellow) • Stays ON when LDW/LDP system is malfunctioning.
• Transmits turn indicator signal to lane camera unit via CAN communication. G
BCM • Transmits vehicle conditions to ABS actuator and electric unit (control unit) via CAN communica-
tion.
Transmits vehicle conditions and ICC steering switch signal (LDP ON switch signal) to ABS actuator H
ECM
Unified meter and A/C amp. Transmits ambient temperature signal to lane camera unit via CAN communication.
Transmits steering angle sensor signal to ABS actuator and electric unit (control unit) via CAN com- I
Steering angle sensor
munication.
TCM Transmits vehicle conditions to ABS actuator and electric unit (control unit) via CAN communication.
Transmits ICC system conditions to ABS actuator and electric unit (control unit) via CAN communica- J
tion.
Yaw rate/side G sensor Inputs detected yaw rate signal to ABS actuator and electric unit (control unit).
K
CCS

CONSULT-III Function (LANE CAMERA) INFOID:0000000003867059
DESCRIPTION
CONSULT-III performs the following functions by communicating with the lane camera unit.
Select diag mode Function

• Performs the camera aiming.
Work support
• Displays causes of automatic cancellation of the LDP function.
Self Diagnostic Result Displays memorized DTC in the lane camera unit.
Data Monitor Displays real-time data of lane camera unit.
Active Test Enables operation check of electrical loads by sending driving signal to them.
Ecu Identification Displays part number of lane camera unit.
WORK SUPPORT
Work support item Function

CAUSE OF AUTO-CANCEL Indicates causes of automatic cancellation of the LDP.
Outputs camera unit, calculates dislocation of the camera, and displays adjustment direction.
AUTO AIM
Refer to CCS-418, "CAMERA AIMING ADJUSTMENT : Description".
NOTE:
AIM CHECK
Cause of Auto-Cancel Display Item List

When LDP control is canceled under the operating condition, “CAUSE OF AUTO-CANCEL” is memorized.
• Last five cancel (system cancel) causes are displayed.
• “CAUSE OF AUTO-CANCEL” displays the number of times of ignition switch ON/OFF up to a maximum of
“39”. “39” is kept even when the number exceeds “39”. The number returns to 0 when detecting the same
cancellation causes are detected.
Cause of cancellation Description

NO RECORD —
Operating VDC/ABS VDC or ABS function was operated.
Vehicle dynamics Vehicle behavior exceeds specified value.
Steering speed Steering speed was more than the specified value in evasive direction.
End by yaw angle Yaw angle was the end of LDP control.
Departure yaw large Detected more than the specified value of yaw angle in departure direction.
ICC WARNING Target approach warning of ICC system was activated.
VDC OFF SW VDC OFF switch was pressed.
CURVATURE Road curve was more than the specified value.
Steering angle large Steering angle was more than the specified value.
ICC main SW hold ON ICC MAIN switch was held ON for more than a certain period.
Brake is operated Brake pedal was operated.
Operating BA IBA (Intelligent Brake Assist) was activated.
Lateral offset Distance of vehicle and lane was detached in lateral direction more than the specified value.
Lane marker lost Lane camera unit lost the trace of lane marker.
Lane marker unclear Detected lane marker was unclear.
Bank Road bank angle was more than the specified value.
Yaw acceleration Detected yawing speed was more than the specified value.
Deceleration large Deceleration in a longitudinal direction was more than the specified value.

Accel is operated Accelerator pedal was depressed.
A
Departure steering Steering wheel was steered more than the specified value in departure direction.
Evasive steering Steering wheel was steered more than the specified value in the evasive direction.
R range Selector lever was operated to R range. B
Parking brake drift Rear wheels lock was detected.
Not operating condition Did not meet the operating condition (vehicle speed, turn signal operation, etc.).
C
Displays memorized DTC in lane camera unit. Refer to CCS-483, "DTC Index".
DATA MONITOR D
Monitored Item [unit] Description

E
Switch status judged from LDW switch signal
LDW SW [On/Off] NOTE:
Signal output status of LDW ON indicator F
LDW ON LAMP [On/Off] NOTE:
LDP ON IND [On/Off] Request signal status of LDP ON indicator lamp G
LANE DPRT W/L [On/Off] Request signal status of lane departure warning lamp
BUZZER OUTPUT [On/Off] Signal output status of lane departure warning buzzer
H
LC INACCURAT [On/Off] Lane camera unit status
CAM HIGH TEMP [On/Off] Status of lane camera unit high temperature judgment
Vehicle speed received from ABS actuator and electric unit (control unit) via CAN communi- I
VHCL SPD SE [km/h] or [mph]
cation
TURN SIGNAL [Off/LH/RH] Status of “Turn signal” determined from BCM via CAN communication
LANE DETCT LH [On/Off] Left side lane marker detection J
LANE DETCT RH [On/Off] Right side lane marker detection
CROSS LANE LH [On/Off] Condition that the vehicle is crossing left lane marker
K
CROSS LANE RH [On/Off] Condition that the vehicle is crossing right lane marker
WARN LANE LH [On/Off] Warning for left lane marker
WARN LANE RH [On/Off] Warning for right lane marker L
VALID POS LH [VLD/INVLD] Lateral position for left lane marker is valid
VALID POS RH [VLD/INVLD] Lateral position for right lane marker is valid
AIMING DONE [OK/NG] Status that camera aiming is done
M
AIMING RESULT [OK/NOK] Result of camera aiming
XOFFSET [pixel] Lane camera unit installation condition
N
CHK AIM YAW [deg] Check result of camera aiming
CHK AIM ROLL [deg] Check result of camera aiming
CHK AIM PITCH [deg] Check result of camera aiming CCS
FCTRY AIM YAW [deg] Lane camera unit installation condition
FCTRY AIM ROL [deg] Lane camera unit installation condition
P
FCTRY AIM PIT [deg] Lane camera unit installation condition
ACTIVE TEST
CAUTION:
• Active test cannot be started while the lane departure warning lamp is illuminated.


On Outputs the voltage to sound the lane departure warning buzzer.
BUZZER DRIVE
Off Stops the voltage to sound the lane departure warning buzzer.
On Outputs the voltage to illuminate the LDW ON indicator (on the LDW switch).
NOTE:
LDW ON IND Shared with the FCW system
Off Stops the voltage to illuminate the LDW ON indicator.
On Requests the LDP ON indicator lamp ON [on the combination meter (Green)] to com-
LDP ON IND bination meter (through unified meter and A/C amp.) via CAN communication.
On Requests the lane departure warning lamp ON [on the combination meter (Yellow)]
LANE DEPARTURE W/L to combination meter (through unified meter and A/C amp.) via CAN communication.
NOTE:
“Active test” of indicator/warning lamp cannot be performed when applicable indicator/warning lamp is turned ON.

DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
A
UNIT)]
CONSULT-III Function INFOID:0000000003867129
B
FUNCTION
CONSULT-III can display each diagnostic item using the diagnostic test modes shown following.
C
Diagnostic test mode Function
This mode enables a technician to adjust some devices faster and more accurately by following
Work support D
the indications on CONSULT-III.
Self diagnostic result Self-diagnostic results can be read and erased quickly.
Data monitor Input/Output data in the ABS actuator and electric unit (control unit) can be read.
E
CONSULT-III drives some actuators apart from ABS actuator and electric unit (control unit) and
Active test
also shifts some parameters in a specified range.
ECU identification ABS actuator and electric unit (control unit) part number can be read.
F
Specific Function Specific LDP data in the ABS actuator and electric unit (control unit) can be read.
WORK SUPPORT
CAUTION: G
Erase DTC memory of the lane camera unit after implementing work support. Refer to CCS-436, "CON-
SULT-III Function (LANE CAMERA)".
H
Item Description
ST ANGLE SENSOR ADJUSTMENT Adjusts the neutral position of the steering angle sensor.
I
Operation Procedure
Before performing the self-diagnosis, start engine and drive vehicle at 30 km/h (19 MPH) or more for approxi- J
mately 1 minute.
Display Item List
Refer to CCS-494, "DTC Index". K
How to Erase Self-diagnosis Results
After erasing DTC memory, start the engine and drive the vehicle at 30 km/h (19 MPH) or more for approxi-
mately 1 minute as the final inspection, and make sure that the ABS warning lamp, VDC OFF indicator lamp, L
SLIP indicator lamp and brake warning lamp turn OFF.
CAUTION:
If memory cannot be erased, perform applicable diagnosis.
M
NOTE:
• When the wheel sensor malfunctions, after inspecting the wheel sensor system, ABS warning lamp, VDC
OFF indicator lamp, SLIP indicator lamp and brake warning lamp will not turn OFF even when the system is
normal unless the vehicle is driven at approximately 30 km/h (19 MPH) or more for approximately 1 minute. N
• Brake warning lamp will turn ON in case of parking brake operation (when switch is ON) or in case of brake
fluid level switch operation (when brake fluid is insufficient).
• VDC OFF switch should not stay in “ON” position. CCS
DATA MONITOR
Display Item List
P

UNIT)]
×: Applicable : Optional item
SELECT MONITOR ITEM
Monitor item (Unit) ECU INPUT Remarks
MAIN SIGNALS
SIGNALS
FR LH SENSOR
× ×
[km/h (MPH)]
FR RH SENSOR
× ×
[km/h (MPH)]
Wheel speed
RR LH SENSOR
× ×
[km/h (MPH)]
RR RH SENSOR
× ×
[km/h (MPH)]
STOP LAMP SW
× × Stop lamp switch signal status
(On/Off)
BATTERY VOLT Battery voltage supplied to the ABS actuator and electric
× ×
(V) unit (control unit)
SLCT LVR POSI × × A/T selector lever position
YAW RATE SEN
× × Yaw rate detected by yaw rate/side G sensor
(d/s)
OFF SW
× × VDC OFF switch signal status
(On/Off)
ACCEL POS SIG Throttle actuator opening/closing is displayed (Linked with
×
(%) accelerator pedal)
SIDE G-SENSOR
× Transverse G detected by yaw rate/side G sensor
(m/s2)
STR ANGLE SIG
× Steering angle detected by steering angle sensor
(°)
PRESS SENSOR
× Brake fluid pressure detected by pressure sensor
(bar)
ENGINE RPM
× Engine speed
[tr/min (rpm)]
FR RH IN SOL
×
(On/Off) (Note 1)
FR RH OUT SOL
×
(On/Off) (Note 1)
FR LH IN SOL
×
(On/Off) (Note 1)
FR LH OUT SOL
×
(On/Off) (Note 1)
Operation status of each solenoid valve
RR RH IN SOL
×
(On/Off) (Note 1)
RR RH OUT SOL
×
(On/Off) (Note 1)
RR LH IN SOL
×
(On/Off) (Note 1)
RR LH OUT SOL
×
(On/Off) (Note 1)
MOTOR RELAY
× Motor and motor relay operation
(On/Off)
ACTUATOR RLY
× Actuator relay operation
(On/Off) (Note 1)
ABS WARN LAMP
× ABS warning lamp
(On/Off)

UNIT)]
SELECT MONITOR ITEM
Monitor item (Unit) Remarks A
ECU INPUT
MAIN SIGNALS
SIGNALS
OFF LAMP
× VDC OFF indicator lamp B
(On/Off)
SLIP LAMP
× SLIP indicator lamp
(On/Off)
FLUID LEV SW C
Brake fluid level switch signal status
(On/Off)
PARK BRAKE SW
Parking brake switch signal status
(On/Off) D
EBD SIGNAL
EBD operation
(On/Off)
ABS SIGNAL E
ABS operation
(On/Off)
TCS SIGNAL
TCS operation
(On/Off) F
VDC SIGNAL
VDC operation
(On/Off)
ABS FAIL SIG G
ABS fail-safe signal
(On/Off)
TCS FAIL SIG
TCS fail-safe signal
(On/Off) H
VDC FAIL SIG
VDC fail-safe signal
(On/Off)
CRANKING SIG
Crank operation
I
(On/Off)
USV[FR-RL]
(On/Off) (Note 1) J
USV[FL-RR]
(On/Off) (Note 1)
VDC switch-over valve
HSV[FR-RL] K
(On/Off) (Note 1)
HSV[FL-RR]
(On/Off) (Note 1)
L
BST OPER SIG
Booster operation signal
(On/Off)
V/R OUTPUT M
Solenoid valve relay activated
(On/Off)
M/R OUTPUT
Actuator motor and motor relay activated
(On/Off)
N
LDP) APP SEN Accelerator pedal position sensor status received from
× ×
(%) (Note 2) ECM via CAN communication
LDP) YAW ORDER
— — Calculated target yaw moment CCS
(×100Nm) (Note 2) (Note 3)
LDP) SHIFT POSITION
(OFF/P/R/N/D/MM 1st – MM 7th) × × Shift position received from TCM via CAN communication
(Note 2) P
LDP) ICC MAIN SW ICC main switch status received from ECM via CAN com-
× ×
(On/Off) (Note 2) munication
LDP) LDP ON SW LDP ON switch status received from ECM via CAN com-
× ×
(On/Off) (Note 2) munication

UNIT)]
SELECT MONITOR ITEM
Monitor item (Unit) ECU INPUT Remarks
MAIN SIGNALS
SIGNALS
LDP) WIPER SIGNAL
Front wiper operating condition received from BCM via
(Stop/PRTCT/1low/1high/Low/High) × ×
CAN communication
(Note 2)
LDP) TURN SIGNAL Turn signal operating condition received from BCM via
× ×
(Off/LH/RH/LH&RH) (Note 2) CAN communication
LDP) STOP LMP SW
× × Stop lamp switch signal status
(On/Off) (Note 2)
LDP) WARN REQ Status of warning request that transmits to lane camera
— —
(On/Off) (Note 2) (Note 3) unit via CAN communication
LDP) WARN control
— — Status of warning main controller for LDP
(On/Off) (Note 2) (Note 3)
LDP) REDY signal Status of internal judgment by LDP controller [ABS actua-
— —
(On/Off) (Note 2) (Note 3) tor and electric unit (control unit)]
LDP) STATUS signal
Status of internal judgment by LDP controller [ABS actua-
(STANDBY/WARN/MASK/Off) — —
tor and electric unit (control unit)]
(Note 2) (Note 3)
LDP) BRAKE SW
× × Brake switch signal status
(On/Off) (Note 2)
LDP) LDW SW LDW switch status received from lane camera unit via
× ×
(On/Off) (Note 2) CAN communication
LDP) Camera lost
Lane marker detected condition received from lane cam-
(Detect/Deviate/Both) — —
era unit via CAN communication
(Note 2) (Note 3)
LDP) Lane unclear Lane marker condition received from lane camera unit via
— —
(On/Off) (Note 2) (Note 3) CAN communication
NOTE:
1: A brief moment of On/Off condition occurs every 20 seconds after ignition switch turned ON. This is not malfunction because it is an
operation for checking.
2: With LDP models.
3: The item displayed on“SPECIFIC DATA MONITOR” in “Specific Function”.
ACTIVE TEST
CAUTION:
• Do not perform active test while driving vehicle.
• Make sure to completely bleed air from brake system.
• The active test cannot be started when ABS warning lamp, VDC OFF indicator lamp, SLIP indicator
lamp and brake warning lamp are ON.
• ABS warning lamp, VDC OFF indicator lamp, SLIP indicator lamp and brake warning lamp are ON
during active test.
• Erase memory of the lane camera unit after implementing active test. Refer to CCS-436, "CONSULT-
III Function (LANE CAMERA)".
NOTE:
• When active test is performed while depressing the pedal, the pedal depression amount will change. This is
normal. (Only solenoid valve and ABS motor.)
• “TEST IS STOPPED” is displayed 10 seconds after operation start.
• After “TEST IS STOPPED” is displayed, to perform test again.
Test Item
ABS SOLENOID VALVE

• Touch “Up”, “Keep” and “Down”. Then use screen monitor to check that solenoid valve operates as shown in
the table below.

UNIT)]
Display (Note) A
Test item Display item
Up Keep Down
FR RH IN SOL Off On On
FR RH OUT SOL Off Off On*
B
FR RH SOL
USV[FR-RL] Off Off Off
HSV[FR-RL] Off Off Off C
FR LH IN SOL Off On On
FR LH OUT SOL Off Off On*
FR LH SOL
USV[FL-RR] Off Off Off D
HSV[FL-RR] Off Off Off
RR RH IN SOL Off On On
E
RR RH OUT SOL Off Off On*
RR RH SOL
USV[FL-RR] Off Off Off
HSV[FL-RR] Off Off Off F
RR LH IN SOL Off On On
RR LH OUT SOL Off Off On*
RR LH SOL G
USV[FR-RL] Off Off Off
HSV[FR-RL] Off Off Off
*: On for 1 to 2 seconds after the touch, and then Off. H
NOTE:
A brief moment of On/Off condition occurs every 20 seconds after ignition switch turned ON. This is not malfunction because it is an
operation for checking. I
ABS SOLENOID VALVE (ACT)
• Touch “Up”, “ACT UP” and “ACT KEEP”. Then use screen monitor to check that solenoid valve operates as
shown in the table below. J
Display (Note)
Up ACT UP ACT KEEP K
FR RH IN SOL Off Off Off
FR RH ABS SOLENOID FR RH OUT SOL Off Off Off

(ACT)
L
USV[FR-RL] Off On On
HSV[FR-RL] Off On* Off
FR LH IN SOL Off Off Off M
FR LH ABS SOLENOID FR LH OUT SOL Off Off Off
(ACT) USV[FL-RR] Off On On
HSV[FL-RR] Off On* Off
N
RR RH IN SOL Off Off Off
RR RH ABS SOLENOID RR RH OUT SOL Off Off Off CCS

(ACT) USV[FL-RR] Off On On
HSV[FL-RR] Off On* Off
RR LH IN SOL Off Off Off P
RR LH ABS SOLENOID RR LH OUT SOL Off Off Off

(ACT) USV[FR-RL] Off On On
HSV[FR-RL] Off On* Off
*: On for 1 to 2 seconds after the touch, and then Off.
NOTE:

UNIT)]
ABS MOTOR
• Touch “On” and “Off” on screen. Make sure motor relay and actuator relay operates as shown in table below.
Display
On Off
MOTOR RELAY On Off
ABS MOTOR
ACTUATOR RLY (Note) On On
NOTE:
ECU IDENTIFICATION
ABS actuator and electric unit (control unit) part number can be read.
SPECIFIC FUNCTION
Specific Data Monitor
Specific data monitor displays specific LDP operating conditions.
Monitor item (Unit) Remarks

YAW RATE SEN
Yaw rate detected by yaw rate/side G sensor
(d/s)
LDP) YAW ORDER
Calculated target yaw moment
(×100Nm)
LDP) WARN REQ Status of warning request that transmits to lane camera unit via CAN communi-
(On/Off) cation
LDP) WARN control
Status of warning main controller for LDP
(On/Off)
LDP) REDY signal Status of internal judgment by LDP controller [ABS actuator and electric unit
(On/Off) (control unit)]
LDP) STATUS signal Status of internal judgment by LDP controller [ABS actuator and electric unit
(STANDBY/WARN/MASK/Off) (control unit)]
LDP) Camera lost Lane marker detected condition received from lane camera unit via CAN com-
(Detect/Deviate/Both) munication
LDP) Lane unclear
Lane marker condition received from lane camera unit via CAN communication
(On/Off)

C1B00 CAMERA UNIT MALF
< DTC/CIRCUIT DIAGNOSIS > [LDW & LDP]
DTC/CIRCUIT DIAGNOSIS A
C1B00 CAMERA UNIT MALF
B
DTC DETECTION LOGIC

C
DTC Trouble diagnosis
DTC detecting condition DTC erase conditions Possible cause
No. name
C1B00 CAMERA UNIT MALF Lane camera unit internal malfunction Erase DTC with CONSULT-III Lane camera unit D
1.ERASE DTC E
Erase DTC memory of lane camera unit with self-diagnosis of CONSULT-III.

Is the DTC “C1B00” erased? F
NO >> Replace the lane camera unit.
G
CCS

C1B01 CAM AIMING INCMP
C1B01 CAM AIMING INCMP
DTC DETECTION LOGIC

No. name
• Lane camera aiming is
C1B01 CAM AIMING INCMP Camera aiming is not completed. Camera aiming is completed. not adjusted.
1.CAMERA AIMING
Perform the camera aiming. Refer to CCS-418, "CAMERA AIMING ADJUSTMENT : Description".
>> GO TO 2.
2.PERFORM SELF-DIAGNOSIS OF LANE CAMERA UNIT
Perform the self-diagnosis of lane camera unit with CONSULT-III.
Is the DTC “C1B01” detected?

C1B02 VHCL SPD DATA MALF
C1B02 VHCL SPD DATA MALF
A
DTC DETECTION LOGIC B

No. name C
• Vehicle speed signal
Lane camera unit detected vehicle
VHCL SPD DATA • ABS actuator and elec-
C1B02 speed signal error from ABS actuator Erase DTC with CONSULT-III
MALF tric unit (control unit) D
and electric unit (control unit).

1.DTC ERASE E
Erase the DTC memory of lane camera unit with CONSULT-III.

F
>> GO TO 2.
2.DTC CONFIRMATION
G
1. Turn ignition ON.
2. Drive at 40 km/h or more.
4. Perform the self-diagnosis of lane camera unit with CONSULT-III. H
Is the DTC “C1B02” detected?
J
1.PERFORM SELF-DIAGNOSIS OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
Perform self-diagnosis of ABS actuator and electric unit (control unit) with CONSULT-III.
Is any DTC detected? K
YES >> Perform trouble diagnosis of ABS actuator and electric unit (control unit). Refer to CCS-494, "DTC
Index".
NO >> Replace the lane camera unit. L
CCS

C1B03 ABNRML TEMP DETECT
C1B03 ABNRML TEMP DETECT
DTC DETECTION LOGIC

No. name
ABNRML TEMP DE- Temperature around lane camera unit Erase DTC with CON- Interior room temperature is
C1B03
TECT is excessively high. SULT-III excessively high.
1.COOLING LANE CAMERA UNIT

Cooling the lane camera unit.
>> GO TO 2.
2.ERASE DTC
Erase DTC memory of the lane camera unit with self-diagnosis of CONSULT-III.
Is the DTC “C1B03” erased?

C1B07 ABS DIAGNOSIS
C1B07 ABS DIAGNOSIS
A

No. name C
• Lane camera unit received that ABS
actuator and electric unit (control
unit) is detecting any DTC. D
ABS actuator and electric
C1B07 ABS DIAGNOSIS • Lane camera unit received that ABS Erase DTC with CONSULT-III
unit (control unit)
actuator and electric unit (control
unit) is performing “Work support”
or “Active test” with CONSULT-III. E
1.PERFORM SELF-DIAGNOSIS OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) F
Is any DTC detected? G
YES >> Perform trouble diagnosis of ABS actuator and electric unit (control unit). Refer to CCS-494, "DTC
Index".
NO >> GO TO 2. H
2.ERASE DTC
Is the DTC “C1B07” erased? I
J
CCS

vehicle is equipped with many electronic control units, and each control unit shares information and links with
with 2 communication lines (CAN H-line, CAN L-line) 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-32, "CAN Communication Signal Chart".
DTC DETECTION LOGIC
DTC
Trouble diagnosis name DTC detecting condition DTC erase conditions Possible cause
No.
When lane camera unit is not trans-
U1000 CAN COMM CIRCUIT mitting or receiving CAN communica- Erase DTC with CONSULT-III CAN communication
tion signal for 2 seconds or more.
1.ERASE DTC
>> GO TO 2.
Perform the self-diagnosis of the lane camera unit with CONSULT-III.
Is the DTC “U1000” displayed?

A
DTC
No. C
Lane camera unit detected internal
U1010 CONTROL UNIT (CAN) CAN communication circuit malfunc- Erase DTC with CONSULT-III Lane camera unit
tion. D
1.ERASE DTC E

Is the DTC “U1010” erased? F
G
CCS

U0122 VDC CAN CIR1 (LDP)
DTC DETECTION LOGIC

No. name
Lane camera unit detected an error of
• ABS actuator and electric
CAN communication signal that was Erase DTC with CON-
U0122 VDC CAN CIR1 (LDP) unit (control unit)
received from ABS actuator and elec- SULT-III
tric unit (control unit).

1.DTC ERASE
>> GO TO 2.
2.DTC CONFIRMATION
1. Turn ignition switch ON and wait for 2 seconds or more.
2. Perform the self-diagnosis of lane camera unit with CONSULT-III.
Is the DTC “U0122” detected?

YES >> GO TO 2.
NO >> GO TO 4.
2.ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) TROUBLE DIAGNOSIS
Perform trouble diagnosis of ABS actuator and electric unit (control unit). Refer to CCS-494, "DTC Index".
>> GO TO 3.
3.ERASE DTC
Is the DTC “U0122” erased?
4.PROVISIONAL REPLACEMENT OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
Remove ABS actuator and electric unit (control unit). Install the normal ABS actuator and electric unit (control
unit).
>> GO TO 5.
5.ERASE DTC
YES >> Replace ABS actuator and electric unit (control unit).

A
CCS

DTC DETECTION LOGIC

No. name
Lane camera unit detected an error of
CAN communication signal that was Erase DTC with CON-
U0416 VDC CAN CIR2 (LDP) unit (control unit)
received from ABS actuator and elec- SULT-III
tric unit (control unit).

1.DTC ERASE
>> GO TO 2.
2.DTC CONFIRMATION
2. Perform the self-diagnosis of lane camera unit with CONSULT-III.
NO >> Refer to GI-35, "Intermittent Incident"

YES >> GO TO 2.
NO >> GO TO 4.
2.ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) TROUBLE DIAGNOSIS
Perform trouble diagnosis of ABS actuator and electric unit (control unit). Refer to CCS-494, "DTC Index".
>> GO TO 3.
3.ERASE DTC
4.PROVISIONAL REPLACEMENT OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
Remove ABS actuator and electric unit (control unit). Install the normal ABS actuator and electric unit (control
unit).
>> GO TO 5.
5.ERASE DTC
YES >> Replace ABS actuator and electric unit (control unit).

A
CCS

C1B00 LDP) CAMERA MALF
C1B00 LDP) CAMERA MALF
DTC DETECTION LOGIC

No. name
unit) received that lane camera unit is
C1B00 LDP) CAMERA MALF Erase DTC with CONSULT-III Lane camera unit
detecting “C1B00” (Lane camera unit
internal malfunction).
1.LANE CAMERA UNIT TROUBLE DIAGNOSIS

Perform trouble diagnosis of the lane camera unit for “C1B00 CAMERA UNIT MALF”. Refer to CCS-445,
"DTC Logic".
>> GO TO 2.
2.ERASE DTC
Erase DTC memory of ABS actuator and electric unit (control unit) with self-diagnosis of CONSULT-III.
NO >> Replace ABS actuator and electric unit (control unit).

C1B04 LDP) ICC STG SW MALF
C1B04 LDP) ICC STG SW MALF
A
DTC
No. C
• ICC steering switch circuit
ABS actuator and electric unit (control • ICC steering switch
Erase DTC with CON-
C1B04 LDP) ICC STG SW MALF unit) received ICC steering switch • ECM D
SULT-III
malfunction from ECM. • ABS actuator and electric
unit (control unit)
1.ECM TROUBLE DIAGNOSIS

Perform trouble diagnosis of ECM for “P1564 ICC STEERING SWITCH”. Refer to the following item. F
• VQ35HR: EC-420, "Description"
• VK50VE: EC-1037, "Description"
G
>> GO TO 2.
2.ERASE DTC H
YES >> INSPECTION END I
CCS

C1B05 LDP) APP SEN MALF
C1B05 LDP) APP SEN MALF
DTC DETECTION LOGIC

No. name
• Accelerator pedal position
sensor
• Accelerator pedal position
unit) detects that accelerator pedal Erase DTC with CON-
C1B05 LDP) APP SEN MALF sensor circuit
position sensor signal is malfunction- SULT-III
• ECM
ing.
unit (control unit)

Perform trouble diagnosis of ECM for “P2122, P2123 APP SENSOR and P2127, P2128 APP SENSOR”.
Refer to the following items;
VQ35HR
• P2122, P2123 APP SENSOR: EC-444, "Description"
VK50VE
>> GO TO 2.
2.ERASE DTC

C1B06 LDP) TCM MALF
C1B06 LDP) TCM MALF
A

No. name C
• Any of A/T system com-
ABS actuator and electric unit (control ponents
Erase DTC with CON-
C1B06 LDP) TCM MALF unit) detects that TCM has a malfunc- • TCM D
SULT-III
tion. • ABS actuator and electric
unit (control unit)
1.PERFORM SELF-DIAGNOSIS OF TCM

Perform self-diagnosis of TCM with CONSULT-III. F
YES >> GO TO 2.
NO >> Replace ABS actuator and electric unit (control unit). G
2.TCM TROUBLE DIAGNOSIS
Perform trouble diagnosis of TCM. Refer to TM-166, "DTC Index" (VQ35HR) or TM-353, "DTC Index" H
(VK50VE).
>> GO TO 3. I
3.ERASE DTC
J
K
CCS

U0100 LDP) ECM CAN CIR2
DTC DETECTION LOGIC

No. name
• ECM
unit) detected an error of CAN com- Erase DTC with CON-
U0100 LDP) ECM CAN CIR2 • ABS actuator and electric
munication signal that was received SULT-III
unit (control unit)
from ECM.

1.DTC ERASE
Erase the DTC memory of ABS actuator and electric unit (control unit) with CONSULT-III.
>> GO TO 2.
2.DTC CONFIRMATION
2. Perform the self-diagnosis of ABS actuator and electric unit (control unit) with CONSULT-III.

Perform self-diagnosis of ECM with CONSULT-III.
YES >> GO TO 2.
NO >> GO TO 4.
Perform trouble diagnosis of ECM. Refer to EC-542, "DTC Index" (VQ35HR) or EC-1172, "DTC Index"
(VK50VE).
>> GO TO 3.
3.ERASE DTC
4.PROVISIONAL REPLACEMENT OF ECM
Remove ECM. Install a normal ECM.
>> GO TO 5.
5.ERASE DTC
YES >> Replace ECM.

A
CCS

U0101 LDP) TCM CAM CAN CIR2
DTC DETECTION LOGIC

No. name
• TCM
U0101 LDP) TCM CAN CIR2 • ABS actuator and electric
unit (control unit)
from TCM.

1.DTC ERASE
>> GO TO 2.
2.DTC CONFIRMATION
1.PERFORM SELF-DIAGNOSIS OF TCM

Perform self-diagnosis of TCM with CONSULT-III.
YES >> GO TO 2.
NO >> GO TO 4.
2.TCM TROUBLE DIAGNOSIS
Perform trouble diagnosis of TCM. Refer to TM-166, "DTC Index" (VQ35HR) or TM-353, "DTC Index"
(VK50VE).
>> GO TO 3.
3.ERASE DTC
4.PROVISIONAL REPLACEMENT OF TCM
Remove TCM. Install a normal TCM.
>> GO TO 5.
5.ERASE DTC
YES >> Replace TCM.

A
CCS

U0104 LDP) ICC CAM CAN CIR2
DTC DETECTION LOGIC

No. name
LDP) ICC CAM CAN unit) detected an error of CAN com- Erase DTC with CON-
U0104 • ABS actuator and electric
CIR2 munication signal that was received SULT-III
unit (control unit)
from ICC sensor integrated unit.

1.DTC ERASE
>> GO TO 2.
2.DTC CONFIRMATION
1.PERFORM SELF-DIAGNOSIS OF ICC SENSOR INTEGRATED UNIT

Perform ICC sensor integrated unit self-diagnosis with CONSULT-III.
YES >> GO TO 2.
NO >> GO TO 4.
2.ICC SENSOR INTEGRATED UNIT TROUBLE DIAGNOSIS
Perform trouble diagnosis of ICC sensor integrated unit. Refer to CCS-158, "DTC Index".
>> GO TO 3.
3.ERASE DTC
4.PROVISIONAL REPLACEMENT OF ICC SENSOR INTEGRATED UNIT
Remove ICC sensor integrated unit. Install a normal ICC sensor integrated unit.
>> GO TO 5.
5.ERASE DTC
YES >> Replace ICC sensor integrated unit.

A

No. name C
LDP) ICC CAM CAN unit) detected an error of CAN com- Erase DTC with CON-
U0405 • ABS actuator and electric
CIR1 munication signal that was received SULT-III D
unit (control unit)
from ICC sensor integrated unit.

1.DTC ERASE E
F
>> GO TO 2.
2.DTC CONFIRMATION
G
H
Diagnosis Procedure INFOID:0000000003867095 I
1.PERFORM SELF-DIAGNOSIS OF ICC SENSOR INTEGRATED UNIT

Perform ICC sensor integrated unit self-diagnosis with CONSULT-III. J
YES >> GO TO 2.
NO >> GO TO 4. K
2.ICC SENSOR INTEGRATED UNIT TROUBLE DIAGNOSIS
Perform trouble diagnosis of ICC sensor integrated unit. Refer to CCS-158, "DTC Index". L
>> GO TO 3.
3.ERASE DTC M
Is the DTC “U0405” erased? N
4.PROVISIONAL REPLACEMENT OF ICC SENSOR INTEGRATED UNIT CCS
Remove ICC sensor integrated unit. Install a normal ICC sensor integrated unit.
P
>> GO TO 5.
5.ERASE DTC
YES >> Replace ICC sensor integrated unit.

U1500 LDP) CAM CAN CIR1
DTC DETECTION LOGIC

No. name
U1500 LDP) CAM CAN CIR1 • ABS actuator and electric
unit (control unit)
from the lane camera unit.

1.DTC ERASE
>> GO TO 2.
2.DTC CONFIRMATION

Perform self-diagnosis of lane camera unit with CONSULT-III.
YES >> GO TO 2.
NO >> GO TO 4.
Perform trouble diagnosis of the lane camera unit. Refer to CCS-483, "DTC Index".
>> GO TO 3.
3.ERASE DTC
4.PROVISIONAL REPLACEMENT OF LANE CAMERA UNIT
Remove the lane camera unit. Install a normal lane camera unit.
>> GO TO 5.
5.ERASE DTC

A

No. name C
U1501 LDP) CAM CAN CIR2 • ABS actuator and electric
munication signal that was received SULT-III D
unit (control unit)
from the lane camera unit.

1.DTC ERASE E
F
>> GO TO 2.
2.DTC CONFIRMATION
G
H
Diagnosis Procedure INFOID:0000000003867099 I

Perform self-diagnosis of lane camera unit with CONSULT-III. J
YES >> GO TO 2.
NO >> GO TO 4. K
Perform trouble diagnosis of the lane camera unit. Refer to CCS-483, "DTC Index". L
>> GO TO 3.
3.ERASE DTC M
Is the DTC “U1501” erased? N
4.PROVISIONAL REPLACEMENT OF LANE CAMERA UNIT CCS
Remove lane camera unit. Install a normal lane camera unit.
P
>> GO TO 5.
5.ERASE DTC

LANE CAMERA UNIT
LANE CAMERA UNIT : Diagnosis Procedure INFOID:0000000003867100
1.FUSE INSPECTION
Check that the following fuses are not fusing.
Signal name Connection position Fuse No. Capacity

Ignition power supply FUSE BLOCK (J/B) 3 10 A
Is the fuse fusing?
YES >> Replace the blown fuse after repairing the affected circuit.
NO >> GO TO 2.
2.CHECK POWER SUPPLY CIRCUIT
Check voltage between the lane camera unit harness connector and ground.
Terminals
Condition
(+) (−) Voltage
Lane camera unit (Approx.)
Ignition switch
Connector Terminal
Ground
OFF 0V
R8 1
ON Battery voltage
Is the measurement value normal?
YES >> GO TO 3.
NO >> Check harness between lane camera unit and fuse.
3.CHECK GROUND CIRCUIT
2. Disconnect the lane camera unit connector.
3. Check continuity between the lane camera unit harness connectors and ground.
Lane camera unit

Continuity
Connector Terminal
Ground
6
R8 Existed
12
Does continuity exist?
YES >> Power supply and ground circuit are normal.
NO >> Repair harness or connector.

LDW SWITCH CIRCUIT
LDW SWITCH CIRCUIT
A
1.CHECK LDW SWITCH SIGNAL BY CONSULT-III B

CONSULT-III DATA MONITOR
2. Select “LDW SW” of “LANE CAMERA” data monitor item. C
3. With operating the LDW switch, check the monitor status.
Monitor item Condition Monitor status D

LDW SW LDW switch Pressed ⇔ Released On ⇔ Off
Is the item status normal?
E
YES >> LDW switch circuit is normal.
Diagnosis Procedure INFOID:0000000003867102 F
1.CHECK LDW SWITCH SIGNAL INPUT

1. Turn the ignition switch ON. G
2. With operating the LDW switch, check the voltage between the lane camera unit harness connector and
the ground.
H
Terminals
Condition
(+) (−) Voltage
Lane camera unit (Approx.) I
LDW switch
Connector Terminal
Ground
Pressed 0V J
R8 9
Released 5V
YES >> Replace the lane camera unit. K
NO >> GO TO 2.
2.CHECK LDW SWITCH L
2. Remove LDW switch.
3. Check LDW switch. Refer to CCS-470, "Component Inspection".
M
Is the LDW switch normal?
YES >> GO TO 3.
NO >> Replace LDW switch.
N
3.CHECK LDW SWITCH GROUND CIRCUIT
Check continuity between LDW switch harness connector terminal and the ground.
CCS
LDW switch
Continuity
P
M29 6 Existed
YES >> GO TO 4.
NO >> Repair harness or connector.
4.CHECK LDW SWITCH SIGNAL INPUT CIRCUIT FOR OPEN

LDW SWITCH CIRCUIT
2. Check continuity between the lane camera unit harness connector and LDW switch harness connector.
Lane camera unit LDW switch

Continuity
R8 9 M29 7 Existed
YES >> GO TO 5.
5.CHECK LDW SWITCH SIGNAL INPUT CIRCUIT FOR SHORT
Check continuity between the lane camera unit harness connector and ground.
Lane camera unit

Continuity
R8 9 Not existed
YES >> Repair the harnesses or connectors.
1.CHECK LDW SWITCH

Check continuity of LDW switch.
LDW switch Condition

Continuity
Terminal LDW switch
Pressed Existed
6 7
Released Not existed
Is the check result normal?
YES >> LDW switch is normal.

LDW ON INDICATOR CIRCUIT
A
1.CHECK LDW ON INDICATOR BY CONSULT-III B

CONSULT-III ACTIVE TEST
2. Select “LDW ON IND” of “LANE CAMERA” active test item. C
3. With operating the test item, check the operation.
On : LDW ON indicator illuminates. D

Off : LDW ON indicator is turned OFF.
Does the LDW ON indicator illuminate?
E
YES >> LDW ON indicator circuit is normal.
F
1.CHECK LDW ON INDICATOR POWER SUPPLY CIRCUIT

2. Disconnect LDW switch connector.
4. Check voltage between LDW switch harness connector and ground.
H
Terminals
(+) (−) Voltage I
LDW switch (Approx.)

J
YES >> GO TO 2. K
NO >> Check harness between fuse and LDW switch.
2.CHECK LDW ON INDICATOR SIGNAL FOR OPEN
1. Turn ignition switch OFF. L
2. Disconnect the lane camera unit harness connector.
3. Check continuity between the lane camera unit harness connector and LDW switch harness connector.
M
Lane camera unit LDW switch
Continuity
N
R8 4 M29 2 Existed
YES >> GO TO 3. CCS
3.CHECK LDW ON INDICATOR SIGNAL CIRCUIT FOR SHORT
Check continuity between the lane camera unit harness connector and ground. P
Lane camera unit

Continuity
R8 4 Not existed

NO >> GO TO 4.
4.CHECK LDW ON INDICATOR
1. Connect LDW switch connector.
3. Apply ground to LDW switch terminal 2.
4. Check condition of the LDW ON indicator.
Does LDW ON indicator illuminate?

LANE DEPARTURE WARNING BUZZER CIRCUIT
A
1.CHECK LANE DEPARTURE WARNING BUZZER BY CONSULT-III B

CONSULT-III ACTIVE TEST
2. Select “BUZZER DRIVE” of “LANE CAMERA” active test item. C
3. With operating the test item, check the operation.
On : Lane departure warning buzzer is activated. D

Off : Lane departure warning buzzer is not activated.
Is the lane departure warning buzzer activated?
E
YES >> Lane departure warning buzzer circuit is normal.
F
1.CHECK LANE DEPARTURE WARNING BUZZER POWER SUPPLY CIRCUIT

2. Disconnect the lane departure warning buzzer connector.
4. Check voltage between the lane departure warning buzzer harness connector and ground.
H
Terminals
(+) (−) Voltage I
Lane departure warning buzzer (Approx.)

J
YES >> GO TO 2. K
NO >> Check harness between fuse and lane departure warning buzzer.
2.CHECK LANE DEPARTURE WARNING BUZZER GROUND CIRCUIT
1. Turn ignition switch OFF. L
2. Check continuity between lane departure warning buzzer harness connector and ground.
Lane departure warning buzzer M

Continuity
M45 3 Existed
N
YES >> GO TO 3.
NO >> Repair the harnesses or connectors. CCS
3.CHECK LANE DEPARTURE WARNING BUZZER SIGNAL CIRCUIT FOR OPEN
2. Check continuity between the lane camera unit harness connector and lane departure warning buzzer P
harness connector.
Lane departure warning

Lane camera unit
buzzer Continuity
R8 3 M45 2 Existed

YES >> GO TO 4.
4.CHECK LANE DEPARTURE WARNING BUZZER SIGNAL CIRCUIT FOR SHORT
Check continuity between the lane camera unit harness connector and ground.
Lane camera unit

Continuity
R8 3 Not existed
NO >> GO TO 5.
5.CHECK LANE DEPARTURE WARNING BUZZER OPERATION
1. Connect lane departure warning buzzer connector.
3. Apply ground to lane departure warning buzzer terminal 2.
4. Check condition of the lane departure warning buzzer.
Does lane departure warning buzzer sound?
NO >> Replace lane departure warning buzzer.

LANE CAMERA UNIT
< ECU DIAGNOSIS INFORMATION > [LDW & LDP]
ECU DIAGNOSIS INFORMATION A

LANE CAMERA UNIT
B

CONSULT-III MONITOR ITEM C
LDW switch (FCW switch) is ON. (LDW ON indicator illuminates.) On
LDW SW D
LDW switch (FCW switch) is OFF. (LDW ON indicator OFF.) Off
LDW ON indicator (FCW ON indicator) illuminates. On
LDW ON LAMP
LDW ON indicator (FCW ON indicator) OFF Off E
LDP ON indicator lamp illuminates. On
LDP ON IND
LDP ON indicator lamp OFF Off
F
Lane departure warning lamp illuminates. On
LANE DPRT W/L
Lane departure warning lamp OFF Off
Lane departure warning buzzer is sounding. On G
BUZZER OUTPUT
Lane departure warning buzzer is not sounding. Off
Lane camera malfunction On
LC INACCURAT H
Lane camera normal Off
Approximately equivalent to speed-
VHCL SPD SE While driving
ometer reading
I
Turn signal lamp LH and RH blinking. LH/RH
Turn signal lamp LH blinking. LH
TURN SIGNAL
Turn signal lamp RH blinking. RH J
Turn signal lamps OFF. Off
Left side lane marker is detected. On
LANE DETCT LH K
Left side lane marker is not detected. Off
Right side lane marker is detected. On
LANE DETCT RH
Right side lane marker is not detected. Off
L
The vehicle is crossing left side lane marker. On
CROSS LANE LH
The vehicle is not crossing left side lane marker. Off
The vehicle is crossing right side lane marker. On M
CROSS LANE RH
The vehicle is not crossing right side lane marker. Off
Warning for left side lane. On
WARN LANE LH N
Not warning for left side lane. Off
Warning for right side lane. On
WARN LANE RH
Not warning for right side lane. Off CCS
Lateral position for left side lane marker is valid. VLD
VALID POS LH
Lateral position for left side lane marker is invalid. INVLD
P
Lateral position for right side lane marker is valid. VLD
VALID POS RH
Lateral position for right side lane marker is invalid. INVLD
AIMING DONE
Camera aiming is not adjusted. NG
AIMING RESULT
Camera aiming is not completed. NOK

LANE CAMERA UNIT
XOFFSET Camera aiming is completed. Approx. 180 pixel
NOTE:
CHK AIM YAW —
NOTE:
CHK AIM ROLL —
NOTE:
CHK AIM PITCH —
FCTRY AIM YAW
Camera aiming is not completed. 0.0 deg
FCTRY AIM ROL
FCTRY AIM PIT
TERMINAL LAYOUT
JPOIA0280ZZ
PHYSICAL VALUES
Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
1
Ground Ignition power supply Input Ignition switch ON Battery voltage
(Y)
3 Sounding 0V
Ground Lane departure warning buzzer Output Lane departure warning buzzer
(R) Not sounding 12 V
4 Illuminated 0V
Ground LDW ON indicator Output LDW ON indicator
(SB) OFF 12 V
5
Ground CAN-L — — —
(P)
6
(B)
9 Pressed 0V
Ground LDW switch Input LDW switch
(V) Released 5V
10
Ground CAN-H — — —
(L)
12
(B)

LANE CAMERA UNIT
Wiring Diagram - LDW & LDP - INFOID:0000000003867109
CCS
JCOWM0046GB
P

LANE CAMERA UNIT
JCOWM0047GB

LANE CAMERA UNIT
CCS
JCOWM0048GB

LANE CAMERA UNIT
JCOWM0049GB

LANE CAMERA UNIT
CCS
JCOWM0050GB

LANE CAMERA UNIT
JCOWM0051GB
Fail-safe INFOID:0000000003867110
FAIL-SAFE CONTROL BY DTC

When any DTC is detected, the LDW/LDP systems do not operate.
TEMPORARY DISABLED STATUS AT HIGH TEMPERATURE
When using LDW

LANE CAMERA UNIT
(40°C)] and then started, the system may sound a buzzer and cancel automatically. In this case LDW ON A
indicator will blink.
• When the interior temperature is reduced, LDW ON indicator is turned ON.
When using LDP B
(40°C)] and then started, the system may sound a buzzer and cancel automatically. In this case LDP ON
indicator lamp will blink. C
• When the interior temperature is reduced, LDP ON indicator lamp is turned ON.
D
If some DTCs are displayed at the same time, perform inspections one by one based on the following priority
chart.
E
1
F
2
3 C1B00: CAMERA UNIT MALF
G
• C1B01: CAM AIMING INCMP
• C1B02: VHCL SPD DATA MALF
4
• C1B03: ABNRML TEMP DETECT
• C1B07: ABS DIAGNOSIS H
×: Applicable
I
Lane departure LDP ON indicator Reference
DTC LDW ON indicator Fail-safe
warning lamp lamp page
C1B00 CAMERA UNIT MALF ON — — × CCS-445
J
C1B01 CAM AIMING INCMP Blink — — × CCS-446

C1B02 VHCL SPD DATA MALF ON — — × CCS-447 K
Blink Blink
C1B03 ABNRML TEMP DETECT — × CCS-448
(When using LDW) (When using LDP)
C1B07 ABS DIAGNOSIS ON — — × CCS-449 L
U1000 CAN COMM CIRCUIT ON — — × CCS-450
U1010 CONTROL UNIT (CAN) ON — — × CCS-451
M
CCS

ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)

CAUTION:
The display shows the control unit calculation data, so a normal value might be displayed even in the
event the output circuit (harness) is open or short-circuited.
Data monitor
Monitor item Display content Reference value in
Condition
normal operation
Vehicle stopped 0 [km/h (MPH)]
FR LH SENSOR Wheel speed Nearly matches the

Vehicle running
speedometer dis-
(Note 1)
play (± 10% or less)
FR RH SENSOR Wheel speed Nearly matches the

Vehicle running
speedometer dis-
(Note 1)
RR LH SENSOR Wheel speed Nearly matches the

Vehicle running
speedometer dis-
(Note 1)
RR RH SENSOR Wheel speed Nearly matches the

Vehicle running
speedometer dis-
(Note 1)
STOP LAMP SW Stop lamp switch signal status
Battery voltage supplied to the ABS ac-
BATTERY VOLT Ignition switch ON 10 – 16 V
tuator and electric unit (control unit)
P position P
R position R
SLCT LVR POSI A/T selector lever position
N position N
D position D
Vehicle stopped Approx. 0 d/s
Yaw rate detected by yaw rate/side G
YAW RATE SEN Vehicle turning right Negative value
sensor
Vehicle turning left Positive value
Accelerator pedal not depressed
Throttle actuator opening/closing is 0%
(ignition switch is ON)
ACCEL POS SIG displayed (linked with accelerator ped-
al) Depress accelerator pedal
0 - 100 %
(ignition switch is ON)
Vehicle stopped Approx. 0 m/s2
Transverse G detected by side G sen-
SIDE G-SENSOR Vehicle turning right Negative value
sor
Vehicle turning left Positive value
Driving straight ±2.5°
Steering angle detected by steering an-
STR ANGLE SIG Turn 90° to right Approx. +90°
gle sensor
Turn 90° to left Approx. –90°
With ignition switch turned ON and brake
Approx. 0 bar
Brake fluid pressure detected by pres- pedal released
PRESS SENSOR
sure sensor With ignition switch turned ON and brake
Approx. 0 to 300 bar
pedal depressed

Data monitor
Monitor item Display content A
Reference value in
Condition
normal operation
With engine stopped 0 [tr/min (rpm)]
B
ENGINE RPM With engine running Almost in accor-
Engine running dance with tachome-
ter display
When VDC OFF switch ON C
On
(VDC OFF indicator lamp ON)
OFF SW VDC OFF switch signal status
When VDC OFF switch OFF
Off
(VDC OFF indicator lamp OFF) D
When brake fluid level switch ON On
FLUID LEV SW Brake fluid level switch signal status
When brake fluid level switch OFF Off
E
Parking brake switch is active On
PARK BRAKE SW Parking brake switch signal status
Parking brake switch is inactive Off
Actuator (solenoid valve) is active (“AC- F
On
TIVE TEST” with CONSULT-III)
Operation status of each solenoid
FR RH IN SOL When the actuator (solenoid valve) is not
valve
active and actuator relay is active (igni- Off
G
tion switch ON)
Actuator (solenoid valve) is active (“AC-
On
Operation status of each solenoid H
FR RH OUT SOL When the actuator (solenoid valve) is not
valve
tion switch ON)
I
On
FR LH IN SOL When the actuator (solenoid valve) is not
valve
active and actuator relay is active (igni- Off J
tion switch ON)
On
TIVE TEST” with CONSULT-III) K
FR LH OUT SOL When the actuator (solenoid valve) is not
valve
tion switch ON)
L
On
RR RH IN SOL When the actuator (solenoid valve) is not
valve M
tion switch ON)
On N
RR RH OUT SOL When the actuator (solenoid valve) is not
valve
tion switch ON) CCS
On
RR LH IN SOL
valve When the actuator (solenoid valve) is not P
tion switch ON)
On
RR LH OUT SOL When the actuator (solenoid valve) is not
valve
tion switch ON)

Data monitor
Condition
normal operation
When the motor relay and motor are op-
On
erating
MOTOR RELAY Motor and motor relay operation
When the motor relay and motor are not
Off
operating
ACTUATOR RLY When the actuator relay is operating On

Actuator relay operation
(Note 2) When the actuator relay is not operating Off
ABS warning lamp When ABS warning lamp is ON On

ABS WARN LAMP
(Note 3) When ABS warning lamp is OFF Off
VDC OFF indicator lamp When VDC OFF indicator lamp is ON On

OFF LAMP
(Note 3) When VDC OFF indicator lamp is OFF Off
SLIP indicator lamp When SLIP indicator lamp is ON On

SLIP LAMP
(Note 3) When SLIP indicator lamp is OFF Off
EBD is active On
EBD SIGNAL EBD operation
EBD is inactive Off
ABS is active On
ABS SIGNAL ABS operation
ABS is inactive Off
TCS is active On
TCS SIGNAL TCS operation
TCS is inactive Off
VDC is active On
VDC SIGNAL VDC operation
VDC is inactive Off
In ABS fail-safe On
ABS FAIL SIG ABS fail-safe signal
ABS is normal Off
In TCS fail-safe On
TCS FAIL SIG TCS fail-safe signal
TCS is normal Off
In VDC fail-safe On
VDC FAIL SIG VDC fail-safe signal
VDC is normal Off
Crank is active On
CRANKING SIG Crank operation
Crank is inactive Off
When actuator (switch-over valve) is ac-
On
tive (“ACTIVE TEST” with CONSULT-III)
USV [FL-RR]
VDC switch-over valve When actuator (switch-over valve) is not
(Note 2)
tion switch ON)
On
USV [FR-RL]
(Note 2)
tion switch ON)
On
HSV [FL-RR]
(Note 2)
tion switch ON)

Data monitor
Monitor item Display content A
Reference value in
Condition
normal operation
On B
HSV [FR-RL]
(Note 2)
tion switch ON) C
Booster is active On
BST OPER SIG Booster operation signal
Booster is inactive Off
D
When the solenoid valve relay is active
On
V/R OUTPUT (When ignition switch OFF)
Solenoid valve relay activated
(Note 2) When the solenoid valve relay is not ac-
Off E
tive (in the fail-safe mode)
When the actuator motor and motor relay
are active On
Actuator motor and motor relay activat- (“ACTIVE TEST” with CONSULT-III) F
M/R OUTPUT
ed
When the actuator motor and motor relay
Off
are inactive
Accelerator pedal is not depressed (Igni- G
0%
LDP) APP SEN Accelerator pedal position sensor sta- tion switch ON)
(Note 4) tus Depress accelerator pedal
0 - 100 %
(Ignition switch ON) H
LDP)YAW ORDER LDP is controlling to right side deviation Negative value
Calculated target yaw moment status
(Note 4) (Note 5) LDP is controlling to left side deviation Positive value
Shift position is not received Off
I
LDP) SHIFT POSITION
Shift position Selector lever position P/R/N/D
(Note 4)
When using manual mode MM 1st – MM 7th J
LDP) ICC MAIN SW ICC main switch is ON On
ICC main switch
(Note 4) ICC main switch is OFF Off
LDP ON switch is ON On K
LDP) LDP ON SW
LDP ON switch
(Note 4) LDP ON switch is OFF Off
Front wiper is OFF. Stop
L
Front wiper stops at fail-safe operation PRTCT
LDP) WIPER SIGNAL
Front wiper operation Front wiper INT is operating. 1low
(Note 4)
Front wiper LO is operating. Low M
Front wiper HI is operating. High
Turn signal is OFF. Off
N
LDP) TURN SIGNAL Turn signal lamp RH is blinking. LH
Turn signal operation
(Note 4) Turn signal lamp LH is blinking. RH
Turn signal lamp LH and RH are blinking. LH&RH CCS
LDP) STOP LMP SW When brake pedal is depressed On
Stop lamp switch signal status
(Note 4) When brake pedal is not depressed Off
P
LDP) BRAKE SW
Brake switch signal status
(Note 4) When brake pedal is depressed Off
Lane departure warning is operating.
LDP) WARN REQ On
Lane departure warning request status (When using LDP)
(Note 4) (Note 5)
Lane departure warning is not operating. Off

Data monitor
Condition
normal operation
LDP)WARN CONTROL When using LDP On

Warning main controller status
(Note 4) (Note 5) When using LDW Off
LDP)REDY SIGNAL LDP control is ready. On

LDP ready status
(Note 4) (Note 5) LDP control is not ready. Off
LDP control is standby. STANDBY
Lane departure warning is operating.
LDP)STATUS SIGNAL WARN
LDP control status (When using LDP)
(Note 4) (Note 5)
LDP control is stopped. MASK
LDP control is OFF. Off
LDW switch is ON
On
LDP) LDW SW (LDW ON indicator is ON)
LDW switch condition
(Note 4) LDW switch is OFF
Off
(LDW ON indicator is OFF)
Both side lane markers are detected. Detect
LDP)CAMERA LOST
Lane marker detected condition Deviate side lane marker is lost. Deviate
(Note 4) (Note 5)
Both side lane markers are lost. Both
LDP)LANE UNCLEAR Lane marker is unclear. On

Lane marker condition
(Note 4) (Note 5) Lane marker is clear. Off
NOTE:
• 1: Confirm tire pressure is normal.
• 2: A brief moment of On/Off condition occurs every 20 seconds after ignition switch turned ON. This is not malfunction because it is an
• 3: On and off timing for warning lamp and indicator lamp.
- ABS warning lamp: Refer to BRC-107, "Description".
- Brake warning lamp: Refer to BRC-108, "Description".
- VDC OFF indicator lamp: Refer to BRC-109, "Description".
- SLIP indicator lamp: Refer to BRC-110, "Description".
- Lane departure warning lamp: Refer to CCS-428, "System Description".
• 4: With LDP models.
• 5:The item displayed on “SPECIFIC DATA MONITOR” in “Specific Function”.

Wiring Diagram - BRAKE CONTROL SYSTEM - INFOID:0000000004177800
CCS
P
JCFWM0185GB

JCFWM0186GB

CCS
JCFWM0187GB

JCFWM0188GB

CCS
JCFWM0189GB
P
Fail-Safe INFOID:0000000003867132
ABS, EBD SYSTEM

If ABS malfunction electrically, ABS warning lamp, VDC OFF indicator lamp, SLIP indicator lamp will turn on. If
EBD malfunction electrically, brake warning lamp, ABS warning lamp, VDC OFF indicator lamp and SLIP indi-
cator lamp will turn on. Simultaneously, the VDC/TCS/ABS become one of the following conditions of the fail-
safe function.

• For malfunction of ABS, only the EBD is activated and the condition of vehicle is the same condition of vehi-
cles without TCS/ABS system.
NOTE:
ABS self-diagnosis sound may be heard. That is a normal condition because a self-diagnosis for “Ignition
switch ON” and “The first starting” are being performed.
• For malfunction of EBD, EBD and ABS become inoperative, and the condition of vehicle is the same as the
condition of vehicles without TCS/ABS, EBD system.
VDC/TCS
If VDC/TCS/ABS system malfunction electrically, VDC OFF indicator lamp, SLIP indicator lamp are turned on,
and the condition of vehicle is the same as the condition of vehicles without VDC/TCS control.
CAUTION:
If the Fail-Safe function is activated, then perform self-diagnosis for VDC/TCS/ABS control system.
LDW/LDP SYSTEM
• In case of malfunction in the LDW/LDP system, lane departure warning lamp is turned ON, and the condition
of vehicle is the same as the condition of vehicles without LDW/LDP control.
• In case of malfunction in the VDC/TCS/ABS system, lane departure warning lamp is turned ON, and the
condition of vehicle is the same as the condition of vehicles without LDW/LDP control.
DTC Items (CONSULT screen terms) Reference

C1101 RR RH SENSOR-1
C1102 RR LH SENSOR-1
BRC-50, "DTC Logic"
C1103 FR RH SENSOR-1
C1104 FR LH SENSOR-1
C1105 RR RH SENSOR-2
C1106 RR LH SENSOR-2
BRC-53, "DTC Logic"
C1107 FR RH SENSOR-2
C1108 FR LH SENSOR-2
C1109 BATTERY VOLTAGE [ABNORMAL] BRC-56, "DTC Logic"
C1110 CONTROLLER FAILURE BRC-58, "DTC Logic"
C1111 PUMP MOTOR BRC-59, "DTC Logic"
C1114 MAIN RELAY BRC-61, "DTC Logic"
C1115 ABS SENSOR [ABNORMAL SIGNAL] BRC-63, "DTC Logic"
C1116 STOP LAMP SW BRC-66, "DTC Logic"
C1120 FR LH IN ABS SOL BRC-68, "DTC Logic"
C1121 FR LH OUT ABS SOL BRC-70, "DTC Logic"
C1122 FR RH IN ABS SOL BRC-68, "DTC Logic"
C1123 FR RH OUT ABS SOL BRC-70, "DTC Logic"
C1124 RR LH IN ABS SOL BRC-68, "DTC Logic"
C1125 RR LH OUT ABS SOL BRC-70, "DTC Logic"
C1126 RR RH IN ABS SOL BRC-68, "DTC Logic"
C1127 RR RH OUT ABS SOL BRC-70, "DTC Logic"
C1130 ENGINE SIGNAL 1 BRC-72, "DTC Logic"
C1137 RAS CIRCUIT (Note 1) BRC-73, "DTC Logic"
C1142 PRESS SEN CIRCUIT BRC-74, "DTC Logic"
C1143 ST ANG SEN CIRCUIT BRC-76, "DTC Logic"
C1144 ST ANG SEN SIGNAL BRC-78, "DTC Logic"

DTC Items (CONSULT screen terms) Reference
A
C1145 YAW RATE SENSOR
BRC-79, "DTC Logic"
C1146 SIDE G-SEN CIRCUIT
C1147 USV LINE [FL-RR] B
C1148 USV LINE [FR-RL]
BRC-82, "DTC Logic"
C1149 HSV LINE [FL-RR]
C1150 HSV LINE [FR-RL] C
C1153 EMERGENCY BRAKE BRC-58, "DTC Logic"
C1154 PNP POSI SIG BRC-85, "DTC Logic"
D
C1155 BR FLUID LEVEL LOW BRC-87, "DTC Logic"
C1156 ST ANG SEN COM CIR BRC-89, "DTC Logic"
C1170 VARIANT CORDING BRC-58, "DTC Logic" E
C1185 ACC CONT (Note 2) BRC-90, "DTC Logic"
C1197 VACUUM SENSOR (Note 3) BRC-91, "DTC Logic"
F
C1198 VACUUM SEN CIR (Note 3) BRC-93, "DTC Logic"
C1199 BRAKE BOOSTER (Note 3) BRC-95, "DTC Logic"
C119A VACUUM SEN VOLT (Note 3) BRC-97, "DTC Logic" G
BRC-99, "DTC Logic"
U1002 SYSTEM COMM
H
U1100 ACC COMM CIRCUIT (Note 2) BRC-100, "DTC Logic"
C1B00 LDP) CAMERA MALF (Note 4) CCS-456, "DTC Logic"
C1B04 LDP) ICC STG SW MALF (Note 4) CCS-457, "DTC Logic" I
C1B05 LDP) APP SEN MALF (Note 4) CCS-458, "DTC Logic"
C1B06 LDP) TCM MALF (Note 4) CCS-459, "DTC Logic"
U0100 LDP) ECM CAN CIR2 (Note 4) CCS-460, "DTC Logic"
J
U0101 LDP) TCM CAM CAN CIR2 (Note 4) CCS-462, "DTC Logic"
U0104 LDP) ICC CAM CAN CIR2 (Note 4) CCS-464, "DTC Logic"
K
U0405 LDP) ICC CAM CAN CIR1 (Note 4) CCS-465, "DTC Logic"
U1500 LDP) CAM CAN CIR1 (Note 4) CCS-466, "DTC Logic"
U1501 LDP) CAM CAN CIR2 (Note 4) CCS-467, "DTC Logic" L
NOTE:
1: With RAS models
2: With ICC models
M
3: With VK50VE models
4: With LDP models
N
CCS

LDW & LDP SYSTEM SYMPTOMS
< SYMPTOM DIAGNOSIS > [LDW & LDP]
SYMPTOM DIAGNOSIS
CAUTION:
Perform the self-diagnosis with CONSULT-III before the symptom diagnosis. Perform the trouble diag-
nosis if any DTC is detected.

• Lane departure warning lamp
signal (CAN) • LANE CAMERA Active test
- Unified meter and A/C amp. “LANE DEPARTURE W/L”
lamp (Yellow) does not illumi-
- Lane camera unit • METER/M&A Data monitor
nate.
• Lane departure warning lamp “LANE W/L”
(Combination meter)
• LDP ON indicator lamp signal
(CAN) • LANE CAMERA Active test
LDP ON indicator lamp - Unified meter and A/C amp. “LDP ON IND”
(Green) does not illuminate. - Lane camera unit • METER/M&A Data monitor
• LDP ON indicator lamp “LDP IND”
(Combination meter)
• Harness between lane cam-
Indicator/warning lamps do not il-
LDW ON indicator (on the era unit and LDW switch.
luminate when ignition switch LDW ON indicator circuit
LDW switch) does not illumi- • LDW ON indicator
OFF ⇒ ON. CCS-471
nate. (LDW switch)
• Combination meter
lamp (Yellow) and LDP ON
• Unified meter and A/C amp. —
indicator lamp (Green) do not
illuminate.
All of indicator/warning
lamps do not illuminate;
• Lane departure warning • Power supply and ground cir- Power supply and ground circuit
lamp (Yellow) cuit of lane camera unit of lane camera unit
• LDP ON indicator lamp • Lane camera unit CCS-468
(Green)
• LDW ON indicator
LDW ON indicator is not era unit and LDW switch.
LDW switch circuit
turned ON ⇔ OFF when op- • Harness between LDW
CCS-469
erating LDW switch. switch and ground.
• Harness between the fuse
and lane departure warning
buzzer.
LDW system is not activated.
Lane departure warning era unit and lane departure
(Indicator/warning lamps illumi- Lane departure warning buzzer
buzzer is not sounding. warning buzzer.
nate when ignition switch OFF ⇒ circuit
(Lane departure warning • Harness between lane depar-
ON.) CCS-473
lamp is activated.) ture warning buzzer and
ground.
• Lane departure warning buzz-
er
lamp is not activated.
Lane camera unit —
(Lane departure warning
buzzer is sounding.)

A
LDP ON indicator lamp is not
LDP ON switch LDP ON switch
turned ON ⇔ OFF when op-
(ICC steering switch) (ICC steering switch)
erating LDP ON switch.
• Cause of auto-cancel B
LDP system is not activated.
Warning is functioning but CCS-436
(LDW system is functioning nor- —
yawing is not functioning. • Normal operating condition
mally)
CCS-498
C
• ABS actuator and electric unit
Yawing is functioning but
(control unit) —
warning is not functioning.
D
Warning functions are not timely.
(Example)
• Camera aiming adjustment Camera aiming adjustment
• Does not function when driving on lane markers.
• Lane camera unit CCS-418
• Functions when driving in a lane. E
• Functions in a different position from the actual position.
Turn signal
Functions when changing the course in direction of the turn sig- LANE CAMERA Data monitor
• BCM
nal.
• Lane camera unit “TURN SIGNAL” F
CCS

LANE DEPARTURE WARNING (LDW)

• LDW system is only a warning device to inform the driver of a potential unintended lane departure. It does
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 does not operate at speeds below approximately 72 km/h (45 MPH) or if it cannot detect lane
markers.
• Excessive noise interfere with the warning sound, and the buzzer may not be heard.
• 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 covered with water, dirt or snow, etc.
- On roads where the discontinued lane markers are still detectable.
- On roads where there are sharp curves.
- 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.
- When traveling close to other vehicle in front of the vehicle, 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.)
LANE DEPARTURE PREVENTION (LDP)
• LDP system does 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 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 changes 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.
• When the LDP system is operating, avoid excessive or sudden steering maneuvers. Otherwise, driver could
lose control of the vehicle.
• The LDP system does not operate at speeds below approximately 72 km/h (45 MPH) or if it cannot detect
lane markers.
• The LDP system may not function properly under the following conditions, and do not use the LDP system:
- During bad weather (rain, fog, snow, wind, 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 lane.
- When driving on roads where the lane width is too narrow.
- When driving without 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 parts or suspension parts.
• Excessive noise does interfere with the warning sound, and the buzzer may not be heard.
• The functions of the LDP system (warning and brake control assist) may or may not operate 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 covered with water, dirt or snow, etc.
- On roads where discontinued lane markers are still detectable.
- On roads where there are sharp curves.
- On roads where there are sharply contrasting objects, such as shadows, snow, water, wheel ruts, seams or
lines remaining after road repairs (The LDP 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. A
- When traveling close to other vehicle in front of the vehicle, which obstructs the lane camera unit detection
range.
- When rain, snow or dirt adheres to the windshield in front of the lane camera unit.
B
- 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 C
under a bridge.)
• While the LDP system is operating, driver may hear a sound of brake operation. This is normal and indicates
that the LDP system is operating properly. D
CCS

PRECAUTIONS
< PRECAUTION > [LDW & LDP]
PRECAUTION
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted.
Service Manual.
WARNING:
• Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this
ness connectors.
PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS
WARNING:
ignition ON or engine running, DO NOT use air or electric power tools or strike near the sensor(s)
• When using air or electric power tools or hammers, always switch the ignition OFF, disconnect the
Precaution for LDW/LDP System Service INFOID:0000000003867120
WARNING:
CAUTION:
• Never use the LDP system when driving with free rollers or a chassis dynamometer.
• Never disassemble and remodel the lane camera unit.
• Do not use the lane camera unit that is removed from the vehicle.
• Never change LDW initial state ON ⇒ OFF without the consent of the customer.
To keep the LDW/LDP system operating properly, be sure to observe the following items:
• Always keep the windshield clean. The sensing capability of the camera unit depends on the condi-
tion of the windshield. See “Appearance and care” for cleaning instructions.
• Never strike or damage the areas around the lane camera unit.
• Never touch the camera lens.
• Never attach a sticker (including transparent material) or install an accessory near the lane camera
unit.
• Never place reflective materials, such as a white paper or mirrors on the instrument panel. Reflection
of the sunlight may adversely affect the camera unit's lane marker detection capability.

LANE CAMERA UNIT
< REMOVAL AND INSTALLATION > [LDW & LDP]

LANE CAMERA UNIT
B
JPOIA0184ZZ
G
1. Lane camera bracket 2. Lane camera unit 3. Lane camera cover

H
REMOVAL I
1. Remove the lane camera cover.
2. Remove the sun-visor holder and front roof finisher. And then disengage front side metal clip of the map
lamp assembly. Keep a service area. Refer to INT-23, "Exploded View". J
3. Remove the bolts.
4. Disconnect lane camera unit connector, and remove lane camera unit.
NOTE: K
When replace the lane camera bracket, remove the headlining assembly.
INSTALLATION
L
Installation is the reverse order of removal.
CAUTION:
• Remove the camera lens cap for replacement.
• Never give an impact to the lane camera unit. M
• Perform the camera aiming every time the lane camera unit is removed and installed. Refer to CCS-
418, "CAMERA AIMING ADJUSTMENT : Description".
N
CCS

LDW SWITCH
LDW SWITCH
JPOIA0185ZZ
1. LDW switch
A. Pawls
REMOVAL
1. Remove the instrument driver lower panel. Refer to IP-11, "Exploded View".
2. Disengage the pawls. Then remove LDW switch.
INSTALLATION

LANE DEPARTURE WARNING BUZZER
LANE DEPARTURE WARNING BUZZER
A
JPOIA0186ZZ
1. Lane departure warning buzzer G
H
REMOVAL
1. Remove the console finisher assembly. Refer to IP-22, "Exploded View".
2. Remove the sonar control unit. Refer to AV-603, "Exploded View" [NAVIGATION (SINGLE MONITOR)] or I
AV-1066, "Exploded View" [NAVIGATION (TWIN MONITOR)].
3. Remove the screw.
J
4. Disconnect the connector. And remove lane departure warning buzzer.
INSTALLATION
Installation is the reverse order of removal. K
CCS

LDP ON SWITCH
LDP ON SWITCH
LDP ON switch is integrated in the ICC steering switch. Refer to ST-16, "Exploded View".

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CRUISE CONTROL

ADDITIONAL SERVICE WHEN REPLACING System Description ..................................................29

Revision: 2009 March CCS-1 2009 FX35/FX50

C1A04 ABS/TCS/VDC SYSTEM ....................... 58 C1A14 ECM ....................................................... 87

C1A05 BRAKE SW/STOP LAMP SW ............... 60 C1A15 GEAR POSITION .................................. 89

Revision: 2009 March CCS-2 2009 FX35/FX50

Revision: 2009 March CCS-3 2009 FX35/FX50

PREPARATION ............................................... 179 DIAGNOSIS SYSTEM (ICC SENSOR INTE-

Revision: 2009 March CCS-4 2009 FX35/FX50

Revision: 2009 March CCS-5 2009 FX35/FX50

Revision: 2009 March CCS-6 2009 FX35/FX50

Revision: 2009 March CCS-7 2009 FX35/FX50

NO FORCE GENERATED FOR PUTTING DIAGNOSIS SYSTEM (ICC SENSOR INTE-

FREQUENTLY CANNOT DETECT THE VEHI- DIAGNOSIS SYSTEM (LANE CAMERA

REMOVAL AND INSTALLATION .............. 363 SYMPTOM DIAGNOSIS ........................... 407

Revision: 2009 March CCS-8 2009 FX35/FX50

Revision: 2009 March CCS-9 2009 FX35/FX50

Revision: 2009 March CCS-10 2009 FX35/FX50

1.INTERVIEW FOR MALFUNCTION

Revision: 2009 March CCS-11 2009 FX35/FX50

Revision: 2009 March CCS-12 2009 FX35/FX50

GRATED UNIT) : Special Repair Requirement INFOID:0000000003902169

1.LASER BEAM AIMING ADJUSTMENT F

OUTLINE OF LASER BEAM AIMING ADJUSTMENT

Revision: 2009 March CCS-13 2009 FX35/FX50

1.ADVANCE PREPARATION FOR LASER BEAM AIMING ADJUSTMENT

1 : ICC sensor integrated unit

>> Go to CCS-14, "LASER BEAM AIMING ADJUSTMENT :

2 : ICC sensor integrated unit

Revision: 2009 March CCS-14 2009 FX35/FX50

B : Up-down direction adjusting screw

2.ADJUSTING SIDE POSITION OF ICC TARGET BOARD

2. Suspend a weight from a string (1) attached to its end at the L

W [mm (in)] : 315 (12.4)

Revision: 2009 March CCS-15 2009 FX35/FX50

1 : ICC target board

1. ICC target board 2. ICC sensor integrated unit 3. Vehicle

Revision: 2009 March CCS-16 2009 FX35/FX50

Aiming Adjustment) INFOID:0000000003902173

Revision: 2009 March CCS-17 2009 FX35/FX50

>> LASER BEAM AIMING ADJUSTMENT END

Revision: 2009 March CCS-18 2009 FX35/FX50

Revision: 2009 March CCS-19 2009 FX35/FX50

Revision: 2009 March CCS-20 2009 FX35/FX50

>> INSPECTION END M

ACTION TEST : Special Repair Requirement [Conventional (Fixed Speed) Cruise

Revision: 2009 March CCS-21 2009 FX35/FX50

Information display status

Revision: 2009 March CCS-22 2009 FX35/FX50

>> INSPECTION END

Revision: 2009 March CCS-23 2009 FX35/FX50

System Description INFOID:0000000003902178

Revision: 2009 March CCS-24 2009 FX35/FX50

Intelligent Brake Assist (IBA) System

ECM DISTANCE switch sig-

Revision: 2009 March CCS-25 2009 FX35/FX50

Output Signal Item

Reception unit Signal name Description