Das

CRUISE CONTROL & DRIVER ASSISTANCE
DAS
A
B
SECTION
DRIVER ASSISTANCE SYSTEM C
E
CONTENTS
ADAS CONTROL UNIT CONFIGURATION (ADAS CONTROL UNIT) ... 41 F
Description ...............................................................41
PRECAUTION ............................................... 5 Work Procedure .......................................................41
G
PRECAUTIONS ................................................... 5 DTC/CIRCUIT DIAGNOSIS ......................... 43
Precaution for Supplemental Restraint System
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN- C1A00 CONTROL UNIT ................................... 43
SIONER" ................................................................... 5 DTC Description ......................................................43 H
Precautions For Harness Repair ............................... 5 Diagnosis Procedure ...............................................43
SYSTEM DESCRIPTION .............................. 6 C1A01 POWER SUPPLY CIRCUIT 1, C1A02 I

POWER SUPPLY CIRCUIT 2 ........................... 44
COMPONENT PARTS ........................................ 6 DTC Description ......................................................44
Component Parts Location ........................................ 6 Diagnosis Procedure ...............................................44
ADAS Control Unit .................................................... 6 J
C1A03 VEHICLE SPEED SENSOR .................. 45
SYSTEM .............................................................. 7 DTC Description ......................................................45
System Description ................................................... 7 Diagnosis Procedure ...............................................45 K
Fail-safe (ADAS Control Unit) ................................... 9
C1A13 STOP LAMP RELAY ............................ 47
DIAGNOSIS SYSTEM (ADAS CONTROL DTC Description ......................................................47
UNIT) ..................................................................11 Diagnosis Procedure ...............................................48 L
CONSULT Function (ICC/ADAS) ............................ 11 Component Inspection .............................................53
ECU DIAGNOSIS INFORMATION .............. 17 C1A14 ECM ....................................................... 54 M

DTC Description ......................................................54
ADAS CONTROL UNIT ......................................17 Diagnosis Procedure ...............................................54
Reference Value ..................................................... 17
Fail-safe (ADAS Control Unit) ................................. 21 C1A17 ICC SENSOR ........................................ 56 N
DTC Inspection Priority Chart ................................. 22 DTC Description ......................................................56
DTC Index ............................................................... 22 Diagnosis Procedure ...............................................56
DAS
WIRING DIAGRAM ...................................... 24 C1A34 COMMAND ERROR ............................. 57
DTC Description ......................................................57
DRIVER ASSISTANCE SYSTEMS ....................24 Diagnosis Procedure ...............................................57
Wiring Diagram ....................................................... 24 P
C1B53 SIDE RADAR RIGHT MALFUNCTION... 58
BASIC INSPECTION ................................... 40 DTC Description ......................................................58
Diagnosis Procedure ...............................................58
ADDITIONAL SERVICE WHEN REPLACING
ADAS CONTROL UNIT ......................................40 C1B54 SIDE RADAR LEFT MALFUNCTION ... 59
Description .............................................................. 40 DTC Description ......................................................59
Work Procedure ...................................................... 40 Diagnosis Procedure ...............................................59
Revision: October 2014 DAS-1 2015 Murano

U0121 VDC CAN 2 ............................................ 60 Removal and Installation ......................................... 85
DTC Description ..................................................... 60 DRIVER ASSISTANCE SYSTEM
Diagnosis Procedure .............................................. 60
PRECAUTION ............................................ 86
U0235 ICC SENSOR CAN 1 .............................. 62
DTC Description ..................................................... 62 PRECAUTIONS ................................................. 86
Diagnosis Procedure .............................................. 62 Precaution for Supplemental Restraint System
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN-
U0401 ECM CAN 1 ............................................ 63 SIONER" ................................................................. 86
DTC Description ..................................................... 63 Precautions For Harness Repair ............................. 86
Diagnosis Procedure .............................................. 63 ICC System Service ................................................ 87
PFCW/FEB System Service ................................... 87
U0402 TCM CAN 1 ............................................ 65 Blind Spot Warning/Rear Cross Traffic Alert (RC-
DTC Description ..................................................... 65 TA) System Service ................................................ 87
SYSTEM DESCRIPTION ........................... 88
U0415 VDC CAN 1 ............................................ 67
DTC Description ..................................................... 67 COMPONENT PARTS ....................................... 88
Diagnosis Procedure .............................................. 67 Component Parts Location ..................................... 88
ICC Sensor ............................................................. 90
U0433 DIST SEN CAN CIRC 2 .......................... 69
ICC Steering Switch ................................................ 90
DTC Description ..................................................... 69
Brake Pedal Position Switch / Stop Lamp Switch ... 90
ICC Brake Hold Relay ............................................. 91
U1000 CAN COMM CIRCUIT ............................ 70 Combination Meter .................................................. 91
Description .............................................................. 70 Warning Buzzer ...................................................... 91
DTC Description ..................................................... 70 Side Radar LH/RH .................................................. 91
Diagnosis Procedure .............................................. 71 Blind Spot Warning Indicator LH/RH ....................... 91
U1321 CONFIGURATION ................................. 72 SYSTEM ............................................................ 92

DTC Description ..................................................... 72
PFCW ........................................................................ 92
PFCW : System Description ................................... 92
U1503 SIDE RDR L CAN 2 ................................ 73 BSW ........................................................................... 93
DTC Description ..................................................... 73 BSW : System Description ...................................... 94
RCTA ......................................................................... 96
U1504 SIDE RDR L CAN 1 ................................ 75 RCTA : System Description .................................... 96
DTC Description ..................................................... 75 Fail-safe (ADAS Control Unit) ................................. 97
Diagnosis Procedure .............................................. 75 Fail-safe .................................................................. 98
Fail-safe (Side Radar) ............................................. 98
U1505 SIDE RDR R CAN 2 ............................... 77
DTC Description ..................................................... 77 OPERATION ...................................................... 99
PFCW/FEB, BSW/RCTA ........................................... 99
U1506 SIDE RDR R CAN 1 ............................... 79 PFCW/FEB, BSW/RCTA : Switch Name and
DTC Description ..................................................... 79 Function .................................................................. 99
HANDLING PRECAUTION .............................. 100
U1507 LOST COMM(SIDE RDR R) ................... 81 Precautions for Predictive Forward Collision
DTC Description ..................................................... 81 Warning ................................................................. 100
Diagnosis Procedure .............................................. 81 Precautions for Blind Spot Warning ...................... 100
Precautions for Rear Cross Traffic Alert ............... 101
U1508 LOST COMM(SIDE RDR L) ................... 82
DTC Description ..................................................... 82 DIAGNOSIS SYSTEM (ADAS CONTROL
Diagnosis Procedure .............................................. 82 UNIT) ................................................................. 102
CONSULT Function (ICC/ADAS) .......................... 102
POWER SUPPLY AND GROUND CIRCUIT ..... 84
Diagnosis Procedure .............................................. 84 DIAGNOSIS SYSTEM (ICC SENSOR) ............ 108
CONSULT Function (LASER/RADAR) ................. 108
REMOVAL AND INSTALLATION ............... 85
DIAGNOSIS SYSTEM (SIDE RADAR LH) ....... 112
ADAS CONTROL UNIT ..................................... 85
CONSULT Function (SIDE RADAR LEFT) ........... 112 C1B51 BLIND SPOT WARNING INDICATOR
SHORT CIRCUIT ............................................. 155 A
DIAGNOSIS SYSTEM (SIDE RADAR RH) ...... 113 DTC Description .................................................... 155
CONSULT Function (SIDE RADAR RIGHT) ......... 113
Diagnosis Procedure ............................................. 155
ECU DIAGNOSIS INFORMATION ............ 114 C1B52 BLIND SPOT WARNING INDICATOR
B
ADAS CONTROL UNIT .................................... 114 OPEN CIRCUIT ............................................... 157

Reference Value ................................................... 114 DTC Description .................................................... 157
Diagnosis Procedure ............................................. 157 C
Fail-safe (ADAS Control Unit) ............................... 118
DTC Inspection Priority Chart ............................... 119 C1B55 RADAR BLOCKAGE .......................... 159
DTC Index ............................................................. 119 DTC Description .................................................... 159 D
ICC SENSOR .................................................... 121 Diagnosis Procedure ............................................. 159
Reference Value ................................................... 121 U0104 ADAS CAN 1 ....................................... 161
Fail-safe ................................................................ 124 DTC Description .................................................... 161 E
DTC Inspection Priority Chart ............................... 124 Diagnosis Procedure ............................................. 161
DTC Index ............................................................. 125
U0405 ADAS CAN 2 ....................................... 163 F
SIDE RADAR LH .............................................. 128 DTC Description .................................................... 163
Reference Value ................................................... 128
Fail-safe (Side Radar) ........................................... 129
DTC Inspection Priority Chart ............................... 129 U1000 CAN COMM CIRCUIT ......................... 165 G
DTC Index ............................................................. 129
SIDE RADAR LH ..................................................... 165
SIDE RADAR RH ............................................. 130 SIDE RADAR LH : Description .............................. 165
Reference Value ................................................... 130 H
SIDE RADAR LH : DTC Description ...................... 165
Fail-safe (Side Radar) ........................................... 131 SIDE RADAR LH : Diagnosis Procedure ............... 165
DTC Inspection Priority Chart ............................... 131
DTC Index ............................................................. 131 SIDE RADAR RH ..................................................... 166 I
SIDE RADAR RH : Description ............................. 166
WIRING DIAGRAM .................................... 132 SIDE RADAR RH : DTC Description ..................... 166
SIDE RADAR RH : Diagnosis Procedure .............. 167
DRIVER ASSISTANCE SYSTEMS .................. 132 J
Wiring Diagram ..................................................... 132 U1010 CONTROL UNIT (CAN) ....................... 168
BASIC INSPECTION ................................. 148 SIDE RADAR LH ..................................................... 168 K

SIDE RADAR LH : Description .............................. 168
DIAGNOSIS AND REPAIR WORK FLOW ...... 148 SIDE RADAR LH : DTC Description ...................... 168
Work Flow ............................................................. 148 SIDE RADAR LH : Diagnosis Procedure ............... 168
L
ADDITIONAL SERVICE WHEN REPLACING SIDE RADAR RH ..................................................... 168
ICC SENSOR .................................................... 151 SIDE RADAR RH : Description ............................. 168
Description ............................................................ 151 SIDE RADAR RH : DTC Description ..................... 169 M
Work Procedure .................................................... 151 SIDE RADAR RH : Diagnosis Procedure .............. 169
ACTION TEST .................................................. 152 POWER SUPPLY AND GROUND CIRCUIT .. 170
N
BLIND SPOT WARNING ......................................... 152 SIDE RADAR LH ..................................................... 170
BLIND SPOT WARNING : Description ................. 152 SIDE RADAR LH : Diagnosis Procedure ............... 170
BLIND SPOT WARNING : Work Procedure ......... 152 DAS
SIDE RADAR RH ..................................................... 170
RCTA ....................................................................... 152 SIDE RADAR RH : Diagnosis Procedure .............. 170
RCTA : Description ............................................... 153
RCTA : Work Procedure ....................................... 153
RIGHT/LEFT SWITCHING SIGNAL CIRCUIT . 172
P
DTC/CIRCUIT DIAGNOSIS ....................... 154
WARNING BUZZER CIRCUIT ........................ 173
C1B50 SIDE RADAR MALFUNCTION ............ 154 Component Function Check .................................. 173
DTC Description .................................................... 154 Diagnosis Procedure ............................................. 173
SYMPTOM DIAGNOSIS ............................ 175

DRIVER ASSISTANCE SYSTEM SYMP- NORMAL OPERATING CONDITION ............... 181
TOMS ............................................................... 175 Description ............................................................ 181
Symptom Table .....................................................175
REMOVAL AND INSTALLATION ............. 183
SYSTEM SETTINGS CANNOT BE TURNED
ON/OFF ON THE INTEGRAL SWITCH ........... 176 ICC SENSOR .................................................... 183
Description .............................................................176 Exploded View ...................................................... 183
Diagnosis Procedure .............................................176 Removal and Installation ....................................... 183
CHIME DOES NOT SOUND ............................ 177 ICC STEERING SWITCH ................................. 185
Description .............................................................177 Exploded View ...................................................... 185
Diagnosis Procedure .............................................177 Removal and Installation ....................................... 185
FREQUENTLY CANNOT DETECT THE VEHI- WARNING BUZZER ......................................... 187

CLE AHEAD / DETECTION ZONE IS SHORT. 179 Exploded View ...................................................... 187
Removal and Installation ....................................... 187
Description .............................................................179
Diagnosis Procedure .............................................179 SIDE RADAR .................................................... 188
THE SYSTEM DOES NOT DETECT THE VE- Exploded View ...................................................... 188
HICLE AHEAD AT ALL ................................... 180
Description .............................................................180 BLIND SPOT WARNING INDICATOR ............. 189
Diagnosis Procedure .............................................180 Exploded View ...................................................... 189

PRECAUTIONS
< PRECAUTION > [ADAS CONTROL UNIT]
PRECAUTION A
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT B
PRE-TENSIONER" INFOID:0000000011590506
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. Information necessary to service the system safely is included in the SR and SB section of
this Service Manual.
WARNING: D
• 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. E
• 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 SR section.
F
• Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this
Service Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or har-
ness connectors.
G
PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS
WARNING:
• When working near the Airbag Diagnosis Sensor Unit or other Airbag System sensors with the Igni- H
tion ON or engine running, DO NOT use air or electric power tools or strike near the sensor(s) with a
hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly causing
serious injury.
• When using air or electric power tools or hammers, always switch the Ignition OFF, disconnect the I
battery and wait at least three minutes before performing any service.
Precautions For Harness Repair INFOID:0000000011231526
J
ITS communication uses a twisted pair line. Be careful when repairing it.
• Solder the repaired area and wrap tape around the soldered area.
NOTE: K
A fray of twisted lines must be within 110 mm (4.33 in).
SKIB8766E
N
• Bypass connection is never allowed at the repaired area.
NOTE:
Bypass connection may cause ITS communication error. The DAS
spliced wire becomes separated and the characteristics of twisted
line are lost.
P
SKIB8767E

COMPONENT PARTS
< SYSTEM DESCRIPTION > [ADAS CONTROL UNIT]
SYSTEM DESCRIPTION
COMPONENT PARTS
Component Parts Location INFOID:0000000011231527
ALOIA0242ZZ
A. View with center console assembly removed.
No. Component Description

• Controls each system, based on CAN communication and ITS communication signals received
1. ADAS control unit from each control unit.
• Transmits signals necessary for control between CAN communication and ITS communication.
ADAS Control Unit INFOID:0000000011231528
• ADAS control unit is installed below the center console assembly.

• Communicates with each control unit via CAN communication and
ITS communication.
• ADAS control unit with gateway function, is for system control sig-
nals that are transmitted to each control unit between CAN com-
munication and ITS communication by the ADAS control unit.
• ADAS control unit controls each system, based on ITS communi-
cation signals and CAN communication signals from each control
unit.
AWOIA0101ZZ

SYSTEM
SYSTEM
A
System Description INFOID:0000000011231529
SYSTEM DIAGRAM B
AWOIA0103GB
ADAS CONTROL UNIT INPUT/OUTPUT SIGNAL ITEM K
Input Signal Item

L
Transmit unit Signal name Description
Closed throttle position signal Receives idle position state (ON/OFF).
Accelerator pedal position signal Receives accelerator pedal position (angle). M
Receives an operable/inoperable state of the ICC sys-
ICC prohibition signal
tem.
Engine speed signal Receives engine speed. N
MAIN switch signal
SET/ switch sig-

CAN com- DAS
nal
ECM munica-
tion CANCEL switch sig-
ICC steering switch Receives the operational state of the ICC steering
nal
signal switch. P
RES/ switch sig-
nal
DISTANCE switch
signal
Stop lamp switch signal Receives an operational state of the brake pedal.
Brake pedal position switch signal Receives an operational state of the brake pedal.

SYSTEM
Input speed signal Receives the number of revolutions of input shaft.
CAN com- Current gear position signal Receives a current gear position.
TCM munica-
tion Shift position signal Receives a select lever position.
Output shaft revolution signal Receives the number of revolutions of output shaft.
ABS actuator CAN com- Vehicle speed signal (ABS) Receives wheel speeds of four wheels.
and electric unit munica-
Yaw rate signal Receives yaw rate acting on the vehicle.
(control unit) tion
Stop lamp switch signal Receives an operational state of the brake pedal.
Parking brake switch signal Receives an operational state of the parking brake.
CAN com-
Combination Receives a selection state of each item in “Driving Aids”
munica-
meter System selection signal selected with the integral switch of the information dis-
tion
play.
CAN com-
Receives an operational state of the turn signal lamp
BCM munica- Turn indicator signal
and the hazard lamp.
tion
Dimmer signal Receives ON/OFF state of dimmer signal.
Steering angle sensor malfunction signal Receives a malfunction state of steering angle sensor
CAN com-
Steering angle Receives the number of revolutions, turning direction of
munica- Steering angle sensor signal
sensor the steering wheel.
tion
Steering angle speed signal Receives the turning angle speed of the steering wheel.
ITS com-
Receives detection results, such as the presence or ab-
ICC sensor munica- ICC Sensor signal
sence of a leading vehicle and distance from the vehicle.
tion
ITS com-
Side radar LH,
munica- Vehicle detection signal Receives vehicle detection condition of detection zone.
RH
tion
Output Signal Item
Reception unit Signal name Description

CAN commu- Transmits an ICC operation signal necessary for intel-
ECM ICC operation signal
nication ligent cruise control.
ABS actuator
and electric CAN commu- Transmits a brake fluid pressure control signal to acti-
Brake fluid pressure control signal
unit (control nication vates the brake.
unit)

SYSTEM
A
Vehicle ahead detec-
tion indicator signal
Set vehicle speed indi-
cator signal B
Set distance indicator
signal
SET switch indicator C
Meter display signal Transmits a signal to display a state of the system on
signal ON/OFF switch indica- the information display.
Combination CAN commu-
tor signal D
meter nication
FEB system display
signal
PFCW system display E
signal
BSW system display
signal F
• Transmits a signal to turn ON the lamp.
FEB warning lamp signal • Transmits an ON/OFF state of the Forward Emer-
gency Brake.
G
ITS commu-
ICC sensor ADAS control status Transmits ADAS status.
nication
Transmits a vehicle speed calculated by the ADAS H
Vehicle speed signal
control unit.
Side radar LH, ITS commu- Transmits a Blind Spot Warning indicator signal to turn
Blind Spot Warning indicator signal
RH nication ON the Blind Spot Warning indicator.
I
Blind Spot Warning indicator dimmer sig- Transmits a Blind Spot Warning indicator dimmer sig-
nal nal to dimmer Blind Spot Warning indicator.
ICC brake hold Activates the brake hold relay and turns ON the stop J
ICC brake hold relay drive signal
relay lamp.
DESCRIPTION
• ADAS* control unit controls the following systems based on ITS communication signal and CAN communica- K
tion signal from each control unit.
NOTE:
*: Advanced Driver Assistance Systems L
- Intelligent Cruise Control (ICC)
- Blind Spot Warning (BSW)
- Rear Cross Traffic Alert (RCTA)
M
System Reference
Intelligent Cruise Control (ICC) CCS-12, "System Description"
N
BRC-177, "BRAKE ASSIST (WITH PREVIEW FUNCTION)
Forward Emergency Braking (FEB)
: System Description-Forward Emergency Braking"
Predictive Forward Collision Warning (PFCW) DAS-92, "PFCW : System Description"
DAS
Blind Spot Warning (BSW) DAS-94, "BSW : System Description"
Rear Cross Traffic Alert (RCTA) DAS-96, "RCTA : System Description"
P
Fail-safe (ADAS Control Unit) INFOID:0000000011596653
If a malfunction occurs in each system, ADAS control unit cancels each control, sounds a beep, and turns ON
the warning or indicator lamp.

SYSTEM
Warning lamp/Warning dis-

System Buzzer Description
play
Intelligent Cruise Control (ICC) High-pitched tone ICC system warning Cancel
FEB warning lamp
Forward Emergency Braking (FEB) High-pitched tone Cancel
(Yellow)
FEB warning lamp
Predictive Forward Collision Warning (PFCW) High-pitched tone Cancel
(Yellow)
Blind Spot Warning (BSW) Low-pitched tone BSW system warning Cancel
Rear Cross Traffic Alert (BSW) — BSW system warning Cancel

DIAGNOSIS SYSTEM (ADAS CONTROL UNIT)
A
CONSULT Function (ICC/ADAS) INFOID:0000000011231533
APPLICATION ITEMS B
CONSULT performs the following functions via CAN communication using ADAS control unit:
Diagnosis mode Description C

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

K
Displays causes of automatic system cancellation occurred during control of the Intelligent Cruise
CAUSE OF AUTO-CANCEL
Control (ICC).
NOTE: L
• 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.
M
Display Items for The Cause of Automatic Cancellation 1.
Intelligent Cruise Control (ICC)
DAS
Cause of cancellation Description
CAN COMM ERROR × ADAS control unit received an abnormal signal with CAN communication.
NO RECORD × —
SELF DIAGNOSTIC RESULT

Refer to DAS-22, "DTC Index".

NOTE:
• The details of time display are as per the following:
- CRNT: A malfunction is detected now.
- PAST: A malfunction was detected in the past.
• ODO/TRIP METER (Mileage) and VOLTAGE(IGN voltage) is displayed on FFD (Freeze Frame Data).
DATA MONITOR
NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.
MAIN SIG
MAIN SIG
ALL SIG
(BSW/)
(ICC)
(ICC)
Monitored item
Description
[Unit]
MAIN SW
× × × Indicates [ON/OFF] status as judged from ICC steering switch.
[On/Off]
SET/COAST SW
× × Indicates [ON/OFF] status as judged from ICC steering switch.
[On/Off]
CANCEL SW
[On/Off]
RESUME/ACC SW
[On/Off]
DISTANCE SW
× Indicates [ON/OFF] status as judged from ICC steering switch.
[On/Off]
CRUISE OPE
× × Indicates whether controlling or not (ON means “controlling”).
[On/Off]
BRAKE SW Indicates [ON/OFF] status as judged from ICC brake switch signal (ECM trans-
× × ×
[On/Off] mits ICC brake switch signal through CAN communication).
STOP LAMP SW Indicates [ON/OFF] status as judged from stop lamp switch signal (ECM trans-
× × ×
[On/Off] mits stop lamp switch signal through CAN communication).
Indicates [ON/OFF] status of idle switch read from ADAS control unit through
IDLE SW
× CAN communication (ECM transmits ON/OFF status through CAN communica-
[On/Off]
tion).
SET DISTANCE
× × Indicates set distance memorized in ADAS control unit.
[Short/Mid/Long]
CRUISE LAMP
× × Indicates [ON/OFF] status of MAIN switch indicator output.
[On/Off]
OWN VHCL NOTE:
×
[On/Off] The item is displayed, but it is not monitored.
VHCL AHEAD
× Indicates [ON/OFF] status of vehicle ahead detection indicator output.
[On/Off]
ICC WARNING
× Indicates [ON/OFF] status of ICC system warning lamp output.
[On/Off]
Indicates vehicle speed calculated from ADAS control unit through CAN com-
VHCL SPEED SE
× × × munication [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 ADAS control unit.
[km/h] or [mph]
BUZZER O/P
× Indicates [ON/OFF] status of ICC warning chime output.
[On/Off]
THRTL SENSOR NOTE:
× ×
[deg] The item is displayed, but it is not monitored.
ENGINE RPM Indicates engine speed read from ADAS control unit through CAN communica-
×
[rpm] tion (ECM transmits engine speed signal through CAN communication).
WIPER SW Indicates wiper [OFF/LOW/HIGH] status (BCM transmits front wiper request sig-
×
[OFF/LOW/HIGH] nal through CAN communication).

MAIN SIG
MAIN SIG
ALL SIG
(BSW/)
A
(ICC)
(ICC)
Monitored item
Description
[Unit]
YAW RATE NOTE: B

×
[deg/s] The item is displayed, but it is not monitored.
BA WARNING
× Indicates [ON/OFF] status of FEB indicator lamp output.
[On/Off]
C
STP LMP DRIVE
× × Indicates [ON/OFF] status of ICC brake hold relay drive output.
[On/Off]
Indicates [ON/OFF] status of “D” or “M” positions read from ADAS control unit D
D POSITION SW
× through CAN communication; ON when position “D” or “M” (TCM transmits shift
[On/Off]
position signal through CAN communication).
NP RANGE SW Indicates shift position signal read from ADAS control unit through CAN commu-
× E
[On/Off] nication (TCM transmits shift position signal through CAN communication).
Parking brake switch status [ON/OFF] judged from the parking brake switch sig-
PKB SW nal that ADAS control unit readout via CAN communication is displayed (com-
×
[On/Off] bination meter transmits the parking brake switch signal via CAN F
communication).
PWR SUP MONI
× × Indicates IGN voltage input by ADAS control unit.
[V] G
Indicates vehicle speed calculated from CVT vehicle speed sensor read from
VHCL SPD AT
× ADAS control unit through CAN communication (TCM transmits CVT vehicle
[km/h] or [mph]
speed sensor signal through CAN communication).
H
Indicates throttle position read from ADAS control unit through CAN communi-
THRTL OPENING
× × cation (ECM transmits accelerator pedal position signal through CAN communi-
[%]
cation).
I
Indicates CVT gear position read from ADAS control unit through CAN commu-
GEAR
× nication (TCM transmits current gear position signal through CAN communica-
[1, 2, 3, 4, 5, 6, 7]
tion).
CLUTCH SW SIG Indicates [ON/OFF] status as judged from clutch pedal position signal (ECM J
× × ×
[On/Off] transmits ICC clutch switch signal through CAN communication).
Indicates [ON/OFF] status as judged from park/neutral position switch signal
NP SW SIG
× (ECM transmits park/neutral position switch signal through CAN communica- K
[On/Off]
tion).
MODE SIG Indicates the active mode from ICC or ASCD [conventional (fixed speed) cruise
×
[OFF, ICC, ASCD] control mode]. L
SET DISP IND
× Indicates [ON/OFF] status of SET switch indicator output.
[On/Off]
DISTANCE M
× Indicates the distance from the vehicle ahead.
[m]
RELATIVE SPD
× Indicates the relative speed of the vehicle ahead.
[m/s]
N
ON ROOT GUIDANCE NOTE:
×
[On/Off] The item is displayed, but it is not monitored
DYNA ASIST SW Indicates [ON/OFF] status as judged from ICC steering switch signal (ECM DAS
× × ×
[On/Off] transmits ICC steering switch signal through CAN communication).
IBA SW NOTE:
× ×
P
NAVI ICC DISP NOTE:
Shift position Indicates shift position read from ADAS control unit through CAN communica-
×
[Off, P, R, N, D, M/T1 - 7] tion (TCM transmits shift position signal through CAN communication).
Indicates turn signal operation status read from ADAS control unit through CAN
Turn signal
× communication (BCM transmits turn indicator signal through CAN communica-
[OFF/LH/RH/LH&RH]
tion).

MAIN SIG
MAIN SIG
ALL SIG
(BSW/)
(ICC)
(ICC)
Monitored item
Description
[Unit]
Indicates lateral G acting on the vehicle. This lateral G is judged from a side G
SIDE G sensor signal read by ADAS control unit via CAN communication
×
[G] (The ABS actuator and electric unit (control unit) transmits a side G sensor sig-
nal via CAN communication).
Indicates systems which can be set to ON/OFF by selecting “Driver Assistance”
FUNC ITEM (FCW)
× × × ⇒“Emergency Brake” of the integral switch
[On/Off]
Forward Emergency Braking.
FUNC ITEM (BSW)
× × × ⇒“Blind spot” of the integral switch
[On/Off]
Blind Spot Warning.
FUNC ITEM (NV-ICC) NOTE:
× × ×
[Off] The item is displayed, but it is not monitored
Indicates an ON/OFF state of the PFCW system. The PFCW system can be set
FCW SELECT
× × × to ON/OFF by selecting “Driver Assistance”⇒“Emergency Brake” of the integral
[On/Off]
switch.
BSW SELECT Indicates an ON/OFF state of the BSW system. The BSW system can be set to
× × ×
[On/Off] ON/OFF by selecting “Driver Assistance”⇒“Blind spot” of the integral switch.
NAVI ICC SELECT NOTE:
× × ×
[Off] The item is displayed, but it is not monitored.
SYS SELECTABILITY Indicates the availability of ON/OFF switching for “Driving Aids” items received
× × ×
[On/Off] from the integral switch via CAN communication.
BSW/BSI WARN LMP
× Indicates [ON/OFF] status of Blind Spot warning malfunction.
[On/Off]
BSW SYSTEM ON
× Indicates [ON/OFF] status of BSW system.
[On/Off]
FCW SYSTEM ON
× × Indicates [ON/OFF] status of PFCW system.
[On/Off]
BATTERY CIRCUIT
NOTE:
OFF ×
The item is displayed, but it is not used.
[On/Off]
SYSTEM CANCEL
MESSAGE
× × × Indicates [ON/OFF] status of system cancel display output.
[NOREQ/SLIP/VDC
OFF]
BSW ON INDICATOR
× Indicates [ON/OFF] status of BSW system ON display output.
[On/Off]
SIDE RADAR BLOCK
COND × Indicates [ON/OFF] status of side radar with dirt or foreign materials.
[On/Off]
BSW IND BRIGHT-
NESS
× Indicates status of brightness of Blind Spot Warning indicator.
[Nothing/Bright/Normal/
Dark]
SL MAIN SW
× Indicates [ON/OFF] status as judged from steering switch.
[On/Off]
FUNC ITEM(FEB)
× ⇒“Emergency Brake” of the integral switch.
[On/Off]
Forward Emergency Braking
Indicates an ON/OFF state of the FEB system. The FEB system can be set to
FEB SELECT
× ON/OFF by selecting “Driver Assistance”⇒“Emergency Brake” of the integral
[On/Off]
switch.
FEB SW
× Indicates [ON/OFF] status of FEB system.
[On/Off]

MAIN SIG
MAIN SIG
ALL SIG
(BSW/)
A
(ICC)
(ICC)
Monitored item
Description
[Unit]
SL TARGET VEHICLE B
SPEED × Indicates set vehicle speed memorized in ADAS control unit.
[km/h] or [mph]
SL SET LAMP
× Indicates [ON/OFF] status of speed limiter SET display output. C
[On/Off]
SL LIMIT LAMP
× Indicates [ON/OFF] status of speed limiter MAIN switch display output.
[On/Off]
D
Indicates the vehicle cruise condition.
ASCD CANCEL (LOW
• NON: Vehicle speed is maintained at the ASCD set speed.
SPEED) ×
• CUT: Vehicle speed decreased to excessively low, and ASCD operation is cut
[NON/CUT]
off. E
ASCD CANCEL
(SPEED DIFF) ×
• CUT: Vehicle speed decreased to excessively low compared with the ASCD
[NON/CUT]
set speed, and ASCD operation is cut off.
F
Display Kick Down decision state.

KICK DOWN
× • On: Accelerator pedal is depressed.
[On/Off] G
• Off: Accelerator pedal is fully released.
ACTIVE TEST
CAUTION: H
• Never perform “Active Test” while driving the vehicle.
• The “Active Test” cannot be performed when the following systems malfunction is displayed.
- ICC system
- Blind Spot Warning/RCTA I
- PFCW/FEB
• The “Active Test” cannot be performed when the FEB warning lamp is illuminated.
• The “Active Test” cannot be performed when the ICC System is ON. J
Test item Description

METER LAMP The FEB warning lamp can be illuminated by ON/OFF operations as necessary. K
The ICC brake hold relay can be operated by ON/OFF operations as necessary, and the stop lamp
STOP LAMP
can be illuminated.
ADAS BUZZER Sounds a buzzer used for BSW, RCTA by arbitrarily operating ON/OFF. L
METER BUZZER Sounds a buzzer used for ICC, PFCW, FEB by arbitrarily operating ON/OFF.
BRAKE ACTUATOR 1
M
BRAKE ACTUATOR 2 Activates the brake by an arbitrary operation.
BRAKE ACTUATOR 3
METER LAMP N
NOTE:
The test can be performed only when the engine is running.
DAS
Test item Operation Description FEB warning lamp
Off Stops sending the FEB warning lamp signal to exit from the test. OFF
METER LAMP Transmits the FEB warning lamp signal to the combination meter via CAN communi- P
On ON
cation.
STOP LAMP
Test item Operation Description Stop lamp

Off Stops transmitting the ICC brake hold relay drive signal below to end the test. OFF
STOP LAMP
On Transmits the ICC brake hold relay drive signal. ON

METER BUZZER
Test item Operation Description Operation sound

Off Stops buzzer output to the combination meter via CAN communication. —
METER BUZZER
On Starts buzzer output to the combination meter via CAN communication. —
ADAS BUZZER

On Starts buzzer output. —
ADAS BUZZER
Off Stops buzzer output. —
BRAKE ACTUATOR
NOTE:
Test item Operation Description “PRESS ORDER” value

Stops transmitting the brake fluid pressure control signal
Off —
to end the test.
BRAKE ACTUATOR 1
Starts transmitting the brake fluid pressure control signal
On 10 bar
to start the test.
Off —
to end the test.
BRAKE ACTUATOR 2
On 20 bar
to start the test.
Off —
to end the test.
BRAKE ACTUATOR 3
On 30 bar
to start the test.
NOTE:
The test is finished in 10 seconds after starting
AWOIA0119GB
ECU IDENTIFICATION
Displays ADAS control unit parts number.

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

ADAS CONTROL UNIT
Reference Value INFOID:0000000011231534
B
VALUES ON THE DIAGNOSIS TOOL

NOTE: C
Monitor item Condition Value/Status D

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

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

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

ADAS CONTROL UNIT
A
When clutch or brake pedal is depressed. On
CLUTCH SW SIG Ignition switch ON
When clutch or brake pedal is not depressed. Off
When the shift lever is in neutral position. On B
NP SW SIG Ignition switch ON
When the shift lever is in any position other than neutral. Off
When ICC system is deactivated. Off
When vehicle-to-vehicle distance control mode is acti- C
Start the engine and press ICC
MODE SIG vated.
MAIN switch
When conventional (fixed speed) cruise control mode is
ASCD
activated. D
• Drive the vehicle and acti- SET switch indicator ON. On
vate the conventional (fixed
SET DISP IND
speed) cruise control mode SET switch indicator OFF. Off E
• Press SET/COAST switch
Displays the dis-
Drive the vehicle and activate tance from the
When a vehicle ahead is detected. F
DISTANCE the vehicle-to-vehicle distance preceding vehi-
control mode cle
When a vehicle ahead is not detected. 0.0
G
Drive the vehicle and activate Displays the rel-
When a vehicle ahead is detected.
RELATIVE SPD the vehicle-to-vehicle distance ative speed.
control mode When a vehicle ahead is not detected. 0.0
H
NOTE:
ON ROOT GUIDE Off
When the PFCW system is ON. On
FCW SYSTEM ON Ignition switch ON I
When the PFCW system is OFF. Off
• Engine running Displays the
Shift position
• While driving shift position J
Turn signal lamps OFF. Off
Turn signal lamp LH blinking. LH
Turn signal
Turn signal lamp RH blinking. RH K
Turn signal lamp LH and RH blinking. LH&RH
Vehicle turning right. Negative value
SIDE G While driving L
Vehicle turning left. Positive value
FUNC ITEM Ignition switch ON FUNC3
FUNC ITEM (FCW) Engine running On M
FUNC ITEM (BSW) Engine running On
NOTE:
FUNC ITEM (NV-ICC) Off N
The item is indicated, but not monitored
“Forward Emergency Braking” set with the integral
On
switch is ON.
FCW SELECT Ignition switch ON DAS
Off
switch is OFF.
“Blind Spot Warning” set with the integral switch is ON. On
BSW SELECT Ignition switch ON P
“Blind Spot Warning” set with the integral switch is OFF. Off
NOTE:
NAVI ICC SELECT Off
Items set with the integral switch can be switched nor-
On
mally.
SYS SELECTABILITY Ignition switch ON
Items set with the integral switch cannot be switched
Off
normally.

ADAS CONTROL UNIT
When the BSW system is malfunctioning. On
BSW WARN LMP Engine running
When the BSW system is normal. Off
When the BSW system is ON. On
BSW SYSTEM ON Ignition switch ON
When the BSW system is OFF. Off
When the FEB/PFCW system is ON. On
FCW SYSTEM ON Engine running
When the FEB/PFCW system is OFF. Off
BATTERY CIRCUIT NOTE:
Off
OFF The item is indicated, but not used.
SYSTEM CANCEL System cancel display ON. On

Engine running
MESSAGE System cancel display OFF. Off
BSW system display ON. On
BSW ON INDICATOR Engine running
BSW system display OFF. Off
SIDE RADAR BLOCK Front bumper or side radar is dirty. On

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

ADAS CONTROL UNIT
TERMINAL LAYOUT
A
PHYSICAL VALUES
JSOIA0705ZZ
D
Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.) E
+ − Signal name
Output
1
Ground Input 0V
(B) — F
2
ITS communication-High — —
(L) —
3 G
Ignition power supply Input Ignition switch ON Battery voltage
(LG)
Ignition Warning buzzer operation Battery voltage
4
Warning buzzer signal Output switch
(V) Warning buzzer not operating 0V H
ON
5
ITS communication-Low — — —
(Y)
Ground I
6
3rd CAN Low Input — —
(Y)
9
(L)
CAN high — — — J
10
CAN low — — —
(P)
K
Ignition
14
ICC brake hold relay drive signal Output switch — Battery voltage
(L)
ON
18 L
3rd CAN High Input — — 0V
(L)

M
N
play
Intelligent Cruise Control (ICC) High-pitched tone ICC system warning Cancel DAS
FEB warning lamp
(Yellow)
FEB warning lamp P
(Yellow)

ADAS CONTROL UNIT
DTC Inspection Priority Chart INFOID:0000000011231536
If multiple DTCs are detected simultaneously, check them one by one depending on the following DTC inspec-
tion priority chart.
Priority Detected items (DTC)

• U1507: LOST COMM (SIDE RDR R)
1
• U1508: LOST COMM (SIDE RDR L)
• U1000: CAN COMM CIRCUIT
2
• U1321: CONFIGURATION
• C1A17: ICC SENSOR MALF
3 • C1B53: SIDE RDR R MALF
• C1B54: SIDE RDR L MALF
• C1A01: POWER SUPPLY CIR
• C1A02: POWER SUPPLY CIR 2
• C1A13: STOP LAMP RLY FIX
• C1A14: ECM CIRCUIT
• C1A34: COMMAND ERROR
• U0121: VDC CAN CIR 2
• U0235: ICC SENSOR CAN CIRC 1
4 • U0401: ECM CAN CIR 1
• U0402: TCM CAN CIR 1
• U1503: SIDE RDR L CAN CIR 2
• U1505: SIDE RDR R CAN CIR 2
5 • C1A03: VHCL SPEED SE CIRC
6 • C1A00: CONTROL UNIT
DTC Index INFOID:0000000011231537
Systems for fail-safe

• A: Intelligent Cruise Control (ICC)
• B: Forward Emergency Braking (FEB)
• C: Predictive Forward Collision Warning (PFCW)
• D: Blind Spot Warning (BSW)
• E: Rear Cross Traffic Alert (RCTA)
DTC Fail-safe
CONSULT display Reference
CONSULT System
NO DTC IS DE-
TECTED. FUR-
NO DTC IS DETECTED. FURTHER TESTING MAY
THER TESTING — —
BE REQUIRED
MAY BE RE-
QUIRED
U1507 LOST COMM (SIDE RDR R) D, E DAS-81
U1508 LOST COMM (SIDE RDR L) D, E DAS-82
U1000NOTE CAN COMM CIRCUIT A, B, C, D, E DAS-70

U1321 CONFIGURATION A, B, C, D, E DAS-73
C1A17 ICC SENSOR MALF A, B, C DAS-54
C1B53 SIDE RDR R MALF D, E DAS-58
C1B54 SIDE RDR L MALF D, E DAS-59
C1A01 POWER SUPPLY CIR A, B, C, D, E DAS-44
C1A02 POWER SUPPLY CIR 2 A, B, C, D, E DAS-44

ADAS CONTROL UNIT
• A: Intelligent Cruise Control (ICC) A
• E: Rear Cross Traffic Alert (RCTA) B
DTC Fail-safe
CONSULT System
C
C1A13 STOP LAMP RLY FIX A, B, C DAS-47
C1A14 ECM CIRCUIT A, B, C DAS-54
C1A34 COMMAND ERROR A, B, C DAS-57 D
U0121 VDC CAN CIR 2 A, B, C, D, E DAS-60
U0235 ICC SENSOR CAN CIRC 1 A, C, D, E DAS-62
E
U0401 ECM CAN CIR 1 A, B, C, D, E DAS-63
U0402 TCM CAN CIR 1 A, B, C, D, E DAS-65
U0415 VDC CAN CIR 1 A, B, C, D, E DAS-67 F
U0433 ICC SENSOR CAN CIRC 2 A, B, C DAS-69
U1503 SIDE RDR L CAN CIR 2 D, E DAS-73
G
U1505 SIDE RDR R CAN CIR 2 D, E DAS-77
U1506 SIDE RDR R CAN CIR 1 D, E DAS-79 H
C1A03 VHCL SPEED SE CIRC D, E DAS-45
C1A00 CONTROL UNIT A, B, C, D, E DAS-43
NOTE: I
With the detection of “U1000” some systems do not perform the fail-safe operation.
A system controlling based on a signal received from the control unit performs fail-safe operation when the
communication with the ADAS control unit becomes inoperable. J
DAS

DRIVER ASSISTANCE SYSTEMS
< WIRING DIAGRAM > [ADAS CONTROL UNIT]
WIRING DIAGRAM
Wiring Diagram INFOID:0000000011231538
AAOWA0079GB

DAS
AAOWA0080GB

AAOWA0081GB

DAS
AAOWA0082GB

AAOIA0284GB

DAS
AAOIA0217GB

AAOIA0285GB

DAS
AAOIA0286GB

AAOIA0287GB

DAS
AAOIA0221GB

AAOIA0288GB

DAS
AAOIA0289GB

AAOIA0290GB

DAS
AAOIA0293GB

AAOIA0226GB

DAS
AAOIA0227GB

ADDITIONAL SERVICE WHEN REPLACING ADAS CONTROL UNIT
< BASIC INSPECTION > [ADAS CONTROL UNIT]
BASIC INSPECTION
ADDITIONAL SERVICE WHEN REPLACING ADAS CONTROL UNIT
Description INFOID:0000000011231539
Always perform the ADAS control unit configuration after replacing the ADAS control unit.
Work Procedure INFOID:0000000011231540
1.ADAS CONTROL UNIT CONFIGURATION

CONSULT
Perform the ADAS control unit configuration. Refer to DAS-41, "Description".
>> GO TO 2.
2.PERFORM SELF-DIAGNOSIS
CONSULT
1. Turn ignition switch ON.
2. Select “Self Diagnostic Result” mode of “ICC/ADAS”.
3. Check DTC.
Is DTC detected?
YES >> Perform the trouble diagnosis for the detected DTC. Refer to DAS-22, "DTC Index".
NO >> Inspection End.

CONFIGURATION (ADAS CONTROL UNIT)
A
• Since vehicle specifications are not included in the ADAS control unit after replacement, it is required to write B
vehicle specifications using CONSULT.
• Configuration has three functions as follows:
Function Description C
Allows the reading of vehicle specification written in ADAS control unit to store
Before ECU
the specification in CONSULT.
Read/Write Configuration D
Allows the writing of the vehicle information stored in CONSULT into the ADAS
After ECU replacement
control unit.
Manual Configuration Allows the writing of the vehicle specification into the ADAS control unit by hand.
E
CAUTION: F
• Use “Manual Configuration” only when “TYPE ID” of ADAS control unit cannot be read.
• If an error occurs during configuration, start over from the beginning.
1.CHECKING TYPE ID (1) G
Use FAST (service parts catalogue) to search ADAS control unit of the applicable vehicle and find “Type ID”.
Is “Type ID” displayed?
H
YES >> Print out “Type ID” and GO TO 2.
NO >> “Configuration” is not required for ADAS control unit. Replace in the usual manner. Refer to DAS-
85, "Removal and Installation".
2.CHECKING TYPE ID (2) I
CONSULT Configuration
1. Select “Before Replace ECU” of “Read/Write Configuration”. J
2. Check that “Type ID” is displayed on the CONSULT screen.
Is “Type ID” displayed?
YES >> GO TO 3. K
NO >> GO TO 7.
3.VERIFYING TYPE ID (1)
CONSULT Configuration L
Compare a “Type ID” displayed on the CONSULT screen with the one searched by using FAST (service parts
catalogue) to check that these “Type ID” agree with each other.
NOTE: M
For the “Type ID” searched by using FAST (service parts catalog), use the last five digits of the “Type ID”.
>> GO TO 4. N
4.SAVING TYPE ID
CONSULT Configuration DAS
Save “Type ID” on CONSULT.
>> GO TO 5. P
5.REPLACING ADAS CONTROL UNIT (1)
Replace ADAS control unit. Refer to DAS-85, "Removal and Installation".
>> GO TO 6.
6.WRITING (AUTOMATIC WRITING)
1. Select “After Replace ECU” of “Re/programming, Configuration” or that of “Read / Write Configuration”.
2. Select the “Type ID” agreeing with the one stored on CONSULT and the one searched by using FAST
(service parts catalogue) to write the “Type ID” into the ADAS control unit.
NOTE:
>> GO TO 9.
7.REPLACING ADAS CONTROL UNIT (2)
Replace ADAS control unit. Refer to DAS-85, "Removal and Installation".
>> GO TO 8.
8.WRITING (MANUAL WRITING)
1. Select “Manual Configuration”.
2. Select the “Type ID” searched by using FAST (service parts catalogue) to write the “Type ID” into the
ADAS control unit.
NOTE:
>> GO TO 9.
9.VERIFYING TYPE ID (2)
Compare “Type ID” written into the ADAS control unit with the one searched by using FAST (service parts cat-
alogue) to check that these “Type ID” agree with each other.
NOTE:
>> GO TO 10.
10.RESTART ADAS BY IGN OFF/IGN ON
1. Turn the ignition switch OFF.
2. Turn the ignition switch ON.
>> GO TO 11.
11.PERFORMING SUPPLEMENTARY WORK
1. Perform “Self Diagnostic Result” of all systems.
2. Erase “Self Diagnostic Result”.
>> End of work.

C1A00 CONTROL UNIT
< DTC/CIRCUIT DIAGNOSIS > [ADAS CONTROL UNIT]
DTC/CIRCUIT DIAGNOSIS A
C1A00 CONTROL UNIT
DTC Description INFOID:0000000011231545
B
DTC DETECTION LOGIC

C
CONSULT screen terms
DTC No. DTC detection condition
(Trouble diagnosis content)
Diagnosis condition When Ignition switch is ON.
D
CONTROL UNIT Signal (terminal) -
C1A00
(Control unit) Threshold ADAS control unit internal malfunction
Diagnosis delay time - E
POSSIBLE CAUSE
ADAS control unit F
FAIL-SAFE
The following systems are canceled:
• Intelligent Cruise Control (ICC) G
• Forward Emergency Braking (FEB)
• Predictive Forward Collision Warning (PFCW)
• Blind Spot Warning (BSW)
H
• Rear Cross Traffic Alert (RCTA)
DTC CONFIRMATION PROCEDURE
PERFORM SELF DIAGNOSTIC RESULT I
1.PERFORM DTC CONFIRMATION PROCEDURE

CONSULT J
1. Start the engine.
2. Select “All DTC Reading” mode.
3. Check DTC. K
4. Check if “C1A00” is detected as the current malfunction in “Self Diagnostic Result” mode of “ICC/ADAS”.
Is “C1A00” detected as the current malfunction?
YES >> Refer to DAS-43, "Diagnosis Procedure". L
NO-1 >> To check malfunction symptom before repair: Refer to GI-42, "Intermittent Incident".
NO-2 >> Confirmation after repair: Inspection End.
Diagnosis Procedure INFOID:0000000011231546 M
1.CHECK SELF DIAGNOSTIC RESULT

Check if any DTC other than “C1A00” is detected in “Self Diagnostic Result” mode of “ICC/ADAS”. N
Is any DTC detected?
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
DAS-22, "DTC Index". DAS
NO >> Replace the ADAS control unit. Refer to DAS-85, "Removal and Installation".

C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
DTC DETECTION LOGIC

POWER SUPPLY CIR Signal (terminal) -

C1A01 1
(Power supply circuit) Threshold Less than 7.9 V
Diagnosis delay time 5 seconds or more
POWER SUPPLY CIR 2 Signal (terminal) -

C1A02 2
(Power supply circuit 2) Threshold More than 19.3 V
POSSIBLE CAUSE
• Connector, harness, fuse
• ADAS control unit
FAIL-SAFE
• Intelligent Cruise Control (ICC)
CONSULT
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading” mode.
4. Check if “C1A01” or “C1A02” is detected as the current malfunction in “Self Diagnostic Result” mode of
“ICC/ADAS”.
Is “C1A01” or “C1A02” detected as the current malfunction?
YES >> Refer to DAS-44, "Diagnosis Procedure".
Diagnosis Procedure INFOID:0000000011231548
1.CHECK ADAS CONTROL UNIT POWER SUPPLY AND GROUND CIRCUIT

Check power supply and ground circuit of ADAS control unit. Refer to DAS-84, "Diagnosis Procedure".
Is the inspection result normal?
YES >> Replace the ADAS control unit. Refer to DAS-85, "Removal and Installation".
NO >> Repair or replace the malfunctioning parts.

C1A03 VEHICLE SPEED SENSOR
A
DTC DETECTION LOGIC B

(Trouble diagnosis content) C
Signal (terminal) –
If the vehicle speed is greater than 19 mph (30km/h) D
VHCL SPEED SE CIRC
C1A03 0.3s and vehicle speed drops to less than 1.8 mph
(Vehicle speed sensor circuit) Threshold
(3km/h) within 200ms and vehicle speed is less than
3km/h continues for 3s.
E
Diagnosis delay time –
POSSIBLE CAUSE
• Wheel speed sensor F
• ABS actuator and electric unit (control unit)
G
FAIL-SAFE
• Rear Cross Traffic Alert (RCTA) H

1.CHECK DTC PRIORITY I
If DTC “C1A03” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
Is applicable DTC detected?
J
YES >> Perform diagnosis of applicable.
• U1000: Refer to DAS-70, "DTC Description".
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE K
CONSULT
1. Start the engine. L
3. Drive the vehicle at 30 km/h (19 MPH) or more.
CAUTION:
Always drive safely. M
4. Stop the vehicle.
6. Check if “C1A03” is detected as the current malfunction in “Self Diagnostic Result” mode of “ICC/ADAS”. N
NO-1 >> To check malfunction symptom before repair: Refer to GI-42, "Intermittent Incident". DAS
P
1.CHECK DTC PRIORITY
NO >> GO TO 2.

2.CHECK DATA MONITOR

2. Drive the vehicle at 19 mph (30 km/h) or more.
3. Check that the value of “VHCL SPD SE” in “Data Monitor” of “ICC/ADAS” is almost the same as the actual
vehicle speed.
CAUTION:
Be careful of the vehicle speed.
NO >> GO TO 3.
3.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF DIAGNOSTIC RESULT
Check if any DTC is detected in “Self Diagnostic Result” mode of “ABS”.
BRC-50, "DTC Index".

C1A13 STOP LAMP RELAY
A

• Stop lamp inactive state continues for 0.3 D
seconds or more despite the outputting of
an ICC sensor ICC brake hold relay drive
signal
STOP LAMP RLY FIX E
C1A13 • The stop lamp remains ON for 60 sec-
(Stop lamp relay fix) Threshold onds or more under the following condi-
tions:
- Driving at 40 km/h (25 MPH) or more F
- No stop lamp drive signal output from
ADAS control unit
- No brake operation
Diagnosis delay time – G
POSSIBLE CAUSE
• Stop lamp switch circuit H
• Brake pedal position switch circuit
• ICC brake hold relay circuit
• Stop lamp switch
• Brake pedal position switch I
• ICC brake hold relay
• Incorrect stop lamp switch installation
• Incorrect brake pedal position switch installation J
• ECM
• ABS actuator and electric unit (control unit)
FAIL-SAFE K
• Forward Emergency Braking (FEB) L
1.CHECK DTC PRIORITY M
Is applicable DTC detected? N
YES >> Perform diagnosis of applicable. Refer to DAS-70, "DTC Description".
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE (1) DAS
CONSULT
2. Perform the “Active Test” item “STOP LAMP”. P
4. Check if “C1A13” is detected as the current malfunction in the “Self Diagnostic Result” mode of “ICC/
ADAS”.
NO >> GO TO 3.

3.PERFORM DTC CONFIRMATION PROCEDURE (2)

CONSULT
1. Drive at the vehicle speed of 40 km/h (25 MPH) or more for approximately 60 seconds or more without the
brake pedal depressed.
CAUTION:
Always drive safely.
NOTE:
If it is outside the above condition, repeat step 1.
3. Check if “C1A13” is detected as the current malfunction in the “Self Diagnostic Result” mode of “ICC/
ADAS”.
Regarding Wiring Diagram information, refer to DAS-24, "Wiring Diagram".

NO >> GO TO 2.
2.CHECK STOP LAMP SWITCH
CONSULT
1. Select “Data Monitor” mode of “ICC/ADAS”.
2. Select “STOP LAMP SW”.
3. Check that the function operates normally according to the following conditions:
Monitor item Condition Status

When brake pedal is applied ON
STOP LAMP SW
When brake pedal is released OFF
YES >> GO TO 10.
NO >> GO TO 3.
3.CHECK STOP LAMP SWITCH INSTALLATION
1. Turn ignition switch OFF.
2. Check stop lamp switch for correct installation. Refer to BR-7, "Inspection".
YES >> GO TO 4.
NO >> Adjust stop lamp switch installation. Refer to BR-15, "Adjustment".
Check stop lamp switch. Refer to CCS-93, "Component Inspection (Stop Lamp Switch)".
YES >> GO TO 5.
NO >> Replace stop lamp switch. Refer to BR-20, "Exploded View".
5.CHECK STOP LAMP FOR ILLUMINATION
1. Remove ICC brake hold relay.

2. Check that the stop lamp is illuminated by depressing the brake pedal to turn the stop lamp ON.
Is the inspection result normal? A
YES >> GO TO 6.
NO >> Check the stop lamp circuit, and repair or replace the malfunctioning parts.
6.CHECK HARNESS BETWEEN STOP LAMP SWITCH AND ECM B

2. Disconnect stop lamp switch, ECM, rear combination lamp, and high-mounted stop lamp connectors.
C
3. Check for continuity between the stop lamp switch harness connector and the ECM harness connector.
Stop lamp switch ECM

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

Continuity F
Connector Terminal Ground
E38 2 No
Is the inspection result normal? G
YES >> GO TO 7.
NO >> Repair the harnesses or connectors.
7.CHECK ICC BRAKE HOLD RELAY CIRCUIT H
1. Connect ICC brake hold relay, ECM, rear combination lamp, and high-mounted stop lamp connectors.
2. Check that the stop lamp does not illuminate when brake pedal is not depressed.
I
YES >> GO TO 9.
NO >> GO TO 8.
J
8.CHECK ICC BRAKE HOLD RELAY
2. Check ICC brake hold relay. Refer to DAS-53, "Component Inspection". K
YES >> GO TO 9.
NO >> Replace ICC brake hold relay. L
9.PERFORM SELF-DIAGNOSIS OF ECM
CONSULT
M
1. Connect all connectors again if the connectors are disconnected.
3. Perform “All DTC Reading”.
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. Refer to EC-107, "DTC Index". N
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
NO >> Replace ADAS control unit. Refer to DAS-85, "Removal and Installation". DAS
10.CHECK ICC BRAKE HOLD RELAY POWER SUPPLY CIRCUIT
1. Turn ignition switch OFF. P
3. Check the voltage between ICC brake hold relay harness connector and ground.

Terminal
(+) (–) Voltage
ICC brake hold relay (Approx.)

E75 2 Battery voltage
YES >> GO TO 11.
NO >> Repair or replace ICC brake hold relay power supply circuit.
11.CHECK HARNESS BETWEEN AND ICC BRAKE HOLD RELAY AND ADAS CONTROL UNIT
1. Disconnect ADAS control unit connectors.
2. Check for continuity between ICC brake hold relay harness connector and ADAS control unit harness
connector.
ICC brake hold relay ADAS control unit

Continuity
E75 1 M182 14 Yes
3. Check for continuity between ICC brake hold relay harness connector and ground.
ICC brake hold relay

Continuity
E75 1 No
YES >> GO TO 12.
12.CHECK ADAS CONTROL UNIT STANDARD VOLTAGE
CONSULT
2. Select “STOP LAMP” in “Active Test” mode of “ICC/ADAS”.
3. Perform “Active Test and check the voltage between ADAS control unit harness connector and ground.
Terminal
Condition
(+) (–) Voltage
ADAS control unit (Approx.)
Active Test item
Connector Terminal “STOP LAMP”
Ground
OFF Battery voltage
M182 14
ON 0V
YES >> GO TO 13.
NO >> Replace ADAS control unit. Refer to DAS-85, "Removal and Installation".
13.CHECK ICC BRAKE HOLD RELAY POWER SUPPLY CIRCUIT
2. Check the voltage between ICC brake hold relay harness connector and ground.

Terminal A
(+) (–) Voltage
ICC brake hold relay (Approx.)
B
Is the inspection result normal? C
YES >> GO TO 14.
NO >> Repair or replace ICC brake hold relay power supply circuit.
14.CHECK HARNESS BETWEEN ICC BRAKE HOLD RELAY AND ECM D
1. Disconnect ECM, rear combination lamp, and high-mounted stop lamp connectors and remove ICC brake
hold relay.
E
2. Check for continuity between ICC brake hold relay harness connector and ECM harness connector.
ICC brake hold relay ECM

Continuity F
E75 3 E32 139 Yes
3. Check for continuity between ICC brake hold relay harness connector and ground. G
ICC brake hold relay

Continuity H
E75 3 No
Is the inspection result normal? I
YES >> GO TO 15.
15.CHECK ICC BRAKE HOLD RELAY J
2. Check ICC brake hold relay. Refer to DAS-53, "Component Inspection".
K
YES >> GO TO 16.
NO >> Replace ICC brake hold relay.
L
CONSULT
1. Select “Data Monitor” mode of “ICC/ADAS”. M
2. Select “STOP LAMP SW”.
3. Check that the function operates normally according to the following conditions:
N
Monitor item Condition Status
When brake pedal is applied ON
STOP LAMP SW
When brake pedal is released OFF DAS
YES >> GO TO 21.
NO >> GO TO 17. P
17.CHECK STOP LAMP SWITCH INSTALLATION
Check stop lamp switch for correct installation. Refer to BR-7, "Inspection".
YES >> GO TO 18.
NO >> Adjust stop lamp switch installation. Refer to BR-15, "Adjustment".


Check stop lamp switch. Refer to CCS-93, "Component Inspection (Stop Lamp Switch)".
YES >> GO TO 19.
NO >> Replace stop lamp switch. Refer to BR-20, "Exploded View".
19.CHECK STOP LAMP SWITCH POWER SUPPLY CIRCUIT
Check the voltage between stop lamp switch harness connector and ground.
Terminal
(+) (–) Voltage
Stop lamp switch (Approx.)

YES >> GO TO 20.
NO >> Repair or replace stop lamp switch power supply circuit.
20.CHECK HARNESS BETWEEN STOP LAMP SWITCH AND ABS ACTUATOR AND ELECTRIC UNIT
(CONTROL UNIT)
2. Disconnect stop lamp switch and ABS actuator and electric unit (control unit).
3. Check for continuity between the stop lamp switch harness connector and the ABS actuator and electric
unit (control unit) harness connector.
Stop lamp switch ABS actuator and electric unit (control unit)
Continuity
E38 4 E130 7 Yes
4. Check for continuity between stop lamp switch harness connector and ground.
Stop lamp switch

Continuity
E38 4 No
YES >> GO TO 21.
CONSULT
4. Check if any DTC is detected in “Self Diagnostic Result” of “ENGINE”. Refer to EC-107, "DTC Index".
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
NO >> GO TO 22.
22.PERFORM SELF-DIAGNOSIS OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
CONSULT
4. Check if any DTC is detected in “Self Diagnostic Result” of “ABS”. Refer to BRC-50, "DTC Index".

YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result. A
Component Inspection INFOID:0000000011231562
B
1.CHECK ICC BRAKE HOLD RELAY
Apply battery voltage to ICC brake hold relay terminals 1 and 2, and C
then check for continuity under the following conditions.
Terminal Condition Continuity D

When the battery voltage is applied Yes
3 5 When the battery voltage is not ap-
No
plied E
YES >> Inspection End.
NO >> Replace ICC brake hold relay. JSOIA0075GB
F
DAS

C1A14 ECM
C1A14 ECM
DTC DETECTION LOGIC

ECM CIRCUIT Signal (terminal) –

C1A14
(ECM circuit) Threshold If ECM is malfunctioning
POSSIBLE CAUSE
• ECM
FAIL-SAFE
NO >> GO TO 2.
CONSULT
2. Operate the ICC system and drive.
CAUTION:
Always drive safely.

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

C1A14 ECM
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer toDAS-70, "DTC Description". A
NO >> GO TO 3.
B
Check if any DTC is detected in “Self Diagnostic Result” mode of “ENGINE”.
C
EC-107, "DTC Index".
DAS

C1A17 ICC SENSOR
C1A17 ICC SENSOR
DTC DETECTION LOGIC

ICC SENSOR MALF Signal (terminal) –

C1A17
(-) Threshold If ICC sensor is malfunctioning
NOTE:
If DTC “C1A17” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to DAS-70, "DTC
Description".
POSSIBLE CAUSE
ICC sensor
FAIL-SAFE
1.CHECK ADAS CONTROL UNIT SELF DIAGNOSITIC RESULT

CONSULT
2. Check if “U1000” is detected other than “C1A17” in “Self Diagnostic Result” mode of “ICC/ADAS”.
Is “U1000”detected?
DAS-70, "DTC Description".
NO >> GO TO 2.
2.CHECK ICC SENSOR SELF DIAGNOSTIC RESULT
Check if any DTC is detected in “Self Diagnostic Result” mode of “LASER/RADAR”.
CCS-124, "DTC Logic".

C1A34 COMMAND ERROR
C1A34 COMMAND ERROR
A

COMMAND ERROR If an error occurs in the command signal that D
C1A34
(Command error) Threshold ADAS control unit transmits to ECM via
CAN communication
Diagnosis delay time – E
POSSIBLE CAUSE
ADAS control unit
F
FAIL-SAFE
DTC CONFIRMATION PROCEDURE H
I
NO >> GO TO 2. J
CONSULT
1. Start the engine. K
2. Operate the ICC system and drive.
CAUTION:
Always drive safely. L
M
N
DAS
1.CHECK SELF-DIAGNOSIS RESULTS
Check if “U1000” is detected other than “C1A34” in “Self Diagnostic Result” of “ICC/ADAS”.
Is “U1000” detected? P
Refer to DAS-70, "DTC Description".

C1B53 SIDE RADAR RIGHT MALFUNCTION
C1B53 SIDE RADAR RIGHT MALFUNCTION
DTC DETECTION LOGIC

SIDE RDR R MALF
C1B53 ADAS control unit detects that side radar
(Side radar right malfunction) Threshold
RH has a malfunction
POSSIBLE CAUSE
Side radar RH
FAIL-SAFE
CONSULT
3. Check if “C1B53” is detected as the current malfunction in “Self Diagnostic Result” mode of “ICC/ADAS”.
Is “C1B53” detected as the current malfunction?

Check if “U1000” is detected other than “C1B53” in “Self Diagnostic Result” mode of “ICC/ADAS”.
Refer to DAS-70, "DTC Description".
NO >> GO TO 2.
Check if any DTC is detected in “Self Diagnostic Result” mode of “SIDE RADAR RIGHT”.
DAS-129, "DTC Index" (Side radar LH), DAS-131, "DTC Index" (Side radar RH).

C1B54 SIDE RADAR LEFT MALFUNCTION
C1B54 SIDE RADAR LEFT MALFUNCTION
A

SIDE RDR L MALF
C1B54 ADAS control unit detects that side radar LH D
(Side radar left malfunction) Threshold
has a malfunction
E
POSSIBLE CAUSE
Side radar LH
FAIL-SAFE F
• Rear Cross Traffic Alert (RCTA) G
1.PERFORM DTC CONFIRMATION PROCEDURE H
CONSULT
2. Perform “All DTC Reading” mode. I
3. Check if “C1B54” is detected as the current malfunction in “Self Diagnostic Result” mode of “ICC/ADAS”.
Is “C1B54” detected as the current malfunction?
YES >> Refer to DAS-58, "Diagnosis Procedure". J
Diagnosis Procedure INFOID:0000000011231593 K

Check if “U1000” is detected other than “C1B54” in “Self Diagnostic Result” mode of “ICC/ADAS”. L
Refer to DAS-70, "DTC Description". M
NO >> GO TO 2.
2.CHECK SELF DIAGNOSTIC RESULTS N
Check if any DTC is detected in “Self Diagnostic Result” mode of “SIDE RADAR LEFT”.
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to DAS
DAS-129, "DTC Index" (Side radar LH), DAS-131, "DTC Index" (Side radar RH).
P

U0121 VDC CAN 2
U0121 VDC CAN 2
DTC DETECTION LOGIC

VDC CAN CIR2 If ADAS control unit detects an error signal

U0121 that is received from ABS actuator and elec-
(VDC CAN circuit2) Threshold
tric unit (control unit) via CAN communica-
tion
POSSIBLE CAUSE
ABS actuator and electric unit (control unit)
FAIL-SAFE
If DTC “U0121” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
NO >> GO TO 2.
CONSULT
4. Check if “U0121” is detected as the current malfunction in “Self Diagnostic Result” mode of “ICC/ADAS”.
Is “U0121” detected as the current malfunction?

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

U0121 VDC CAN 2
BRC-50, "DTC Index". A
DAS

U0235 ICC SENSOR CAN 1
U0235 ICC SENSOR CAN 1
DTC DETECTION LOGIC

ICC SENSOR CAN CIR1 ADAS control unit detects an error signal
U0235
(ICC sensor CAN circuit1) Threshold that is received from ICC sensor via ITS
communication
POSSIBLE CAUSE
ICC sensor
FAIL-SAFE
NO >> GO TO 2.
CONSULT

NO >> GO TO 2.
CCS-51, "DTC Index".

U0401 ECM CAN 1
U0401 ECM CAN 1
A

ECM CAN CIR1 If ADAS control unit detects an error signal D
U0401
(ECM CAN circuit1) Threshold that is received from ECM via CAN commu-
nication
POSSIBLE CAUSE
ECM
F
FAIL-SAFE

J
NO >> GO TO 2.
CONSULT
2. Turn the MAIN switch of ICC system ON. L
Is “U0401” detected as the current malfunction? M
N
1.CHECK DTC PRIORITY DAS

YES >> Perform diagnosis of applicable. Refer to DAS-70, "DTC Description". P
NO >> GO TO 2.
2.CHECK ECM SELF DIAGNOSTIC RESULT
Check if any DTC is detected in “Self Diagnostic Result” mode of “ENGINE”.

U0401 ECM CAN 1
EC-107, "DTC Index".

U0402 TCM CAN 1
U0402 TCM CAN 1
A

TCM CAN CIRC1 If ADAS control unit detects an error signal D
U0402
(TCM CAN circuit1) Threshold that is received from TCM via CAN commu-
nication
POSSIBLE CAUSE
TCM
F
FAIL-SAFE

J
NO >> GO TO 2.
CONSULT
2. Turn the MAIN switch of ICC system ON. L
Is “U0402” detected as the current malfunction? M
N
1.CHECK DTC PRIORITY DAS

YES >> Perform diagnosis of applicable. Refer to DAS-70, "DTC Description". P
NO >> GO TO 2.
2.CHECK TCM SELF DIAGNOSTIC RESULT
Check if any DTC is detected in “Self Diagnostic Result” mode of “TRANSMISSION”.

U0402 TCM CAN 1
TM-59, "DTC Index".

U0415 VDC CAN 1
U0415 VDC CAN 1
A

If ADAS control unit detects an error signal D
VDC CAN CIR1
U0415 that is received from ABS actuator and elec-
(VDC CAN circuit1) Threshold
tric unit (control unit) via CAN communica-
tion
E
POSSIBLE CAUSE
ABS actuator and electric unit (control unit) F
FAIL-SAFE
The following systems are canceled: G
• Blind Spot Warning (BSW) H
I
Is applicable DTC detected? J
NO >> GO TO 2.
CONSULT
1. Start the engine. L
M
NO-2 >> Confirmation after repair: Inspection End. N
DAS
Is applicable DTC detected? P
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF DIAGNOSTIC RESULT

U0415 VDC CAN 1
BRC-50, "DTC Index".

U0433 DIST SEN CAN CIRC 2
U0433 DIST SEN CAN CIRC 2
A

ICC SENSOR CAN CIRC 2
U0433 ADAS control unit received invalid data from D
(ICC SENSOR CAN circuit 2) Threshold
ICC sensor via ITS communication
E
POSSIBLE CAUSE
ICC sensor
ADAS control unit F
FAIL-SAFE
If DTC “U0433” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. I
NO >> GO TO 2. J
CONSULT
4. Check if “U0433” is detected as the current malfunction in “Self Diagnostic Result” mode of “ICC/ADAS”. L
NO-1 >> To check malfunction symptom before repair: Refer to GI-42, "Intermittent Incident". M
N
DAS
NO >> GO TO 2.
P
CCS-51, "DTC Index".

U1000 CAN COMM CIRCUIT
CAN COMMUNICATION
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
vehicles are equipped with many electronic control units, and each control unit shares information and links
with other control units during operation (not independent). In CAN communication, control units are con-
nected 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-37, "CAN COMMUNICATION SYSTEM : CAN Communica-
tion Signal Chart".
ITS COMMUNICATION
• ITS communication is a multiplex communication system. This enables the system to transmit and receive
large quantities of data at high speed by connecting control units with 2 communication lines.
• ITS communication lines adopt twisted-pair line style (two lines twisted) for noise immunity.
DTC DETECTION LOGIC

CAN COMM CIRCUIT If ADAS control unit is not transmitting or re-
U1000
(CAN communication circuit) Threshold ceiving CAN communication signal or ITS
communication
NOTE:
If “U1000” is detected, first diagnose the CAN communication system.
POSSIBLE CAUSE
• CAN communication system
• ITS communication system
FAIL-SAFE
NOTE:
With the detection of “U1000”, some systems do not perform the fail-safe operation. A system controlling
based on a signal received from the control unit performs fail-safe operation when the communication with the
ADAS control unit becomes inoperable.
CONSULT
4. Check if the “U1000” is detected as the current malfunction in “Self Diagnostic Result” mode of “ICC/
ADAS”.
NO-1 >> To check malfunction symptom before repair: Refer to GI-42, "Intermittent Incident". A
B
1.PERFORM THE SELF DIAGNOSTIC RESULT
CONSULT
C
1. Turn the ignition switch ON.
2. Turn the MAIN switch of ICC system ON, and then wait for 30 seconds or more.
4. Check if “U1000” is detected as the current malfunction in “Self Diagnostic Result” of “ICC/ADAS”. D
YES >> Refer to LAN-21, "Trouble Diagnosis Flow Chart".
NO >> Inspection End. E
DAS

U1321 CONFIGURATION
U1321 CONFIGURATION
DTC DETECTION LOGIC

DTC No. DTC detecting condition
Diagnosis condition When ignition switch is on.
Signal (terminal) —
U1321 NOT CONFIGURED
Threshold If ADAS is not configured.
Diagnosis delay time —
POSSIBLE CAUSE
ADAS control unit not configured
FAIL-SAFE
CONSULT
1.PERFORM CONFIGURATION OF ADAS CONTROL UNIT

Perform configuration of ADAS control unit when DTC “U1321” is detected.
>> Perform configuration of ADAS control unit. Refer to DAS-41, "Work Procedure".

U1503 SIDE RDR L CAN 2
A

SIDE RDR L CAN CIR 2 ADAS control unit detects an error signal D
U1503
(Side radar left CAN circuit 2) Threshold that is received from side radar LH via ITS
communication
POSSIBLE CAUSE
Side radar LH
F
FAIL-SAFE
• Blind Spot Warning (BSW) G
1.CHECK DTC PRIORITY H
If DTC “U1503” is displayed with DTC “U1000” or “U1508”, first diagnose the DTC “U1000” or “U1508”.
Is applicable DTC detected? I
• U1508: Refer to DAS-82, "DTC Description". J
NO >> GO TO 2.
CONSULT K
2. Turn the Blind Spot Warning system ON.
3. Perform “All DTC Reading” mode. L
YES >> Refer to DAS-73, "Diagnosis Procedure". M
Diagnosis Procedure INFOID:0000000011231650 N

If DTC “U1503” is displayed with DTC “U1000” or “U1508”, first diagnose the DTC “U1000” or “U1508”. DAS
• U1000: Refer to DAS-70, "DTC Description". P
NO >> GO TO 2.
2.CHECK SIDE RADAR LH SELF DIAGNOSTIC RESULT

DAS-129, "DTC Index".

A

SIDE RDR L CAN CIR 1 ADAS control unit detects an error signal D
U1504
(Side radar left CAN circuit 1) Threshold that is received from side radar LH via ITS
communication
POSSIBLE CAUSE
Side radar LH
F
FAIL-SAFE
NO >> GO TO 2.
CONSULT K

NO >> GO TO 2.
2.CHECK SIDE RADAR LH SELF DIAGNOSTIC RESULT


U1505 SIDE RDR R CAN 2
A

SIDE RDR R CAN CIR 2 ADAS control unit detects an error signal D
U1505
(Side radar right CAN circuit 2) Threshold that is received from side radar RH via ITS
communication
POSSIBLE CAUSE
Side radar RH
F
FAIL-SAFE
NO >> GO TO 2.
CONSULT K

NO >> GO TO 2.
2.CHECK SIDE RADAR RH SELF DIAGNOSTIC RESULT
Check if any DTC is detected in “Self Diagnostic Result” of “SIDE RADAR RIGHT”.


A

SIDE RDR R CAN CIR 1 ADAS control unit detects an error signal D
U1506
(Side radar right CAN circuit 1) Threshold that is received from side radar RH via ITS
communication
POSSIBLE CAUSE
Side radar RH
F
FAIL-SAFE
NO >> GO TO 2.
CONSULT K

NO >> GO TO 2.
2.CHECK SIDE RADAR RH SELF DIAGNOSTIC RESULTS
Check if any DTC is detected in “Self Diagnostic Result” mode of “SIDE RADAR RIGHT”.


U1507 LOST COMM(SIDE RDR R)
U1507 LOST COMM(SIDE RDR R)
A

LOST COMM(SIDE RDR R) Signal (terminal) –

U1507 [Lost communication (Side radar ADAS control unit cannot receive ITS com- D
right)] Threshold
munication signal from side radar RH
E
POSSIBLE CAUSE
• Side radar RH right/left switching signal circuit
• ITS communication system F
• Side radar RH
FAIL-SAFE
If DTC “U1507” is displayed with DTC “U1000”, first diagnose the DTC “U1507”. I
NO >> GO TO 2. J
CONSULT
4. Check if “U1507” is detected as the current malfunction in “Self Diagnostic Result” mode of “ICC/ADAS”. L
N
1.CHECK RIGHT/LEFT SWITCHING SIGNAL CIRCUIT
Check right/left switching signal circuit. Refer to DAS-172, "Diagnosis Procedure".
DAS
Refer to LAN-21, "Trouble Diagnosis Flow Chart".
P
NO >> Repair right/left switching signal circuit.

U1508 LOST COMM(SIDE RDR L)
DTC DETECTION LOGIC

LOST COMM(SIDE RDR L) Signal (terminal) –

U1508 [Lost communication (Side radar ADAS control unit cannot receive ITS com-
left)] Threshold
munication signal from side radar LH
POSSIBLE CAUSE
• Side radar LH harness connector
• ITS communication system
• Side radar LH
FAIL-SAFE
NO >> GO TO 2.
CONSULT

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

Refer to LAN-21, "Trouble Diagnosis Flow Chart". A
NO >> Repair the terminal or connector.
DAS

POWER SUPPLY AND GROUND CIRCUIT
1.CHECK FUSES
Check that the following fuse is not blown:
Signal name Fuse No.

Ignition power supply 29 (10A)
Is the fuse blown?
YES >> Replace the blown fuse after repairing the affected circuit.
NO >> GO TO 2.
2.CHECK ADAS CONTROL UNIT POWER SUPPLY CIRCUIT
Check voltage between ADAS control unit harness connector and ground.
Terminal
Condition
(+) (–) Voltage
ADAS control unit (Approx.)
Ignition switch
Connector Terminal
Ground
OFF 0V
M182 3
ON Battery voltage
YES >> GO TO 3.
NO >> Repair the ADAS control unit power supply circuit.
3.CHECK ADAS CONTROL UNIT GROUND CIRCUIT
2. Disconnect the ADAS control unit connector.
3. Check for continuity between ADAS control unit harness connector and ground.
ADAS control unit

Continuity
M182 1 Yes
NO >> Repair the ADAS control unit ground circuit.

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

ADAS CONTROL UNIT
Removal and Installation INFOID:0000000011231696
B
REMOVAL
NOTE: C
Before replacing ADAS control unit, perform “Before Replace ECU” of “Read / Write Configuration” to save or
print current vehicle specification. Refer to DAS-40, "Description".
1. Remove the center console assembly. Refer to IP-19, "Removal and Installation".
D
2. Disconnect the harness connector from ADAS control unit
3. Release the pawl and remove the ADAS control unit (1) in the
direction as shown . E
: Pawl
ALOIA0249ZZ
INSTALLATION H
CAUTION:
Be sure to perform “After Replace ECU” of “Read / Write Configuration” or “Manual Configuration”
when replacing ADAS control unit. Refer to DAS-40, "Work Procedure". I
Installation is in the reverse order of removal.
CAUTION:
Be sure to perform “Configuration (ADAS control unit)” when replacing ADAS control unit. Refer to
J
DAS-41, "Work Procedure".
DAS

PRECAUTIONS
< PRECAUTION > [DRIVER ASSISTANCE SYSTEM]
PRECAUTION
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
PRE-TENSIONER" INFOID:0000000011590501
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. Information necessary to service the system safely is included in the SR and SB section of
this Service Manual.
WARNING:
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision which would result in air bag inflation, all maintenance must be performed by
an authorized NISSAN/INFINITI dealer.
• 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 SR section.
• Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this
Service Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or har-
ness connectors.
PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS
WARNING:
• When working near the Airbag Diagnosis Sensor Unit or other Airbag System sensors with the Igni-
tion ON or engine running, DO NOT use air or electric power tools or strike near the sensor(s) with a
hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly causing
serious injury.
• When using air or electric power tools or hammers, always switch the Ignition OFF, disconnect the
battery and wait at least three minutes before performing any service.
Precautions For Harness Repair INFOID:0000000011231698
ITS communication uses a twisted pair line. Be careful when repairing it.
• Solder the repaired area and wrap tape around the soldered area.
NOTE:
A fray of twisted lines must be within 110 mm (4.33 in).
SKIB8766E
• Bypass connection is 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

PRECAUTIONS
< PRECAUTION > [DRIVER ASSISTANCE SYSTEM]
ICC System Service INFOID:0000000011590508
A
CAUTION:
• Turn the MAIN switch OFF in conditions similar to driving, such as free rollers or a chassis dyna-
mometer. B
• Never use the ICC sensor 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 radar alignment if necessary.
C
PFCW/FEB System Service INFOID:0000000011231700
CAUTION:
• Turn the PFCW/FEB system OFF in conditions similar to driving, such as free rollers or a chassis D
dynamometer.
• Do not use the ICC sensor removed from vehicle. Never disassemble or remodel.
• Erase DTC when replacing parts of ICC system, then check the operation of ICC system after radar E
alignment if necessary.
• Do not change PFCW/FEB initial state ON⇒OFF without consent of the customer.
Blind Spot Warning/Rear Cross Traffic Alert (RCTA) System Service INFOID:0000000011231702 F
CAUTION:
• Do not use the Blind Spot Warning/ Rear Cross Traffic Alert (RCTA) system when driving with free G
rollers or a chassis dynamometer.
• Do not perform the active test while driving.
TO KEEP THE BLIND SPOT WARNING/Rear Cross Traffic Alert (RCTA) SYSTEM OPERATING H
PROPERLY, BE SURE TO OBSERVE THE FOLLOWING ITEMS:
System Maintenance
The side radars for the Blind Spot Warning and Rear Cross Traffic Alert (RCTA) system are located near the I
rear bumper.
• Be sure to keep the area near the side radars clean.
• Do not attach stickers (including transparent material), install accessories or apply additional paint near the J
side radars.
• Do not strike or damage the area around the side radars.
K
DAS

COMPONENT PARTS
< SYSTEM DESCRIPTION > [DRIVER ASSISTANCE SYSTEM]
SYSTEM DESCRIPTION
COMPONENT PARTS
Component Parts Location INFOID:0000000011231704
ALOIA0244ZZ

COMPONENT PARTS
A. Front bumper RH B. Engine room LH C. Rear bumper LH A

D. Rear bumper RH E. View with instrument lower panel LH F. Upper side of brake pedal assembly
removed
G. View with center console assembly
B
removed
No. Component Description

C
• Transmits the turn indicator signal and position light request signal to ADAS control unit
via CAN communication.
1. BCM
• Refer to BCS-4, "BODY CONTROL SYSTEM : Component Parts Location" for detailed
installation location. D
• ABS actuator and electric unit (control unit) transmits the vehicle speed signal (wheel
speed), stop lamp signal and VDC/TCS/ABS system operation condition to ADAS con-
2.
ABS actuator and electric unit trol unit via CAN communication. E
(control unit) • ABS actuator and electric unit (control unit) controls the brake, based on a brake fluid
pressure control signal received from ADAS control unit via CAN communication.
• Refer to BRC-10, "Component Parts Location" for detailed installation location.
F
• Transmits the ICC brake switch signal, stop lamp switch signal, ICC steering switch sig-
nal, etc. to ADAS control unit via CAN communication.
3. ECM
• Refer to EC-15, "ENGINE CONTROL SYSTEM : Component Parts Location" for de-
tailed installation location. G
• TCM transmits the signal related to CVT control to ADAS control unit.
4. TCM • Refer to TM-11, "CVT CONTROL SYSTEM : Component Parts Location" for detailed
installation location.
H
5. Blind Spot Warning indicator LH
Refer to DAS-91, "Blind Spot Warning Indicator LH/RH".
6. Blind Spot Warning indicator RH
• Measures the rotation amount, rotation speed, and rotation direction of steering wheel, I
7. Steering angle sensor and then transmits them to ADAS control unit via CAN communication.
• Refer to BRC-10, "Component Parts Location" for detailed installation location.
• Description: DAS-91, "Combination Meter". J
8. Combination meter • Refer to MWI-5, "METER SYSTEM : Component Parts Location" for detailed installa-
tion location.
9. ICC steering switch Refer to DAS-90, "ICC Steering Switch".
K
10. ICC sensor Refer to DAS-90, "ICC Sensor".
11. ICC brake hold relay Refer to DAS-91, "ICC Brake Hold Relay".
12. Side radar LH L
Refer to DAS-91, "Side Radar LH/RH".
13. Side radar RH
14. Warning buzzer Refer to DAS-91, "Warning Buzzer".
M
15. Stop lamp switch
Refer to DAS-90, "Brake Pedal Position Switch / Stop Lamp Switch".
16. Brake pedal position switch
• ADAS control unit controls each system (ICC/PFCW/FEB/BSW/RCTA), based on ITS N
communication signals and CAN communication signals from each control unit.
17. ADAS control unit
• ADAS control unit transmits engine torque command value, brake fluid pressure control
signal, and buzzer output signal to each units.
DAS

COMPONENT PARTS
ICC Sensor INFOID:0000000011231705
• ICC sensor is installed behind the front bumper and detects a vehi-
cle ahead by using millimeter waves.
• ICC sensor detects radar reflected from a vehicle ahead by irradi-
ating radar forward and calculates a distance from the vehicle
ahead and relative speed, based on the detected signal.
• ICC sensor transmits the presence/absence of vehicle ahead and
the distance from the vehicle to ADAS control unit via ITS commu-
nication.
JSOIA1619ZZ
ICC Steering Switch INFOID:0000000011231706
• ICC steering switch is installed to the steering wheel and allows the driver to operate the ICC system by
using this switch.
• ICC steering switch allows the ON/OFF of the Intelligent Cruise Control and the settings of a vehicle speed
and distance between vehicles.
• ICC steering switch signal is transmitted to ECM. ECM transmits the signal to the ADAS control unit via CAN
communication.
Brake Pedal Position Switch / Stop Lamp Switch INFOID:0000000011231707
• Brake pedal position switch is installed at the upper part of the

brake pedal and detects a brake operation performed by the driver.
• Brake pedal position switch is turned OFF when depressing the
brake pedal.
• Brake pedal position switch signal is input to ECM. Brake pedal
position switch signal is transmitted from ECM to ADAS control
unit via CAN communication.
JSOIA0812ZZ
• Stop lamp switch is installed at the upper part of the brake pedal
and detects a brake operation performed by the driver.
• Stop lamp switch is turned ON, when depressing the brake pedal.
• Stop lamp switch signal is input to ECM and ABS actuator and
electric unit (control unit). Stop lamp switch signals are transmitted
from ECM and ABS actuator and electric unit (control unit) to
ADAS control unit via CAN communication.
JSOIA0439ZZ

COMPONENT PARTS
ICC Brake Hold Relay INFOID:0000000011231708
A
• ICC brake hold relay is installed in the engine room (right side).
• When the brake is activated by the system, the ICC brake hold
relay turns ON the stop lamp by bypassing the circuit of the stop B
lamp, according to a signal transmitted from the ADAS control unit.
D
JSOIA0565ZZ
Combination Meter INFOID:0000000011231709

E
• Receives meter display signal from ADAS control unit via CAN communication.
• Displays the system status according to a signal received from the ADAS control unit.
• Receives a buzzer output signal via CAN communication and sounds the buzzer. F
Warning Buzzer INFOID:0000000011231713
• The warning buzzer is installed behind the instrument lower panel G

LH.
• When a warning buzzer signal is received from the ADAS control
unit, the buzzer sounds. H
AWOIA0061ZZ J
Side Radar LH/RH INFOID:0000000011231714
• Installed near the rear bumper, the side radar detects other vehi- K
cles beside own vehicle in an adjacent lane.
• Connected with the ADAS control unit via ITS communication, the
side radar transmits a vehicle detection signal. L
• Receives a Blind Spot Warning indicator signal and a Blind Spot
Warning indicator dimmer signal from the ADAS control unit and
transmits an indicator operation signal to the Blind Spot Warning
indicator LH/RH. M
• Since side radar RH and side radar LH have the same specifica-
tions, side radar RH has the right/left switching signal circuit for
identification. N
AWOIA0106ZZ
Blind Spot Warning Indicator LH/RH INFOID:0000000011231715
DAS
• Installed on the front door corner cover, the Blind Spot Warning indicator warns the driver by lighting/blinking.
• Receives a Blind Spot Warning indicator operation signal from the side radar LH/RH and blinks or turns ON/
OFF the Blind Spot Warning indicator.
P

SYSTEM
SYSTEM
PFCW
PFCW : System Description INFOID:0000000011231718
SYSTEM DIAGRAM
AWOIA0107GB
ADAS CONTROL UNIT INPUT/OUTPUT SIGNAL ITEM

Input Signal Item

ABS malfunction signal Receives a malfunction state of ABS.
ABS operation signal Receives an operational state of ABS.
ABS warning lamp signal Receives an operational state of ABS warning lamp.
TCS malfunction signal Receives a malfunction state of TCS.
TCS operation signal Receives an operational state of TCS.
ABS actuator
CAN communi-
and electric unit VDC OFF switch signal Receives an ON/OFF state of VDC.
cation
(control unit)
VDC malfunction signal Receives a malfunction state of VDC.
VDC operation signal Receives an operational state of VDC.
Vehicle speed signal (ABS) Receives wheel speeds of front wheels.
Yaw rate signal Receives yaw rate acting on the vehicle.
Stop lamp switch Receives stop lamp switch state.
Engine speed signal Receives engine speed.
CAN communi- Stop lamp switch signal Receives an operational state of the brake pedal.
ECM
cation
Brake pedal position switch
Receives an operational state of the brake pedal.
signal
Combination CAN communi- Receives a selection state each item in “Driver Aids” selected
System selection signal
meter cation with the integral switch.
ITS communica- Receives detection results, such as the presence or absence
ICC sensor ICC sensor signal
tion of a leading vehicle and distance from the vehicle.
Input speed signal Receives the number of revolutions of input shaft.
CAN communi- Shift position signal Receives a selector lever position

TCM
cation Current gear position signal Receives a current gear position
Output shaft revolution signal Receives the number of revolutions of output shaft.

SYSTEM
A
Steering angle sensor malfunc-
Receives a malfunction state of steering angle sensor.
tion signal
Steering angle CAN communi-
Receives the number of revolutions, turning direction of the
sensor cation Steering angle sensor signal B
steering wheel.
Steering angle speed signal Receives the turning angle speed of the steering wheel.
Output Signal Item C

Vehicle ahead detec- Transmits a signal to display a state of the system on D
Meter display tion indicator signal the combination meter.
Combination CAN commu- signal PFCW/FEB system Transmits a signal to turn ON the PFCW/FEB system
meter nication indicator signal indicator. E
Transmits a buzzer output signal to activate the buzz-
Buzzer output signal
er.
ITS communi- Transmits a vehicle speed calculated by the ADAS F
ICC sensor Vehicle speed signal
cation control unit.
DESCRIPTION
• The PFCW system will function when own vehicle is driven at speeds of approximately 3 MPH (5 km/h) and G
above.
• The Predictive Forward Collision Warning (PFCW) System alerts the driver, by the vehicle ahead detection
indicator and chime, when the distance between own vehicle and a vehicle in front of the vehicle ahead H
becomes closer.
JSOIA0905ZZ
M
NOTE:
The PFCW/FEB system shares the diagnosis function with ICC system.
FUNCTION DESCRIPTION N
The distance from the vehicle in front of the vehicle ahead and a relative speed are calculated by using the
ICC sensor and an ICC sensor signal is transmitted to the ADAS control unit via ITS communication. When
judging the necessity of warning according to the received ICC sensor signal, the ADAS control unit transmits
a warning buzzer signal and meter display signal to the combination meter via CAN communication. DAS
PFCW Operating Condition

• PFCW/FEB system display (white):ON
• Vehicle speed: Approximately 3 MPH (5 km/h) and above. P
• Vehicle in front of the vehicle ahead: Detected.
NOTE:
ON/OFF of PFCW/FEB system is performed with the integral switch of the combination meter information dis-
play.
BSW

SYSTEM
BSW : System Description INFOID:0000000011231721
SYSTEM DIAGRAM
AWOIA0108GB

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

TCM CAN communication Shift position signal Receives a selector lever position.
ABS actuator and
electric unit (control CAN communication Vehicle speed signal (ABS) Receives wheel speeds of four wheels.
unit)
Receives an operational state of the turn signal lamp
Turn indicator signal
BCM CAN communication and the hazard lamp.
Dimmer signal Receives ON/OFF state of dimmer signal.
Receives a selection state of each item in “Driver Aids”
Combination meter CAN communication System selection signal
selected with the integral switch.
Side radar LH, RH ITS communication Vehicle detection signal Receives vehicle detection condition of detection zone.
Output Signal Item

Combination CAN communi- Transmits a BSW indicator signal to turn ON the BSW
BSW indicator signal
meter cation indicator on the combination meter.
Warning buzz-
Warning buzzer signal Activates warning buzzer.
er
Transmits a Blind Spot Warning indicator signal to turn
ON the Blind Spot Warning indicator.
Side radar LH, ITS communi- Blind Spot Warning indicator dimmer sig- Transmits a Blind Spot Warning indicator dimmer sig-
RH cation nal nal to dimmer Blind Spot Warning indicator.
Transmits a vehicle speed calculated by the ADAS
control unit.
FUNCTION DESCRIPTION
• The BSW system can help alert the driver of other vehicles in adjacent lanes when changing lanes.
• The BSW system uses side radars installed near the rear bumper to detect vehicles in an adjacent lane.
• The side radars can detect vehicles on either side of vehicle within the detection zone shown as illustrated.

SYSTEM
• This detection zone starts from the outside mirror of vehicle and extends approximately 10 ft. (3.0 m) behind
the rear bumper, and approximately 10 ft. (3.0 m) sideways. A
• The BSW system operates above approximately 20 MPH (32 km/h).
• If the side radar detects vehicles in the detection zone, the Blind Spot Warning indicator illuminates.
B
F
JSOIA0257GB
• If the driver then activates the turn signal, a buzzer will sound twice and the Blind Spot Warning indicator will
blink.
NOTE: G
A buzzer sounds if the side radar have already detected vehicles when the driver activates the turn signal. If
a vehicle comes into the detection zone after the driver activates the turn signal, then only the Blind Spot
Warning indicator blinks and no buzzer sounds. H
JSOIA0258GB
BLIND SPOT WARNING SYSTEM OPERATION DESCRIPTION M

• ADAS control unit enables BSW system.
• The ADAS control unit turns on the BSW system when the turned ON by integral switch.
• Side radar detects a vehicle in the adjacent lane, and transmits the vehicle detection signal to ADAS control N
unit via ITS communication.
• ADAS control unit starts the control as follows, based on a vehicle detection signal, turn signal and dimmer
signal transmitted from BCM via CAN communication:
- Blind Spot Warning indicator signal and Blind Spot Warning indicator dimmer signal transmission to side DAS
radar.
- Activates warning buzzer by driver assistance buzzer control module.
• Side radar transmits an indicator operation signal to the Blind Spot Warning indicator according to Blind Spot P
Warning indicator signal and Blind Spot Warning indicator dimmer signal.
OPERATING CONDITION
• Blind Spot Warning system display (white): ON
• Vehicle speed: Approximately 20 MPH (32 km/h) or more.
NOTE:
ON/OFF of Blind Spot Warning system is performed with the integral switch.

SYSTEM
• After the operating conditions of warning are satisfied, the warning continues until the vehicle speed reaches
approximately 18 MPH (29 km/h)
• The Blind Spot Warning system may not function properly, depending on the situation. Refer to DAS-87,
"Blind Spot Warning/Rear Cross Traffic Alert (RCTA) System Service".
RCTA
RCTA : System Description INFOID:0000000011231723
SYSTEM DIAGRAM
AWOIA0109GB

Input Signal Item
CAN communi- Current gear position signal Receives a current gear position.
TCM
cation Shift position signal Receives a select lever position.
ABS malfunction signal Receives a malfunction state of ABS.
ABS actuator
CAN communi-
and electric unit VDC malfunction signal Receives a malfunction state of VDC.
cation
(control unit)
Vehicle speed signal (ABS) Receives wheel speeds of four wheels.
Combination CAN communi- Receives a selection state of each item in “Driver Aids”
System selection signal
meter cation selected with the integral switch.
Side radar LH, ITS communica-
Vehicle detection signal Receives vehicle detection condition of detection zone.
RH tion
Output Signal Item

Combination CAN communi- Transmits a BSW indicator signal to turn ON the BSW in-
BSW indicator signal
meter cation dicator on the combination meter.
Warning buzzer Warning buzzer output signal Activates warning buzzer.
Transmits a Blind Spot Warning indicator signal to turn ON
the Blind Spot Warning indicator.
Side radar LH, ITS communica- Blind Spot Warning indicator dimmer Transmits a Blind Spot Warning indicator dimmer signal to
RH tion signal dimmer Blind Spot Warning indicator.
Transmits a vehicle speed calculated by the ADAS control
unit.
FUNCTION DESCRIPTION

SYSTEM
• The Rear Cross Traffic Alert system can help alert the driver of approaching vehicles when the driver is
backing out of a parking space. A
• The RCTA system uses side radars installed near the rear bumper to detect approaching vehicles.
• The RCTA system operates at speeds below 5 MPH (8 km/h) B

whenever the vehicle is in reverse.
• The side radar can detect vehicles on either side of vehicle within
the detection zone shown as illustrated.
• The radar sensors detect the approaching vehicle from up to C
approximately 20 m (66 ft) away.
JSOIA0977ZZ E
• If the radar detects a vehicle approaching from the side, the system gives visual and audible warning.
F
J
AWOIA0113ZZ
• If the side radar detects an approaching vehicle from the side, the RCTA system sounds a beep (single K
beep), the Blind Spot Warning indicator on the side of the approaching vehicle flashes.
REAR CROSS TRAFFIC ALERT SYSTEM OPERATION DESCRIPTION L

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

SYSTEM

play
FEB warning lamp
(Yellow)
FEB warning lamp
(Yellow)
Fail-safe INFOID:0000000011598857
If a malfunction occurs in the ICC sensor, ADAS control unit cancels control, sounds a beep, and turns ON the
ICC system warning lamp in the combination meter.
Fail-safe (Side Radar) INFOID:0000000011598862
FAIL-SAFE CONTROL BY DTC

Blind Spot Warning (BSW)/Rear Cross Traffic Alert (RCTA)
If a malfunction occurs in the side radar, ADAS control unit cancels control, and turns ON the Blind Spot Warn-
ing indicator (orange) on the combination meter.
TEMPORARY DISABLED STATUS AT BLOCKAGE
Blind Spot Warning (BSW)
When the side radar is blocked, the operation is temporarily cancelled. Then the buzzer sounds and the Blind
Spot Warning indicator (orange) is turned ON in the combination meter. Also, under the following conditions,
the operation may be temporarily cancelled:
• The side radar may be blocked by temporary ambient conditions such as splashing water, mist or fog.
• The blocked condition may also be caused by objects such as ice, frost or dirt obstructing the side radar.
Rear Cross Traffic Alert (RCTA)
Spot Warning indicator (orange) is turned ON in the combination meter. Also, under the following conditions,
the operation may be temporarily cancelled.

OPERATION
OPERATION
A
PFCW/FEB, BSW/RCTA
PFCW/FEB, BSW/RCTA : Switch Name and Function INFOID:0000000011231731
B
E
AWOIA0111GB
No. Switch name Description F

The setting of BSW/RCTA system can be switched between ON and OFF on the com-
bination meter information display.
BSW/RCTA system setting screen
1. NOTE:
(Integral switch settings screen) G
When the Blind Spot Warning system is turned ON or OFF, the Rear Cross Traffic Alert
system is also turned ON or OFF simultaneously.
The setting of PFCW/FEB system can be switched between ON and OFF on the com-
bination meter information display. H
PFCW/FEB system setting screen
2. NOTE:
(Integral switch settings screen)
When the Forward Emergency Braking system is turned ON or OFF, the Predictive For-
ward Collision Warning system is also turned ON or OFF simultaneously.
I
DAS

HANDLING PRECAUTION
HANDLING PRECAUTION
Precautions for Predictive Forward Collision Warning INFOID:0000000011231738
• The Predictive Forward Collision Warning system is designed to warn the driver before a collision, but will
not avoid a collision. It is the driver's responsibility to stay alert, drive safely and be in control of the vehicle at
all times.
• The radar sensor does not detect the following objects:
- Pedestrians, animals, or obstacles in the roadway.
- Oncoming vehicles.
- Crossing vehicles.
• The Predictive Forward Collision Warning system does not function when a vehicle ahead is a narrow vehi-
cle, such as a motorcycle.
• The radar sensor may not detect a second vehicle ahead in the following conditions:
- Snow or heavy rain.
- Dirt, ice, snow or other material covering the radar sensor.
- Interference by other radar sources.
- Snow or road spray from traveling vehicles is splashed.
- Driving in a tunnel.
• The radar sensor may not detect a second vehicle when the vehicle ahead is being towed.
• When the distance to the vehicle ahead is too close, the beam of the radar sensor is obstructed.
• The radar sensor may not detect a second vehicle when driving on a steep downhill slope or on roads with
sharp curves.
• Excessive noise will interfere with the warning tone sound, and it may not be heard.
Precautions for Blind Spot Warning INFOID:0000000011600558
SIDE RADAR HANDLING

• Side radar for Blind Spot Warning system is located inside the rear bumper.
• Always keep the rear bumper near the side radar clean.
• Do not attach a sticker (including transparent material), install an accessory or paint work near the side
radar.
• Do not strike or damage the areas around the side radar.
• Do not strike, damage, and scratch the side radar, especially the vent seal (gray circular) area, under repair.
BLIND SPOT WARNING
• The Blind Spot Warning system is not a replacement for proper driving procedure and is not designed to pre-
vent contact with vehicles or objects. When changing lanes, always use the side and rear mirrors and turn
and look in the direction driver will move to ensure it is safe to change lanes. Never rely solely on the Blind
Spot Warning system.
• The Blind Spot Warning system may not provide the warning for vehicles that pass through the detection
zone quickly.
• Excessive noise (for example, audio system volume, open vehicle window) will interfere with the chime
sound, and it may not be heard.
• The side radar may not be able to detect and activate Blind Spot Warning when certain objects are present
such as:
- Pedestrians, bicycles, animals.
- Several types of vehicles such as motorcycles.
- Vehicles remaining in the detection zone when driver accelerate from a stop.
- A vehicle merging into an adjacent lane at a speed approximately the same as vehicle.
- A vehicle approaching rapidly from behind.
- A vehicle which vehicle overtakes rapidly.
• Severe weather or road spray conditions may reduce the ability of the radar to detect other vehicles.
• The side radar detection zone is designed based on a standard lane width. When driving in a wider lane, the
side radar may not detect vehicles in an adjacent lane. When driving in a narrow lane, the side radar may
detect vehicles driving two lanes away.
• The side radar is designed to ignore most stationary objects, however, objects such as guardrails, walls, foli-
age and parked vehicles may occasionally be detected. This is a normal operating condition.

HANDLING PRECAUTION
Precautions for Rear Cross Traffic Alert INFOID:0000000011600559
A
SIDE RADAR HANDLING
• Side radar for Rear Cross Traffic Alert system is located inside the rear bumper.
• Always keep the rear bumper near the side radar clean. B
• Do not attach a sticker (including transparent material), install an accessory or paint work near the side
radar.
• Do not strike or damage the areas around the side radar. C
• Do not strike, damage, and scratch the side radar, especially the vent seal (gray circular) area, under repair.
REAR CROSS TRAFFIC ALERT
• Always check surroundings and turn to check what is behind you before backing up. The radar sensors D
detect approaching (moving) vehicles. The radar sensors cannot detect every object such as:
- Pedestrians, bicycles, motorcycles, animals or child operated toy vehicles.
- A vehicle that passing at speeds greater than approximately 30 KM/H (19 MPH)
- A vehicle that passing at speeds lower than approximately 8 KM/H (5 MPH) E
• The radar sensors may not detect approaching vehicles in certain situations:
- When the vehicle that is parked next to you obstructs the beam of the radar sensor.
- When the vehicle is parked in an angled parking space. F
- When the vehicle is parked on an incline.
- When an approaching vehicle turns into your vehicles parking lot isle.
- When the angle formed by your vehicle is too small.
• The following conditions may reduce the ability of the radar to detect other vehicles: G
- Severe weather
- Road spray
- Ice build up on the vehicle H
- Frost on the vehicle
- Dirt build up on the vehicle
• Do not attach stickers (including transparent material), install accessories or apply additional paint near the
I
radar sensors. These conditions may reduce the ability of the radar to detect other vehicles.
• Do not use RCTA systems when towing a trailer.
• Excessive noise (e.g. audio system volume, open vehicle window) will interfere with the chime sound and it
may not be heard. J
DAS

CONSULT Function (ICC/ADAS) INFOID:0000000011598860
APPLICATION ITEMS
CONSULT performs the following functions via CAN communication using ADAS control unit:
Diagnosis mode Description

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

Displays causes of automatic system cancellation occurred during control of the Intelligent Cruise
CAUSE OF AUTO-CANCEL
Control (ICC).
NOTE:
• Causes of the maximum five cancellations (system cancel) are displayed.
• The displayed cancellation causes display the number of the ignition switch ON/OFF up to 254. It is fixed to
254 if it is over 254. It returns to 0 when the same cancellation cause is detected again.
Display Items for The Cause of Automatic Cancellation 1.
Intelligent Cruise Control (ICC)
Cause of cancellation Description
CAN COMM ERROR × ADAS control unit received an abnormal signal with CAN communication.
NO RECORD × —


NOTE:
• The details of time display are as per the following: A
- CRNT: A malfunction is detected now.
- PAST: A malfunction was detected in the past.
• ODO/TRIP METER (Mileage) and VOLTAGE(IGN voltage) is displayed on FFD (Freeze Frame Data).
B
DATA MONITOR
NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable C
MAIN SIG
MAIN SIG
ALL SIG
(BSW/)
(ICC)
(ICC)
Monitored item
Description
[Unit]
MAIN SW E
× × × Indicates [ON/OFF] status as judged from ICC steering switch.
[On/Off]
SET/COAST SW
[On/Off] F
CANCEL SW
[On/Off]
RESUME/ACC SW G
[On/Off]
DISTANCE SW
× Indicates [ON/OFF] status as judged from ICC steering switch.
[On/Off]
H
CRUISE OPE
× × Indicates whether controlling or not (ON means “controlling”).
[On/Off]
BRAKE SW Indicates [ON/OFF] status as judged from ICC brake switch signal (ECM trans- I
× × ×
[On/Off] mits ICC brake switch signal through CAN communication).
STOP LAMP SW Indicates [ON/OFF] status as judged from stop lamp switch signal (ECM trans-
× × ×
[On/Off] mits stop lamp switch signal through CAN communication).
J
Indicates [ON/OFF] status of idle switch read from ADAS control unit through
IDLE SW
× CAN communication (ECM transmits ON/OFF status through CAN communica-
[On/Off]
tion).
K
SET DISTANCE
× × Indicates set distance memorized in ADAS control unit.
[Short/Mid/Long]
CRUISE LAMP
× × Indicates [ON/OFF] status of MAIN switch indicator output. L
[On/Off]
OWN VHCL NOTE:
×
VHCL AHEAD
M
× Indicates [ON/OFF] status of vehicle ahead detection indicator output.
[On/Off]
ICC WARNING
× Indicates [ON/OFF] status of ICC system warning lamp output. N
[On/Off]
Indicates vehicle speed calculated from ADAS control unit through CAN com-
VHCL SPEED SE
× × × munication [ABS actuator and electric unit (control unit) transmits vehicle speed
[km/h] or [mph]
signal (wheel speed) through CAN communication]. DAS
SET VHCL SPD
× × Indicates set vehicle speed memorized in ADAS control unit.
[km/h] or [mph]
BUZZER O/P
× Indicates [ON/OFF] status of ICC warning chime output.
P
[On/Off]
THRTL SENSOR NOTE:
× ×
[deg] The item is displayed, but it is not monitored.
ENGINE RPM Indicates engine speed read from ADAS control unit through CAN communica-
×
[rpm] tion (ECM transmits engine speed signal through CAN communication).
WIPER SW Indicates wiper [OFF/LOW/HIGH] status (BCM transmits front wiper request sig-
×
[OFF/LOW/HIGH] nal through CAN communication).

MAIN SIG
MAIN SIG
ALL SIG
(BSW/)
(ICC)
(ICC)
Monitored item
Description
[Unit]
YAW RATE NOTE:

×
[deg/s] The item is displayed, but it is not monitored.
BA WARNING
× Indicates [ON/OFF] status of FEB indicator lamp output.
[On/Off]
STP LMP DRIVE
× × Indicates [ON/OFF] status of ICC brake hold relay drive output.
[On/Off]
Indicates [ON/OFF] status of “D” or “M” positions read from ADAS control unit
D POSITION SW
× through CAN communication; ON when position “D” or “M” (TCM transmits shift
[On/Off]
position signal through CAN communication).
NP RANGE SW Indicates shift position signal read from ADAS control unit through CAN commu-
×
[On/Off] nication (TCM transmits shift position signal through CAN communication).
Parking brake switch status [ON/OFF] judged from the parking brake switch sig-
PKB SW nal that ADAS control unit readout via CAN communication is displayed (com-
×
[On/Off] bination meter transmits the parking brake switch signal via CAN
communication).
PWR SUP MONI
× × Indicates IGN voltage input by ADAS control unit.
[V]
Indicates vehicle speed calculated from CVT vehicle speed sensor read from
VHCL SPD AT
× ADAS control unit through CAN communication (TCM transmits CVT vehicle
[km/h] or [mph]
speed sensor signal through CAN communication).
Indicates throttle position read from ADAS control unit through CAN communi-
THRTL OPENING
× × cation (ECM transmits accelerator pedal position signal through CAN communi-
[%]
cation).
Indicates CVT gear position read from ADAS control unit through CAN commu-
GEAR
× nication (TCM transmits current gear position signal through CAN communica-
[1, 2, 3, 4, 5, 6, 7]
tion).
CLUTCH SW SIG Indicates [ON/OFF] status as judged from clutch pedal position signal (ECM
× × ×
[On/Off] transmits ICC clutch switch signal through CAN communication).
Indicates [ON/OFF] status as judged from park/neutral position switch signal
NP SW SIG
× (ECM transmits park/neutral position switch signal through CAN communica-
[On/Off]
tion).
MODE SIG Indicates the active mode from ICC or ASCD [conventional (fixed speed) cruise
×
[OFF, ICC, ASCD] control mode].
SET DISP IND
× Indicates [ON/OFF] status of SET switch indicator output.
[On/Off]
DISTANCE
× Indicates the distance from the vehicle ahead.
[m]
RELATIVE SPD
× Indicates the relative speed of the vehicle ahead.
[m/s]
ON ROOT GUIDANCE NOTE:
×
[On/Off] The item is displayed, but it is not monitored
DYNA ASIST SW Indicates [ON/OFF] status as judged from ICC steering switch signal (ECM
× × ×
[On/Off] transmits ICC steering switch signal through CAN communication).
IBA SW NOTE:
× ×
NAVI ICC DISP NOTE:
Shift position Indicates shift position read from ADAS control unit through CAN communica-
×
[Off, P, R, N, D, M/T1 - 7] tion (TCM transmits shift position signal through CAN communication).
Indicates turn signal operation status read from ADAS control unit through CAN
Turn signal
× communication (BCM transmits turn indicator signal through CAN communica-
[OFF/LH/RH/LH&RH]
tion).

MAIN SIG
MAIN SIG
ALL SIG
(BSW/)
A
(ICC)
(ICC)
Monitored item
Description
[Unit]
Indicates lateral G acting on the vehicle. This lateral G is judged from a side G B
SIDE G sensor signal read by ADAS control unit via CAN communication
×
[G] (The ABS actuator and electric unit (control unit) transmits a side G sensor sig-
nal via CAN communication).
C
FUNC ITEM (FCW)
× × × ⇒“Emergency Brake” of the integral switch
[On/Off]
Forward Emergency Braking.
Indicates systems which can be set to ON/OFF by selecting “Driver Assistance” D
FUNC ITEM (BSW)
× × × ⇒“Blind spot” of the integral switch
[On/Off]
Blind Spot Warning.
FUNC ITEM (NV-ICC) NOTE: E
× × ×
[Off] The item is displayed, but it is not monitored
Indicates an ON/OFF state of the PFCW system. The PFCW system can be set
FCW SELECT
× × × to ON/OFF by selecting “Driver Assistance”⇒“Emergency Brake” of the integral
[On/Off]
switch.
F
BSW SELECT Indicates an ON/OFF state of the BSW system. The BSW system can be set to
× × ×
[On/Off] ON/OFF by selecting “Driver Assistance”⇒“Blind spot” of the integral switch.
G
NAVI ICC SELECT NOTE:
× × ×
[Off] The item is displayed, but it is not monitored.
SYS SELECTABILITY Indicates the availability of ON/OFF switching for “Driving Aids” items received
× × × H
[On/Off] from the integral switch via CAN communication.
BSW/BSI WARN LMP
× Indicates [ON/OFF] status of Blind Spot warning malfunction.
[On/Off]
I
BSW SYSTEM ON
× Indicates [ON/OFF] status of BSW system.
[On/Off]
FCW SYSTEM ON
× × Indicates [ON/OFF] status of PFCW system. J
[On/Off]
BATTERY CIRCUIT
NOTE:
OFF ×
[On/Off] K
SYSTEM CANCEL
MESSAGE
× × × Indicates [ON/OFF] status of system cancel display output.
[NOREQ/SLIP/VDC L
OFF]
BSW ON INDICATOR
× Indicates [ON/OFF] status of BSW system ON display output.
[On/Off]
M
SIDE RADAR BLOCK
COND × Indicates [ON/OFF] status of side radar with dirt or foreign materials.
[On/Off]
BSW IND BRIGHT-
N
NESS
× Indicates status of brightness of Blind Spot Warning indicator.
[Nothing/Bright/Normal/
Dark] DAS
SL MAIN SW
× Indicates [ON/OFF] status as judged from steering switch.
[On/Off]
Indicates systems which can be set to ON/OFF by selecting “Driver Assistance” P
FUNC ITEM(FEB)
× ⇒“Emergency Brake” of the integral switch.
[On/Off]
Forward Emergency Braking
Indicates an ON/OFF state of the FEB system. The FEB system can be set to
FEB SELECT
× ON/OFF by selecting “Driver Assistance”⇒“Emergency Brake” of the integral
[On/Off]
switch.
FEB SW
× Indicates [ON/OFF] status of FEB system.
[On/Off]

MAIN SIG
MAIN SIG
ALL SIG
(BSW/)
(ICC)
(ICC)
Monitored item
Description
[Unit]
SL TARGET VEHICLE
SPEED × Indicates set vehicle speed memorized in ADAS control unit.
[km/h] or [mph]
SL SET LAMP
× Indicates [ON/OFF] status of speed limiter SET display output.
[On/Off]
SL LIMIT LAMP
× Indicates [ON/OFF] status of speed limiter MAIN switch display output.
[On/Off]
ASCD CANCEL (LOW
SPEED) ×
• CUT: Vehicle speed decreased to excessively low, and ASCD operation is cut
[NON/CUT]
off.
ASCD CANCEL
(SPEED DIFF) ×
• CUT: Vehicle speed decreased to excessively low compared with the ASCD
[NON/CUT]
set speed, and ASCD operation is cut off.
Display Kick Down decision state.
KICK DOWN
× • On: Accelerator pedal is depressed.
[On/Off]
• Off: Accelerator pedal is fully released.
ACTIVE TEST
CAUTION:
• Never perform “Active Test” while driving the vehicle.
• The “Active Test” cannot be performed when the following systems malfunction is displayed.
- ICC system
- Blind Spot Warning/RCTA
- PFCW/FEB
• The “Active Test” cannot be performed when the FEB warning lamp is illuminated.
• The “Active Test” cannot be performed when the ICC System is ON.
Test item Description

METER LAMP The FEB warning lamp 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
can be illuminated.
ADAS BUZZER Sounds a buzzer used for BSW, RCTA by arbitrarily operating ON/OFF.
METER BUZZER Sounds a buzzer used for ICC, PFCW, FEB by arbitrarily operating ON/OFF.
BRAKE ACTUATOR 1
BRAKE ACTUATOR 2 Activates the brake by an arbitrary operation.
BRAKE ACTUATOR 3
METER LAMP
NOTE:
Test item Operation Description FEB warning lamp

Off Stops sending the FEB warning lamp signal to exit from the test. OFF
METER LAMP Transmits the FEB warning lamp signal to the combination meter via CAN communi-
On ON
cation.
STOP LAMP
Test item Operation Description Stop lamp

Off Stops transmitting the ICC brake hold relay drive signal below to end the test. OFF
STOP LAMP
On Transmits the ICC brake hold relay drive signal. ON

METER BUZZER
A
Off Stops buzzer output to the combination meter via CAN communication. —
METER BUZZER
On Starts buzzer output to the combination meter via CAN communication. — B
ADAS BUZZER
C
On Starts buzzer output. —
ADAS BUZZER
Off Stops buzzer output. — D
BRAKE ACTUATOR
NOTE:
E
Test item Operation Description “PRESS ORDER” value

F
Off —
to end the test.
BRAKE ACTUATOR 1
On 10 bar G
to start the test.
Off —
to end the test.
BRAKE ACTUATOR 2 H
On 20 bar
to start the test.
Off —
to end the test. I
BRAKE ACTUATOR 3
On 30 bar
to start the test.
NOTE: J
The test is finished in 10 seconds after starting
M
AWOIA0119GB
ECU IDENTIFICATION
N
Displays ADAS control unit parts number.
DAS

DIAGNOSIS SYSTEM (ICC SENSOR)
CONSULT Function (LASER/RADAR) INFOID:0000000011598858
CAUTION:
After disconnecting the CONSULT vehicle interface (VI) from the data link connector, the ignition must
be cycled OFF → ON (for at least 5 seconds) → OFF. If this step is not performed, the BCM may not go
to “sleep mode”, potentially causing a discharged battery and a no-start condition.
APPLICATION ITEMS
CONSULT performs the following functions via CAN communication with ADAS control unit and the communi-
cation with ICC sensor.
Diagnosis mode Description

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

Refer to CCS-51, "DTC Index".
DATA MONITOR
Monitored item
Description
[Unit]
Vehicle speed judged from a vehicle speed signal read by the ICC sensor via ITS communica-
VHCL SPEED SE tion is displayed [ADAS control unit receives a vehicle speed signal from ABS actuator and
[km/h] or [mph] electric unit (control unit) via CAN communication and transmits the calculated vehicle speed
to ICC sensor via ITS communication].
Indicates yaw rate read from ADAS control unit through ITS communication [ADAS control unit
receives yaw rate signal from ABS actuator and electric unit (control unit) via CAN communi-
cation and transmits yaw rate calculated by the ADAS control unit]
YAW RATE
Yaw rate judged from a yaw rate signal read by ICC sensor via ITS communication is displayed
[deg/s]
[ADAS control unit receives a yaw rate signal from ABS actuator and electric unit (control unit)
via CAN communication and transmits the calculated yaw rate to ICC sensor via ITS commu-
nication].
PWR SUP MONI
Indicates IGN voltage input by ICC sensor
[V]
DISTANCE
Indicates the distance from the vehicle ahead
[m]
RELATIVE SPD
Indicates the relative speed of the vehicle ahead
[m/s]
RADAR OFFSET NOTE:
[m] The item is indicated but not used.
RADAR HEIGHT NOTE:
[m] The item is indicated but not used.
STEERING ANGLE
The steering angle is displayed.
[deg]
STRG ANGLE SPEED
The steering angle speed is displayed.
[deg/s]
L/R ADJUST
Indicates a horizontal correction value of the radar
[deg]
U/D ADJUST
Indicates a vertical correction value of the radar
[deg]

Monitored item
Description
[Unit] A
NOTE:
FCW SYSTEM ON
The item is indicated, but not used.
NOTE: B
FCW SELECT
NOTE:
PFCW SELECT
The item is indicated, but not used. C
NOTE:
FEB SW
FEB SELECT Indicates [ON/OFF] state of the PFCW system. D
MAIN SW Indicates [ON/OFF] status as judged from ICC steering switch.
NOTE:
ICC/ASCD MODE E
SET/COAST SW Indicates [ON/OFF] status as judged from ICC steering switch.
CANCEL SW Indicates [ON/OFF] status as judged from ICC steering switch.
F
RESUME/ACC SW Indicates [ON/OFF] status as judged from ICC steering switch.
DISTANCE SW Indicates [ON/OFF] status as judged from ICC steering switch.
Indicates [ON/OFF] status as judged from brake pedal position switch signal [ECM transmits G
BRAKE SW
brake pedal position switch signal through CAN communication].
Indicates [ON/OFF] status as judged from stop lamp switch signal [ABS actuator and electric
STOP LAMP SW
unit (control unit) transmits stop lamp switch signal through CAN communication]. H
Indicates [ON/OFF] status of idle switch read from ICC sensor through CAN communication
IDLE SW
(ECM transmits ON/OFF status through CAN communication.
CRUISE LAMP Indicates [ON/OFF] status of MAIN switch indicator output. I
NOTE:
OWN VHCL
VHCL AHEAD Indicates [ON/OFF] status of vehicle ahead detection indicator output. J
SET DISTANCE Indicates set distance memorized in ADAS control unit.
SET VHCL SPD NOTE:
[km/h] or [mph] The item is indicated, but not used. K
THRTL SENSOR Indicates throttle position read from ISS sensor through CAN communication
[%] (ECM transmits accelerator pedal position signal through CAN communication).
VEHICLE AHEAD DETECT Indicates [ON/OFF] status of vehicle ahead detection indicator output.
L
STATIC OBSTACLE DETECT Indicates [ON/OFF] status of static obstacle detection.

[ON/OFF]
BUZZER O/P M
Indicates [On/Off] status of warning chime output.
NOTE:
FUNC ITEM (FCW)
N
FUNC ITEM (PFCW) Indicates systems status
FUNC ITEM (FEB) Indicates systems status
FUNC ITEM (ICC) Indicates systems status DAS
PRESS_ORDER Indicates status as judged from brake fluid pressure signal [ABS actuator and electric unit (con-
[bar] trol unit) transmits brake fluid pressure signal through CAN communication].
Indicates [ON/OFF] status as judged from D position switch signal (TCM transmits shift position P
D RANGE SW
signal through CAN communication).
Indicates [ON/OFF] status as judged from N/P position switch signal (TCM transmits shift po-
NP RANGE SW
sition signal through CAN communication).
Parking brake switch status [ON/OFF] judges from the parking brake switch signal that ADAS
PKB SW control unit readout via CAN communication is displayed (combination meter transmits the
parking brake switch signal via CAN communication)

Monitored item
Description
[Unit]
NOTE:
VHCL SPD AT
Indicates shift position read from ADAS control unit though CAN communication
Shift position
(TCM transmits shift position signal through CAN communication).
NOTE:
Turn signal
SYSTEM CANCEL MESSAGE Indicates [ON/OFF] status of system cancel display output.
DISP VHCL SPD NOTE:
[km/h] or [mph] The item is indicated, but not used.
Indicates vehicle speed unit read from ICC sensor through CAN communication
VHCL SPD UNIT
(combination meter transmits vehicle speed unit through CAN communications).
NOTE:
ADAS AVAILABLE COND
NOTE:
ICC SET STATUS
NOTE:
ICC MALF
ADAS MALF Indicates [ON/OFF] status of ADAS malfunction.
STOP LAMP RELAY ON Indicates [ON/OFF] status of stop lamp relay fixed on.
STOP LAMP RELAY OFF Indicates [ON/OFF] status of stop lamp relay fixed off.
ICC CANCEL
ACCEL COM VALUE 1
Indicates accel command calculated from set speed and information of ahead vehicle.
[m/s2]
ICC STATUS Indicates ICC status.
NOTE:
ACCEL COM VALUE 2
WORK SUPPORT

Outputs millimeter waves, calculates the displacement in radar direction, and indicates an ad-
MILLIWAVE RADAR ADJUST
justment direction
CAUSE OF AUTO-CANCEL Displays causes of automatic cancellation occurred during Intelligent Cruise Control system.
ICC sensor Adjust

Refer to DAS-151, "Description".
ECU IDENTIFICATION
ICC sensor part number is displayed.
CAUSE OF AUTO CANCEL

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.
OP SW VOLT CIRC The ICC steering switch input voltage is not within standard range.
OP SW DOUBLE TOUCH The ICC steering switches were pressed at the same time.
Vehicle speed is lower than the speed as follows:
VHCL SPD DOWN • Vehicle to vehicle control mode is 24 km/h (15 mph).
• Conventional (fixed speed) cruise control mode is 32 km/h (20 mph).

A
WHL SPD ELEC NOISE Wheel speed sensor signal caught electromagnetic noise.
VDC/TCS OFF SW VDC OFF switch was pressed.
VHCL SPD UNMATCH Wheel speed became different from A/T vehicle speed. B
TIRE SLIP Wheel slipped.
IGN LOW VOLT Decrease in ICC sensor ignition voltage.
PARKING BRAKE ON The parking brake is operating. C
WHEEL SPD UNMATCH The wheel speed of all four wheels are out of the specified values.
a vehicle ahead is not detected during the following driving when the vehicle speed is approxi-
INCHING LOST D
mately 24 km/h (15mph) or less.
CAN COMM ERROR ICC sensor recieved an abnormal signal with CAN communication.
ABS/TCS/VDC CIRC An abnormal condition occurs in VDC/TCS/ABS system. E
ECD CIRCUIT An abnormal condition occurs in ECD system.
ASCD VHCL SPD DTAC Vehicle speed is detatched from the set vehicle speed.
ASCD DOUBLE COMD Cancel switch and operation switch are detected simultaneously. F
FEB OPERATED FEB activated.
VHL AHAD LOST (CLSE
RANGE)
A vehicle ahead lost close range. G
NO RECORD —
DAS

DIAGNOSIS SYSTEM (SIDE RADAR LH)
DIAGNOSIS SYSTEM (SIDE RADAR LH)
CONSULT Function (SIDE RADAR LEFT) INFOID:0000000011231746
DESCRIPTION
CONSULT performs the following functions by communicating with the side radar LH.
Select diag mode Function

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

Self Diagnostic Result
Displays memorized DTC in side radar LH. Refer to DAS-129, "DTC Index".
FFD (Freeze Frame Data)
The side radar records the following data when the malfunction is detected.
Freeze Frame Data item Description

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

BEAM DISTANCE — The item is displayed, but it is not used.
BEAM POSITION — The item is displayed, but it is not used.
Off Side radar is normal.
SIDE RADAR MALF
On Side radar is malfunctioning.
Off Side radar is not blocked.
BLOCKAGE COND
On Side radar is blocked.
ACTIVATE OPE — The item is displayed, but it is not used.
Off Does not detect a vehicle within detection area.
VEHICLE DETECT
On Detects a vehicle within detection area.
ACTIVE TEST
CAUTION:
• Never perform the “Active Test” while driving.
• “Active Test” cannot be started while the Blind Spot Warning indicator is illuminated.
Active test item Operation Description
BSW/BSI INDICATOR On Outputs the voltage to illuminate the Blind Spot Warning indicator.
DRIVE Off Stops the voltage to illuminate the Blind Spot Warning indicator.

DIAGNOSIS SYSTEM (SIDE RADAR RH)
DIAGNOSIS SYSTEM (SIDE RADAR RH)
A
CONSULT Function (SIDE RADAR RIGHT) INFOID:0000000011231747
DESCRIPTION B
CONSULT performs the following functions by communicating with the side radar RH.
Select diag mode Function C

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

Displays memorized DTC in side radar RH. Refer to DAS-131, "DTC Index".
F
FFD (Freeze Frame Data)
The side radar records the following data when the malfunction is detected.
G
Freeze Frame Data item Description
VHCL SP from ADAS The vehicle speed (from ADAS control unit) at the moment a malfunction is detected is displayed
TURN SIG STATUS Turn signal status at the moment a malfunction is detected is displayed H
DATA MONITOR
NOTE:
I
J
Monitored Item [unit] Description
BEAM DISTANCE — The item is displayed, but it is not used.
BEAM POSITION — The item is displayed, but it is not used. K
Off Side radar is normal.
SIDE RADAR MALF
On Side radar is malfunctioning.
Off Side radar is not blocked.
L
BLOCKAGE COND
On Side radar is blocked.
ACTIVATE OPE — The item is displayed, but it is not used.
M
Off Does not detect a vehicle within detection area.
VEHICLE DETECT
On Detects a vehicle within detection area.
N
ACTIVE TEST
CAUTION:
• Never perform the active test while driving.
• Active test cannot be started while the Blind Spot Warning indicator is illuminated. DAS
Active test item Operation Description

On Outputs the voltage to illuminate the Blind Spot Warning indicator. P
BSW/BSI INDICATOR
DRIVE Off Stops the voltage to illuminate the Blind Spot Warning indicator.

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

ADAS CONTROL UNIT

NOTE:

When MAIN (ON/OFF) switch is pressed. On
When MAIN (ON/OFF) switch is not pressed. Off
When SET/COAST switch is pressed. On
When SET/COAST switch is not pressed. Off
When CANCEL switch is pressed. 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
When DISTANCE switch is not pressed. Off
Drive the vehicle and activate When ICC system is controlling. On
CRUISE OPE the vehicle-to-vehicle distance
control mode When ICC system is not controlling. Off
When brake or clutch pedal is depressed. Off

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

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

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

ADAS CONTROL UNIT
When clutch or brake pedal is depressed. On
CLUTCH SW SIG Ignition switch ON
When clutch or brake pedal is not depressed. Off
When the shift lever is in neutral position. On
NP SW SIG Ignition switch ON
When the shift lever is in any position other than neutral. Off
When ICC system is deactivated. Off
When vehicle-to-vehicle distance control mode is acti-
Start the engine and press ICC
MODE SIG vated.
MAIN switch
When conventional (fixed speed) cruise control mode is
ASCD
activated.
• Drive the vehicle and acti- SET switch indicator ON. On
vate the conventional (fixed
SET DISP IND
speed) cruise control mode SET switch indicator OFF. Off
• Press SET/COAST switch
Displays the dis-
Drive the vehicle and activate tance from the
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
NOTE:
ON ROOT GUIDE Off
When the PFCW system is ON. On
FCW SYSTEM ON Ignition switch ON
When the PFCW system is OFF. Off
• Engine running Displays the
Shift position
• While driving shift position
Turn signal lamps OFF. Off
Turn signal lamp LH blinking. LH
Turn signal
Turn signal lamp RH blinking. RH
Turn signal lamp LH and RH blinking. LH&RH
Vehicle turning right. Negative value
SIDE G While driving
Vehicle turning left. Positive value
FUNC ITEM Ignition switch ON FUNC3
FUNC ITEM (FCW) Engine running On
FUNC ITEM (BSW) Engine running On
NOTE:
FUNC ITEM (NV-ICC) Off
On
switch is ON.
FCW SELECT Ignition switch ON
Off
switch is OFF.
“Blind Spot Warning” set with the integral switch is ON. On
BSW SELECT Ignition switch ON
“Blind Spot Warning” set with the integral switch is OFF. Off
NOTE:
NAVI ICC SELECT Off
Items set with the integral switch can be switched nor-
On
mally.
SYS SELECTABILITY Ignition switch ON
Items set with the integral switch cannot be switched
Off
normally.

ADAS CONTROL UNIT
A
When the BSW system is malfunctioning. On
BSW WARN LMP Engine running
When the BSW system is normal. Off
When the BSW system is ON. On B
BSW SYSTEM ON Ignition switch ON
When the BSW system is OFF. Off
When the FEB/PFCW system is ON. On
FCW SYSTEM ON Engine running
When the FEB/PFCW system is OFF. Off C
BATTERY CIRCUIT NOTE:
Off
OFF The item is indicated, but not used.
D
SYSTEM CANCEL System cancel display ON. On
Engine running
MESSAGE System cancel display OFF. Off
BSW system display ON. On E
BSW ON INDICATOR Engine running
BSW system display OFF. Off
SIDE RADAR BLOCK Front bumper or side radar is dirty. On

Engine running
COND Front bumper and side radar is clean. Off F
BSW system OFF. Nothing
BSW IND BRIGHT- Blind Spot Warning indicator brightness bright. Bright
Ignition switch ON G
NESS Blind Spot Warning indicator brightness normal. Normal
Blind Spot Warning indicator brightness dark. Dark
When speed limiter MAIN switch is pressed. On H
SL MAIN SW Engine running
When speed limiter MAIN switch is not pressed. Off
FUNC ITEM (FEB) Engine running On
I
On
switch is ON.
FEB SELECT Ignition switch ON
Off J
switch is OFF.
FEB system ON. On
FEB SW Engine running
FEB system OFF. Off K
SL TARGET VEHI- Displays the set
While driving When vehicle speed is set.
CLE SPEED vehicle speed
• Drive the vehicle and acti- Speed limiter SET indicator ON. On L
SL SET LAMP
• Press speed limiter MAIN Speed limiter SET indicator OFF. Off
switch
M
• Drive the vehicle and acti- Speed limiter system ON. On
SL LIMIT LAMP
• Press speed limiter MAIN Speed limiter system OFF. Off
switch N
ASCD CANCEL Drive the vehicle and activate ASCD cancelled by low vehicle speed. On
(LOW SPEED) the ASCD Other than above. Off
ASCD cancelled by difference between set speed and DAS
ASCD CANCEL Drive the vehicle and activate On
vehicle speed.
(SPEED DIFF) the ASCD
Other than above. Off
When accelerator pedal is full depressed. On
P
Drive the vehicle and activate
KICK DOWN
the speed limiter Other than above. Off

ADAS CONTROL UNIT
TERMINAL LAYOUT
PHYSICAL VALUES
JSOIA0705ZZ
Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ − Signal name
Output
1
Ground Input 0V
(B) —
2
ITS communication-High — —
(L) —
3
Ignition power supply Input Ignition switch ON Battery voltage
(LG)
Ignition Warning buzzer operation Battery voltage
4
Warning buzzer signal Output switch
(V) Warning buzzer not operating 0V
ON
5
ITS communication-Low — — —
(Y)
Ground
6
3rd CAN Low Input — —
(Y)
9
CAN high — — —
(L)
10
CAN low — — —
(P)
Ignition
14
ICC brake hold relay drive signal Output switch — Battery voltage
(L)
ON
18
3rd CAN High Input — — 0V
(L)

play
FEB warning lamp
(Yellow)
FEB warning lamp
(Yellow)

ADAS CONTROL UNIT
A
B
• U1507: LOST COMM (SIDE RDR R)
1
• U1508: LOST COMM (SIDE RDR L)
C
2
• U1321: CONFIGURATION
• C1A17: ICC SENSOR MALF D
3 • C1B53: SIDE RDR R MALF
• C1B54: SIDE RDR L MALF
• C1A02: POWER SUPPLY CIR 2 E
• C1A13: STOP LAMP RLY FIX
• C1A14: ECM CIRCUIT
• C1A34: COMMAND ERROR
F
4 • U0401: ECM CAN CIR 1
• U0402: TCM CAN CIR 1 G
• U1504: SIDE RDR L CAN CIR 1 H
5 • C1A03: VHCL SPEED SE CIRC I
6 • C1A00: CONTROL UNIT

J

• A: Intelligent Cruise Control (ICC) K
• E: Rear Cross Traffic Alert (RCTA) L
DTC Fail-safe
CONSULT System
M
NO DTC IS DE-
TECTED. FUR-
NO DTC IS DETECTED. FURTHER TESTING MAY
THER TESTING — —
BE REQUIRED N
MAY BE RE-
QUIRED
U1507 LOST COMM (SIDE RDR R) D, E DAS-81
U1508 LOST COMM (SIDE RDR L) D, E DAS-82 DAS
U1000NOTE CAN COMM CIRCUIT A, B, C, D, E DAS-70

U1321 CONFIGURATION A, B, C, D, E DAS-73 P
C1A17 ICC SENSOR MALF A, B, C DAS-54
C1B53 SIDE RDR R MALF D, E DAS-58
C1B54 SIDE RDR L MALF D, E DAS-59
C1A01 POWER SUPPLY CIR A, B, C, D, E DAS-44
C1A02 POWER SUPPLY CIR 2 A, B, C, D, E DAS-44

ADAS CONTROL UNIT
• A: Intelligent Cruise Control (ICC)
• E: Rear Cross Traffic Alert (RCTA)
DTC Fail-safe
CONSULT System
C1A13 STOP LAMP RLY FIX A, B, C DAS-47
C1A14 ECM CIRCUIT A, B, C DAS-54
C1A34 COMMAND ERROR A, B, C DAS-57
U0235 ICC SENSOR CAN CIRC 1 A, C, D, E DAS-62
U0401 ECM CAN CIR 1 A, B, C, D, E DAS-63
U0402 TCM CAN CIR 1 A, B, C, D, E DAS-65
U0433 ICC SENSOR CAN CIRC 2 A, B, C DAS-69
C1A03 VHCL SPEED SE CIRC D, E DAS-45
C1A00 CONTROL UNIT A, B, C, D, E DAS-43
NOTE:
With the detection of “U1000” some systems do not perform the fail-safe operation.
A system controlling based on a signal received from the control unit performs fail-safe operation when the
communication with the ADAS control unit becomes inoperable.

ICC SENSOR
ICC SENSOR
A
VALUES ON THE DIAGNOSIS TOOL B

Value of vehicle C
VHCL SPEED SE While driving speed signal
(wheel speed)
Vehicle stopped 0.0 D
YAW RATE While driving Vehicle turning right Positive value
Vehicle turning left Negative value
E
Power supply
PWR SUP MONI Ignition switch ON voltage value of
ICC sensor
Displays the F
Drive the vehicle and activate the distance from
When a vehicle ahead is detected
DISTANCE vehicle-to-vehicle distance control the preceding
mode. vehicle
G
When a vehicle ahead is not detected 0.0
Drive the vehicle and activate the Displays the rel-

When a vehicle ahead is detected
RELATIVE SPD vehicle-to-vehicle distance control ative speed
H
mode. When a vehicle ahead is not detected 0.0
NOTE:
RADAR OFFSET —
The item is indicated but not used. I
NOTE:
RADAR HEIGHT —
The item is indicated but not used.
When setting the steering wheel in straight-ahead po-
0.0 J
sition
STEERING ANGLE Ignition switch ON
When turning the steering wheel 90° rightward +90
When turning the steering wheel 90° leftward -90 K
Steering wheel
STRG ANGLE SPEED Ignition switch ON At the time of turning the steering wheel turning speed is
displayed L
Horizontal cor-
L/R ADJUST Ignition switch ON At the completion of radar alignment adjustment rection value is
displayed
M
Vertical correc-
U/D ADJUST Ignition switch ON At the completion of radar alignment adjustment tion value is dis-
played
N
NOTE:
FCW SYSTEM ON OFF
The item is indicated, but not used
NOTE:
FCW SELECT — – DAS
NOTE:
PFCW SYSTEM ON OFF
PFCW system set with the information display is ON ON P
PFCW SELECT Engine running
PFCW system set with the information display is OFF OFF
NOTE:
FEB SW — —
PFCW system set with the information display is ON ON
FEB SELECT Engine running
PFCW system set with the information display is OFF OFF

ICC SENSOR
When MAIN switch is pressed On
When MAIN switch is not pressed Off
On
ICC/ASCD MODE Engine running Intelligent Cruise Control System MAIN switch status
Off
When SET/COAST switch is pressed On
When SET/COAST switch is not pressed Off
When CANCEL switch is pressed On
When CANCEL switch is not pressed Off
When DISTANCE switch is pressed On
When DISTANCE switch is not pressed Off
When brake pedal is depressed On
When brake pedal is not depressed Off
When brake pedal is depressed On
When brake pedal is not depressed Off
Idling On
IDLE SW Engine running
ICC system ON
On
Start the engine and press MAIN (MAIN switch indicator ON)
CRUISE LAMP
switch ICC system OFF
Off
(MAIN switch indicator OFF)
NOTE:
OWN VHCL — Off
On
Drive the vehicle and activate the tection indicator ON)
VHCL AHEAD
Intelligent Cruise Control System When a vehicle ahead is detected (vehicle ahead de-
Off
tection indicator OFF)
• Start the engine and turn the ICC When set to “long” LONG
system ON
SET DISTANCE When set to “middle” MID
• Press the DISTANCE switch to
change the distance setting When set to “short” SHORT
NOTE:
SET VHCL SPD — —
THRT SENSOR Displays the
Engine running Depress accelerator pedal
[%] throttle position
VEHICLE AHEAD DE-
Engine running
TECT —
—
STATIC OBSTACLE Indicates [ON/Off] status of static
DETECT obstacle detection
• Intelligent Cruise Control System
On
• PFCW system
• FEB system
BUZZER O/P Engine running When the buzzer of the following system does not op-
erate:
• Intelligent Cruise Control System Off
• PFCW system
• FEB system

ICC SENSOR
A
FUNC ITEM (FCW) —
FUNC ITEM (PFCW)
Ignition switch ON —
FUNC ITEM (FEB) On B
FUNC ITEM (ICC)
PRESS_ORDER Engine running —
When the selector lever is in “D” position or manual C
On
mode
D RANGE SW Engine running
When the selector lever is in any other than “D” or
Off
manual mode D
Engine running When the selector lever is in “N” “P” On
NP RANGE SW
When the selector lever is in any other than “N” “P” Off
E
When the parking brake is applied On
When the parking brake is released Off
Value of A/T ve- F
VHCL SPD AT While driving — hicle speed
sensor signal
• Engine running
Displays the G
Shift position • While driving —
shift position
NOTE:
Turn signal — Off H
System cancel display OFF NO REQ
SYSTEM CANCEL
Engine running System cancel reason is slippery road SLIP
MESSAGE I
System cancel reason is VDC OFF VDC OFF
DISP VHCL SPD UNIT
VHCL SPD UNIT Engine running Meter indicates km/h km/h J
Meter indicates mph mph
ADAS AVAILABLE
COND K
NOTE:
— —
ICC SET STATUS The item is indicated, but not used
ICC MALF
L
ADAS is malfunction On
ADAS MALF Engine running
ADAS is not malfunction Off
STOP LAMP RELAY Stop lamp relay is fixed on On M

Engine running
ON Stop lamp relay is not fixed on Off
STOP LAMP RELAY Stop lamp relay is fixed off On

OFF
Engine running N
Stop lamp relay is not fixed off Off
NOTE:
ICC CANCEL — —
DAS
ICC sensor re-
ACCEL COM VALUE 1 quest accel
Engine running —
[m/s2] command to
ADAS controller P

ICC SENSOR
Intelligent Cruise Control System Off Off
Intelligent Cruise Control System On ICC
ICC STATUS Engine running Intelligent Cruise Control System On and vehicle is
STOP1
stopped
Intelligent Cruise Control System On and Driver de-
ACCEL
pressed accelerator pedal
ACCCEL COM VALUE NOTE:
—
2 The item is indicated, but not used
TERMINAL LAYOUT
JSOIA1678ZZ
PHYSICAL VALUES
Terminal No.
Description
(Wire color) Reference value
Condition Standard value
Input/ (Approx.)
+ – Signal name
Output
1 8
Ground — Ignition switch ON 0 - 0.1 V 0V
(B) (L/W)
2
ITS communication-L — — — —
(L)
—
3
ITS communication-H — — — —
(L/R)
8
Ground Ignition power supply Input Ignition switch ON 9.5 - 16 V Battery voltage
(L/W)
Fail-safe INFOID:0000000011598619
If a malfunction occurs in the ICC sensor, ADAS control unit cancels control, sounds a beep, and turns ON the
ICC system warning lamp in the combination meter.

1
• U1010: CONTROL UNIT (CAN)
• C1A50: ADAS MALFUNCTION
2 • C1A0C: ADAS MSG COUNTER
• C1A0C: ADAS CRC ERROR

ICC SENSOR
A
• C1A02: POWER SUPPLY CIR 2
• C1A04: ABS/TCS/VDC CIRC
• C1A05: BRAKE SW/STOP L SW B
• C1A06: OPERATION SW CIRC
• C1A07:CVT CIRCUIT
• C1A12 :LASER BEAM OFFCNTR
• C1A13 :STOP_LAMP_RLY_FIX C
• C1A14 :ECM_CIRCUIT
• C1A16: RADAR STAIN
• C1A18: LASER AIMING INCMP
• C1A21: UNIT HIGH TEMP D
• C1A24: NP RANGE
3
• C1A26: ECD MODE MALF
• C1A27: ECD POWER SUPPLY CIRC
• C1A39: STRG SEN CIR
E
• C1B5D: FEB OPE COUNT LIMIT
• C10B7: YAW RATE SENSOR
• U0121: VDC CAN CIR2
F
• U153A: TCM CAN CIR 1
• U153B: TCM CAN CIR 2
• U153D: ECM CAN CIR 2
• U0126: STRG SEN CAN CIR1 G
• U0401: ECM CAN CIR 1
• U0415: VDC CAN CIR1
• U0428: STRG SEN CAN CIR2
H
4 • C1A03: VEHC_SPEED_SE_CIRC
5 • C1A15: GEAR POSITION
• C1A00: CONTROL UNIT I
6 • C1A17: ICC SENSOR MALF
• C1A0D: RADAR CAN CIR
DTC Index INFOID:0000000011844010 J
NOTE:
• The details of time display are as per the following. K
- 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 is
switched OFF → ON. It returns to 0 when a malfunction is detected again in the process. L
- 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)
- 1 - 49: It increases like 0 → 1 → 2 ··· 48 → 49 after returning to the normal condition whenever the ignition is M
switched OFF → ON. It returns to 0 when a malfunction is detected again in the process.
- If it is over 49, it is fixed to 49 until the self-diagnosis results are erased.
N
DAS

ICC SENSOR
×: Applicable
DTC Fail-safe function
Conventional (fixed speed) cruise control mode
Predictive Forward Collision Control
Forward Emergency Brake (FEB)

ICC system warning lamp
Intelligent Cruise Control

CONSULT
CCS-84,
C1A00 CONTROL UNIT ON × × × ×
"DTC Logic"
CCS-130,
C1A0C ADAS CAN CIR 1 ON × × × ×
"DTC Logic"
CCS-131,
C1A0D RADAR CAN CIR ON × × ×
"DTC Logic"
CCS-85,
C1A01 POWER SUPPLY CIR ON × × × ×
"DTC Logic"
CCS-85,
C1A02 POWER SUPPLY CIR2 ON × × × ×
"DTC Logic"
CCS-86,
C1A03 VHCL SPEED SE CIRC ON × × × ×
"DTC Logic"
CCS-88,
C1A04 ABS/TCS/VDC CIRC ON × × × ×
"DTC Logic"
CCS-89,
C1A05 BRAKE SW/STOP L SW ON × × × ×
"DTC Logic"
CCS-94,
C1A06 OPERATION SW CIRC ON × ×
"DTC Logic"
CCS-127,
C1A07 CVT CIRCUIT ON × × × ×
"DTC Logic"
CCS-97,
C1A12 LASER BEAM OFFCNTR ON × × ×
"DTC Logic"
CCS-98,
C1A13 STOP LAMP RLY FIX ON × × × ×
"DTC Logic"
CCS-100,
C1A14 ECM CIRCUIT ON × × ×
"DTC Logic"
CCS-118,
C10B7 YAW RATE SENSOR ON × × ×
"DTC Logic"
CCS-102,
C1A15 GEAR POSITION ON × × ×
"DTC Logic"
CCS-104,
C1A16 RADAR BLOCKED ON × × ×
"DTC Logic"
CCS-106,
C1A17 ICC SENSOR MALF ON × × ×
"DTC Logic"
CCS-107,
C1A18 LASER ALIGNMENT INCMPT ON × × ×
"DTC Logic"
CCS-108,
C1A21 UNIT HIGH TEMP ON × × × ×
"DTC Logic"

ICC SENSOR
DTC Fail-safe function
A
Conventional (fixed speed) cruise control mode
Predictive Forward Collision Control
Forward Emergency Brake (FEB)

B
ICC system warning lamp
Intelligent Cruise Control

CONSULT display Reference C
CONSULT
CCS-109,
C1A24 NP RANGE ON × × × × F
"DTC Logic"
CCS-111,
C1A26 ECD MODE MALF ON × × ×
"DTC Logic"
CCS-113,
G
C1A27 ECD POWER SUPPLY CIRCUIT ON × × ×
"DTC Logic"
CCS-115,
C1A39 STRG SENS CIR ON × × × H
"DTC Logic"
CCS-117,
C1A50 ADAS MALFUNCTION ON × × × ×
"DTC Logic"
CCS-116, I
C1B5D FEB OPE COUNT LIMIT ON × × × ×
"DTC Logic"
CCS-118,
C10B7 YAW RATE SENSOR ON × × × ×
"DTC Logic" J
CCS-128,
U153A TCM CAN CIR 1 ON × × ×
"DTC Logic"
CCS-129, K
U153B TCM CAN CIR 2 ON × × ×
"DTC Logic"
CCS-129,
U153D ECM CAN CIR 2 ON × × ×
"DTC Logic" L
CCS-119,
U0121 VDC CAN CIR2 ON × × × ×
"DTC Logic"
CCS-120, M
U0126 STRG SEN CAN CIR1 ON × × × ×
"DTC Logic"
CCS-121,
U0401 ECM CAN CIR1 ON × × × ×
"DTC Logic" N
CCS-122,
U0415 VDC CAN CIR1 ON × × × ×
"DTC Logic"
U0428 STRG SEN CAN CIR2 ON × × × ×

CCS-123, DAS
"DTC Logic"
CCS-124,
U1000 CAN COMM CIRCUIT ON × × × ×
"DTC Logic"
P
CCS-125,
U1010 CONTROL UNIT (CAN) ON × × × ×
"DTC Logic"

SIDE RADAR LH
SIDE RADAR LH

NOTE:
CONSULT MONITOR ITEM
Monitor Item Condition Value/Status
NOTE:
BEAM DISTANCE —
NOTE:
BEAM POSITION —
Side radar is normal. Off
SIDE RADAR MALF
Side radar is malfunctioning. On
Side radar is not blocked. Off
BLOCKAGE COND
Side radar is blocked. On
NOTE:
ACTIVATE OPE —
Radar does not detect a vehicle. Off
VEHICLE DETECT
Radar detects a vehicle. On
TERMINAL LAYOUT
AWOIA0102ZZ
PHYSICAL VALUES
Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
3
Ground Ground — — 0V
(B)
4 Blind Spot Warning indica- Approx. 2 sec. after ignition switch OFF ⇒ ON
Ground Output 6V
(G) tor (bulb check)
5
Ground Ignition power supply Input Ignition switch ON Battery voltage
(R)
6
— ITS communication high — — —
(L)
7
— ITS communication low — — —
(Y)
8
(B)

SIDE RADAR LH
A
B
TEMPORARY DISABLED STATUS AT BLOCKAGE C
Spot Warning indicator (orange) is turned ON in the combination meter. Also, under the following conditions, D
E
Spot Warning indicator (orange) is turned ON in the combination meter. Also, under the following conditions, F
G
If some DTCs are displayed at the same time, perform inspections one by one based on the following priority
chart. H

• U1000: CAN COMM CIRCUIT I
1
• U0104: ADAS CAN CIR 1
2 J
3 C1B50: SIDE RDR MALFUNCTION
• C1B51: BSW/BSI IND SHORT CIR
4 • C1B52: BSW/BSI IND OPEN CIR K
• C1B55: RADAR BLOCKAGE

L
×: Applicable
Fail-safe
DTC Reference page M
Blind Spot Warning/Rear Cross Traffic Alert
C1B50 SIDE RDR MALFUNCTION × DAS-154
C1B51 BSW/BSI IND SHORT CIR × DAS-155 N
C1B52 BSW/BSI IND OPEN CIR × DAS-157
C1B55 RADAR BLOCKAGE × DAS-159
U1000 CAN COMM CIRCUIT × DAS-165
DAS
U1010 CONTROL UNIT (CAN) × DAS-168
U0104 ADAS CAN CIR1 × DAS-161
P

SIDE RADAR RH
SIDE RADAR RH

NOTE:
CONSULT MONITOR ITEM
Monitor Item Condition Value/Status
NOTE:
BEAM DISTANCE —
NOTE:
BEAM POSITION —
Side radar is normal. Off
SIDE RADAR MALF
Side radar is malfunctioning. On
Side radar is not blocked. Off
BLOCKAGE COND
Side radar is blocked. On
NOTE:
ACTIVATE OPE —
Radar does not detect a vehicle. Off
VEHICLE DETECT
Radar detects a vehicle. On
TERMINAL LAYOUT
AWOIA0102ZZ
PHYSICAL VALUES
Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ – Signal name
Output
3
Ground Right/Left switching signal Input — 0V
(B)
4 Blind Spot Warning indica- Approx. 2 sec. after ignition switch OFF ⇒ ON
Ground Output 6V
(G) tor (bulb check)
5
Ground Ignition power supply Input Ignition switch ON Battery voltage
(R)
6
— ITS communication high — — —
(L)
7
— ITS communication low — — —
(Y)
8
(B)

SIDE RADAR RH
A
B
TEMPORARY DISABLED STATUS AT BLOCKAGE C
Spot Warning indicator (orange) is turned ON in the combination meter. Also, under the following conditions, D
E
Spot Warning indicator (orange) is turned ON in the combination meter. Also, under the following conditions, F
G
If some DTCs are displayed at the same time, perform inspections one by one based on the following priority
chart. H

• U1000: CAN COMM CIRCUIT I
1
2 J
3 C1B50: SIDE RDR MALFUNCTION
• C1B51: BSW/BSI IND SHORT CIR
4 • C1B52: BSW/BSI IND OPEN CIR K
• C1B55: RADAR BLOCKAGE

L
×: Applicable
Fail-safe
DTC Reference page M
Blind Spot Warning/Rear Cross Traffic Alert
C1B50 SIDE RDR MALFUNCTION × DAS-154
C1B51 BSW/BSI IND SHORT CIR × DAS-155 N
C1B52 BSW/BSI IND OPEN CIR × DAS-157
C1B55 RADAR BLOCKAGE × DAS-159
U1000 CAN COMM CIRCUIT × DAS-166
DAS
U1010 CONTROL UNIT (CAN) × DAS-169
P

< WIRING DIAGRAM > [DRIVER ASSISTANCE SYSTEM]
WIRING DIAGRAM
Wiring Diagram INFOID:0000000011565252
AAOWA0079GB

DAS
AAOWA0080GB

AAOWA0081GB

DAS
AAOWA0082GB

AAOIA0284GB

DAS
AAOIA0217GB

AAOIA0285GB

DAS
AAOIA0286GB

AAOIA0287GB

DAS
AAOIA0221GB

AAOIA0288GB

DAS
AAOIA0289GB

AAOIA0290GB

DAS
AAOIA0293GB

AAOIA0226GB

DAS
AAOIA0227GB

DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [DRIVER ASSISTANCE SYSTEM]
BASIC INSPECTION
Work Flow INFOID:0000000011231782
OVERALL SEQUENCE
JSOIA0485GB
DETAILED FLOW
1.INTERVIEW FOR MALFUNCTION

It is also important to clarify the customer concerns before starting the inspection. Interview the customer
about the concerns carefully and understand the symptoms fully.
NOTE:
The customers are not professionals. Never assume that “maybe the customer means···” or “maybe the cus- A
tomer mentioned this symptom”.
>> GO TO 2. B
2.SELF-DIAGNOSIS WITH CONSULT
CONSULT C
2. Check if the DTC is detected on the “Self Diagnostic Results” of the following:
- “ICC/ADAS”
- “LASER/RADAR” D
- “SIDE RADAR LEFT”
- “SIDE RADAR RIGHT”
Is any DTC detected? E
YES >> GO TO 5.
NO >> GO TO 3.
3.ACTION TEST F
1. Perform the system action test to check the operation status of the following:
- BSW: Refer to DAS-152, "BLIND SPOT WARNING : Description".
- RCTA: Refer to DAS-153, "RCTA : Description". G
2. Check if any other malfunctions occur.
H
>> GO TO 4.
4.SYMPTOM DIAGNOSIS
Perform the applicable diagnosis according to the diagnosis chart by symptom. Refer to DAS-175, "Symptom I
Table".
>> GO TO 6. J
5.TROUBLE DIAGNOSIS BY DTC
CONSULT K
1. Check the DTC in the “Self Diagnosis Results”.
2. Perform trouble diagnosis for the following detected DTC:
- “ICC/ADAS”: Refer to DAS-119, "DTC Index".
- “LASER/RADAR” Refer to CCS-51, "DTC Index". L
- “SIDE RADAR LEFT”: Refer to DAS-129, "DTC Index".
- “SIDE RADAR RIGHT”: Refer to DAS-131, "DTC Index".
NOTE: M
If “DTC: U1000” is detected, first diagnose the CAN communication system or ITS communication system.
>> GO TO 6. N
6.MALFUNCTIONING PART REPAIR
Repair or replace the identified malfunctioning parts.
DAS
>> GO TO 7.
7.REPAIR CHECK (SELF-DIAGNOSIS WITH CONSULT) P
1. Erase “Self Diagnosis Results”.
2. Perform “All DTC Reading” mode again after repairing or replacing the specific items.
3. Check if any DTC is detected in self-diagnosis results of the following:
- “ICC/ADAS”
- “LASER/RADAR”
- “SIDE RADAR LEFT”
- “SIDE RADAR RIGHT”

YES >> GO TO 5.
NO >> GO TO 8.
8.REPAIR CHECK (ACTION TEST)
Perform the following system action test. Check that the malfunction symptom is solved or no other symptoms
occur.
• BSW: Refer to DAS-152, "BLIND SPOT WARNING : Description".
• RCTA: Refer to DAS-153, "RCTA : Description".
Is there a malfunction symptom?
YES >> GO TO 4.

ADDITIONAL SERVICE WHEN REPLACING ICC SENSOR
ADDITIONAL SERVICE WHEN REPLACING ICC SENSOR
A
• Always perform the radar alignment after removing and installing or replacing the ICC sensor. B
CAUTION:
The system does not operate normally unless the laser beam aiming adjustment is performed.
Always perform it.
• Perform the PFCW system action test, check that the PFCW system operates normally. C
1.RADAR ALIGNMENT D
Perform the radar alignment. Refer to CCS-71, "Description".

E
>> GO TO 2.
2.ICC SYSTEM ACTION TEST
F
1. Perform the ICC system action test. Refer to CCS-78, "Description".
2. Check that the ICC system operates normally.
G
>> Inspection End.
DAS

ACTION TEST
ACTION TEST
BLIND SPOT WARNING
BLIND SPOT WARNING : Description INFOID:0000000011231791
Always perform the Blind Spot Warning system action test to check that the system operates normally after
replacing the side radar LH/RH, or repairing any Blind Spot Warning system malfunction.
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 DAS-87, "Blind Spot Warning/Rear Cross Traffic Alert (RCTA) System Service".
• System description for Blind Spot Warning: Refer to DAS-94, "BSW : System Description".
• Normal operating condition: Refer to DAS-181, "Description".
BLIND SPOT WARNING : Work Procedure INFOID:0000000011231792
WARNING:
CAUTION:
• Precautions: Refer to DAS-87, "Blind Spot Warning/Rear Cross Traffic Alert (RCTA) System Service".
• System description for Blind Spot Warning: Refer to DAS-94, "BSW : System Description".
1.CHECK BSW SYSTEM SETTING
2. Check that the BSW system setting can be enabled/disabled on the integral switch.
3. Turn OFF the ignition switch and wait for 5 seconds or more.
4. Check that the previous setting is saved when the engine starts again.
>> GO TO 2.
2.BSW SYSTEM ACTION TEST
1. Enable the setting of the BSW system on the integral switch.
2. Check BSW operation according to the following table:
Vehicle condition/ Driver's operation Action

Turn sig- Status of vehicle de- Indication on the
Vehicle speed Indication on the Indicator
nal condi- tection within detection Blind Spot Warning Buzzer
(Approx.) combination meter color
tion area indicator
Less than approx.
— — OFF ON White OFF
18 MPH (29 km/h)
— Vehicle is absent OFF ON White OFF
OFF Vehicle is detected ON ON White OFF
Approx. Before turn signal op- Short con-
20 MPH (32 km/h) ON Yellow
erates Blink Blink tinuous
or more (vehicle (Blink)
Vehicle is detected beeps
detected
direction) Vehicle is detected af- Yellow
Blink Blink OFF
ter turn signal operates (Blink)
>> Inspection End.

RCTA

ACTION TEST
RCTA : Description INFOID:0000000011231793
A
Always perform the RCTA system action test to check that the system operates normally after replacing the
side radar LH/RH, or repairing any BSW/RCTA system malfunction.
WARNING: B
CAUTION:
• Precautions: Refer to DAS-87, "Blind Spot Warning/Rear Cross Traffic Alert (RCTA) System Service". C
• System description for RCTA: Refer to DAS-96, "RCTA : System Description".
D
RCTA : Work Procedure INFOID:0000000011231794
WARNING:
E
CAUTION:
• Precautions: Refer to DAS-87, "Blind Spot Warning/Rear Cross Traffic Alert (RCTA) System Service". F
• System description for RCTA: Refer to DAS-96, "RCTA : System Description".
1.CHECK BSW/RCTA SYSTEM SETTING G
2. Check that the BSW system setting can be enabled/disabled on the integral switch.
3. Turn OFF the ignition switch and wait for 30 seconds or more. H
4. Check that the previous setting is saved when the engine starts again.
>> GO TO 2. I
2.ACTION TEST FOR RCTA
1. Enable the setting of the RCTA system on the integral switch. J
2. Check the RCTA operation according to the following table:
Vehicle condition Action Buzzer

K
• Chime sound (single beep)
If the radar detects an approaching • Flashes Blind Spot Warning indicator on the side of
• R range Single beep
vehicle from the side. the approaching vehicle is detected.
• 5 MPH (8 km/h) • Yellow rectangular frame appears in the display. L
No approaching vehicle No action —
M
>> Inspection End.
DAS

C1B50 SIDE RADAR MALFUNCTION
< DTC/CIRCUIT DIAGNOSIS > [DRIVER ASSISTANCE SYSTEM]
DTC/CIRCUIT DIAGNOSIS
C1B50 SIDE RADAR MALFUNCTION
DTC DETECTION LOGIC

SIDE RDR MALFUNCTION Signal (terminal) –

C1B50
(Side radar malfunction) Threshold Side radar malfunction
POSSIBLE CAUSE
Side radar
FAIL-SAFE
CONSULT
3. Check if “C1B50” is detected as the current malfunction in “Self Diagnostic Result” mode of “SIDE RADAR
RIGHT/LEFT”.
Is the “C1B50” detected as the current malfunction?
1.PERFORM SELF DIAGNOSTIC

CONSULT
2. Select “Self Diagnostic Result” mode of “SIDE RADAR LEFT/RIGHT”.
3. Touch “ERASE”.
6. Check if any DTC other than “C1B50” is detected in “Self Diagnostic Result” mode of “SIDE RADAR
LEFT/RIGHT”.
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunction part. Refer to DAS-
131, "DTC Index" (Side Radar Right) or DAS-129, "DTC Index" (Side Radar Left).
NO >> Replace the faulty side radar. Refer to DAS-188, "Removal and Installation".

C1B51 BLIND SPOT WARNING INDICATOR SHORT CIRCUIT
A

BSW/BSI IND SHORT CIR Signal (terminal) –

C1B51 (Blind Spot Warning indicator short Short circuit in Blind Spot Warning indicator D
circuit) Threshold
circuit is detected. (Over current is detected)
E
POSSIBLE CAUSE
• Blind Spot Warning indicator circuit.
• Blind Spot Warning indicator. F
• Side radar.
FAIL-SAFE
CONSULT I
RIGHT/LEFT”. J
NO-1 >> To check malfunction symptom before repair: Refer to GI-42, "Intermittent Incident". K
L
Regarding Wiring Diagram information, refer to DAS-132, "Wiring Diagram". M
1.CHECK BLIND SPOT WARNING INDICATOR CIRCUIT FOR OPEN 1

N
2. Disconnect side radar harness connector and Blind Spot Warning indicator harness connector.
3. Check continuity between side radar harness connector and Blind Spot Warning indicator harness con-
nector. DAS
Side radar Blind Spot Warning indicator

Continuity P
B465 LH D21 LH
4 1 Yes
B466 RH D111 RH
YES >> GO TO 2.
NO >> Repair or replace harness or connector.


Check continuity between Blind Spot Warning indicator harness connector and ground.
Blind Spot Warning indicator

Continuity
Connector Terminal
Ground
D21 LH
4 Yes
D111 RH
YES >> GO TO 3.
3.CHECK SIDE RADAR VOLTAGE OUTPUT
1. Connect side radar harness connector.
2. Check voltage between Blind Spot Warning indicator harness connector and ground.
Blind Spot Warning indicator Voltage

Condition
Connector Terminal (Approx.)
Ground
D21 LH Ignition switch
1 OFF ⇒ ON 6V
D111 RH (Approx. 2 sec.)
YES >> Replace Blind Spot Warning indicator. Refer to DAS-189, "Removal and Installation".
NO >> Replace side radar. Refer to DAS-188, "Removal and Installation".

C1B52 BLIND SPOT WARNING INDICATOR OPEN CIRCUIT
A

BSW/BSI IND OPEN CIR Signal (terminal) –

C1B52 (Blind Spot Warning indicator open Open circuit in Blind Spot Warning indicator D
circuit) Threshold
circuit is detected
E
POSSIBLE CAUSE
• Blind Spot Warning indicator circuit.
• Blind Spot Warning indicator. F
• Side radar.
FAIL-SAFE
CONSULT I
RIGHT/LEFT”. J
NO-1 >> To check malfunction symptom before repair: Refer to GI-42, "Intermittent Incident". K
L
Regarding Wiring Diagram information, refer to DAS-132, "Wiring Diagram". M

N
2. Disconnect side radar harness connector and Blind Spot Warning indicator harness connector.
3. Check continuity between side radar harness connector and Blind Spot Warning indicator harness con-
nector. DAS
Side radar Blind Spot Warning indicator

Continuity P
B465 LH D21 LH
4 1 Yes
B466 RH D111 RH
YES >> GO TO 2.


Check continuity between Blind Spot Warning indicator harness connector and ground.
Blind Spot Warning indicator

Continuity
Connector Terminal
Ground
D21 LH
4 Yes
D111 RH
YES >> GO TO 3.
3.CHECK SIDE RADAR VOLTAGE OUTPUT
1. Connect side radar harness connector.
2. Check voltage between Blind Spot Warning indicator harness connector and ground.
Blind Spot Warning indicator Voltage

Condition
Connector Terminal (Approx.)
Ground
D21 LH Ignition switch
1 OFF ⇒ ON 6V
D111 RH (Approx. 2 sec.)
YES >> Replace Blind Spot Warning indicator. Refer to DAS-189, "Removal and Installation".
NO >> Replace side radar. Refer to DAS-188, "Removal and Installation".

C1B55 RADAR BLOCKAGE
A

RADAR BLOCKAGE Signal (terminal) –

C1B55
(Radar blockage) Threshold Side radar is blocked D
NOTE:
E
DTC “C1B55” may be detected under the following conditions except for possible cause. (Explain to the customer about the difference
between the contamination detection function and the indication when the malfunction is detected and tell them “This is not malfunc-
tion”.)
• The side radar may be blocked by temporary ambient conditions such as splashing water, mist or fog. F
• Due to the nature of radar technology it is possible to get a blockage warning and not actually be blocked. This is rare and is known as
a false blockage warning. A false blocked condition either self-clears or clears after an ignition cycle. G
POSSIBLE CAUSE
Stain or foreign materials is deposited.
H
FAIL-SAFE
I
1.PERFORM DTC CONFIRMATION PROCEDURE J
CONSULT
K
RIGHT/LEFT”. L
Is the DTC “C1B55” detected?
N
1.CHECK THE REAR BUMPER
Check rear bumper near the side radar contaminated with foreign materials. DAS
>> GO TO 2.
2.CHECK THE SIDE RADAR P
Check side radar and the side radar outskirts contaminated with foreign materials.
>> GO TO 3.
3.CHECK THE SIDE RADAR INSTALL CONDITION
Check side radar installation condition (installation position, properly tightened, a bent bracket).

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

U0104 ADAS CAN 1
U0104 ADAS CAN 1
A

ADAS CAN CIR1 Side radar detected an error of ITS commu- D
U0104
(ADAS control unit CAN circuit 1) Threshold nication signal that was received from
ADAS control unit
POSSIBLE CAUSE
ADAS control unit
F
FAIL-SAFE
YES >> Perform diagnosis of applicable. Refer to DAS-165, "SIDE RADAR LH : DTC Description" (Side
Radar LH) or DAS-166, "SIDE RADAR RH : DTC Description" (Side Radar RH).
NO >> GO TO 2. J
CONSULT
4. Check if U0104 is detected as the current malfunction in “Self Diagnostic Result” mode of “SIDE RADAR L
RIGHT/LEFT”.
Is DTC “U0104” detected?

If DTC “U0104” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. DAS
Radar LH) or DAS-166, "SIDE RADAR RH : DTC Description" (Side Radar RH). P
NO >> GO TO 2.
2.SELF DIAGNOSTIC RESULT OF ADAS CONTROL UNIT
CONSULT

U0104 ADAS CAN 1
4. Check DTC.
Is DTC detected?
NO >> Replace side radar LH or side radar RH. Refer to DAS-188, "Removal and Installation"

U0405 ADAS CAN 2
U0405 ADAS CAN 2
A

ADAS CAN CIR2 Side radar detected an error of ITS commu- D
U0405
(ADAS control unit CAN circuit 2) Threshold nication signal that was received from
ADAS control unit
POSSIBLE CAUSE
ADAS control unit.
F
FAIL-SAFE
Radar LH) or DAS-166, "SIDE RADAR RH : DTC Description" (Side Radar RH).
NO >> GO TO 2. J
CONSULT
4. Check if U0405 is detected as the current malfunction in “Self Diagnostic Result” mode of “SIDE RADAR L
RIGHT/LEFT”.
Is DTC “U0405” detected?

If DTC “U0104” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. DAS
Radar LH) or DAS-166, "SIDE RADAR RH : DTC Description" (Side Radar RH). P
NO >> GO TO 2.
2.SELF DIAGNOSTIC RESULT OF ADAS CONTROL UNIT
CONSULT

U0405 ADAS CAN 2
4. Check DTC.
Is DTC detected?
NO >> Replace side radar LH or side radar RH. Refer to DAS-188, "Removal and Installation"

A
SIDE RADAR LH
SIDE RADAR LH : Description INFOID:0000000011231827
B
CAN COMMUNICATION
tiplex communication line with high data communication speed and excellent error detection ability. Modern C
nected with 2 communication lines (CAN-H, CAN-L) allowing a high rate of information transmission with less D
tion Signal Chart".
E
ITS COMMUNICATION
large quantities of data at high speed by connecting plural units with 2 communication lines.
F
SIDE RADAR LH : DTC Description INFOID:0000000011231828
G
DTC DETECTION LOGIC
CONSULT screen terms H

Signal (terminal) – I
CAN COMM CIRCUIT
U1000 If side radar LH is not transmitting or receiv-
(CAN communication circuit) Threshold
ing ITS communication signal
Diagnosis delay time 2 seconds or more J
POSSIBLE CAUSE
ITS communication system K
FAIL-SAFE
• Blind Spot Warning (BSW) L
1.PERFORM DTC CONFIRMATION PROCEDURE M
CONSULT
1. Start the engine. N
4. Check if “U1000” is detected as the current malfunction in “Self Diagnostic Result” mode of “SIDE RADAR
RIGHT/LEFT”. DAS
YES >> Refer to DAS-165, "SIDE RADAR LH : Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-42, "Intermittent Incident". P
SIDE RADAR LH : Diagnosis Procedure INFOID:0000000011231829
1.SELF DIAGNOSTIC RESULT

CONSULT

2. Turn the Blind Spot Warning system ON, and then wait for 30 seconds or more.
3. Perform “ALL DTC READING” mode.
LEFT”.
SIDE RADAR RH
SIDE RADAR RH : Description INFOID:0000000011231830
CAN COMMUNICATION
tiplex communication line with high data communication speed and excellent error detection ability. Modern
nected with 2 communication lines (CAN-H, CAN-L) allowing a high rate of information transmission with less
tion Signal Chart".
ITS COMMUNICATION
large quantities of data at high speed by connecting plural units with 2 communication lines.
SIDE RADAR RH : DTC Description INFOID:0000000011231831
DTC DETECTION LOGIC

CAN COMM CIRCUIT
U1000 If side radar RH is not transmitting or receiv-
(CAN communication circuit) Threshold
ing ITS communication signal
POSSIBLE CAUSE
ITS communication system
FAIL-SAFE
CONSULT
RIGHT/LEFT”.

NO-2 >> Confirmation after repair: Inspection End. A
SIDE RADAR RH : Diagnosis Procedure INFOID:0000000011231832
1.SELF DIAGNOSTIC RESULT B
CONSULT
C
2. Turn the Blind Spot Warning system ON, and then wait for 30 seconds or more.
RIGHT”. D
NO-1 >> To check malfunction symptom before repair: Refer to GI-42, "Intermittent Incident". E
DAS

U1010 CONTROL UNIT (CAN)
SIDE RADAR LH
SIDE RADAR LH : Description INFOID:0000000011231839
CAN controller controls the communication of ITS communication signal and the error detection.
SIDE RADAR LH : DTC Description INFOID:0000000011231840
DTC DETECTION LOGIC

CONTROL UNIT (CAN)
U1010 If side radar LH detects malfunction by CAN
[Control unit (CAN)] Threshold
controller initial diagnosis
POSSIBLE CAUSE
Side radar LH
FAIL-SAFE
CONSULT
LEFT”.

CONSULT
LEFT”.
YES >> Replace the side radar LH. Refer to DAS-188, "Removal and Installation".
SIDE RADAR RH
SIDE RADAR RH : Description INFOID:0000000011231842
CAN controller controls the communication of ITS communication signal and the error detection.

SIDE RADAR RH : DTC Description INFOID:0000000011231843
A
DTC DETECTION LOGIC
CONSULT screen terms B

Signal (terminal) – C
CONTROL UNIT (CAN)
U1010 If Side radar RH detects malfunction by
[Control unit (CAN)] Threshold
CAN controller initial diagnosis
D
POSSIBLE CAUSE
Side radar RH E
FAIL-SAFE
• Blind Spot Warning (BSW) F
G
CONSULT
1. Start the engine. H
4. Check if “U1010” is detected as the current malfunction in “Self Diagnostic Result” mode of “SIDE RADAR I
RIGHT”.
YES >> Refer to DAS-167, "SIDE RADAR RH : Diagnosis Procedure". J
SIDE RADAR RH : Diagnosis Procedure INFOID:0000000011231844 K

CONSULT L
3. Perform “ALL DTC READING” mode. M
RIGHT”.
Is “U1010” detected? N
YES >> Replace the side radar RH. Refer to DAS-188, "Removal and Installation".
DAS

SIDE RADAR LH
1.CHECK FUSES

Is the fuse blown?
NO >> GO TO 2.
2.CHECK POWER SUPPLY CIRCUIT
2. Disconnect the side radar LH connector.
3. Check voltage between side radar LH harness connector and ground.
Terminals
Condition
(+) (−) Voltage
Side radar LH (Approx.)
Ignition switch
Connector Terminal
Ground
OFF 0V
B465 5
ON Battery voltage
YES >> GO TO 3.
NO >> Repair the side radar LH power supply circuit.
3.CHECK GROUND CIRCUIT
Check continuity between side radar LH harness connector and ground.
Side radar LH
Continuity
Connector Terminal
Ground
3
B465 Yes
8
NO >> Repair the side radar LH ground circuit.
SIDE RADAR RH
SIDE RADAR RH : Diagnosis Procedure INFOID:0000000011231852
1.CHECK FUSES
A
Is the fuse blown? B
NO >> GO TO 2.
2.CHECK POWER SUPPLY CIRCUIT C

2. Disconnect the side radar RH connector. D
3. Check voltage between side radar RH harness connector and ground.
Terminals E
Condition
(+) (−) Voltage
Side radar RH (Approx.)
Ignition switch
Connector Terminal F
Ground
OFF 0V
B466 5
ON Battery voltage
G
YES >> GO TO 3.
NO >> Repair the side radar RH power supply circuit. H
3.CHECK GROUND CIRCUIT
Check continuity between side radar RH harness connector and ground.
I
Side radar RH
Continuity
Connector Terminal J
Ground
3
B466 Yes
8
Is the inspection result normal? K
NO >> Repair the side radar RH ground circuit.
L
DAS

RIGHT/LEFT SWITCHING SIGNAL CIRCUIT
RIGHT/LEFT SWITCHING SIGNAL CIRCUIT
1.CHECK CONNECTOR
2. Check the terminals and connectors of the side radar RH for damage, bend and short (unit side and con-
nector side).
YES >> GO TO 2.
NO >> Repair the terminal or connector.
2.CHECK CONTINUITY RIGHT/LEFT SWITCHING SIGNAL CIRCUIT
1. Disconnect side radar RH connector.
2. Check continuity between side radar RH harness connectors and ground.
Side radar RH
Continuity
B466 3 Yes
NO >> Repair harness or connector.

WARNING BUZZER CIRCUIT
A
Component Function Check INFOID:0000000011231855
1.CHECK WARNING BUZZER B

CONSULT
1. Select “ADAS BUZZER” in “Active Test” mode of “ICC/ADAS”.
2. Check that the function operates normally. C
NO >> Refer to DAS-173, "Diagnosis Procedure". D

F
1.CHECK WARNING BUZZER POWER SUPPLY CIRCUIT
G
2. Disconnect the warning buzzer harness connector.
4. Check voltage between the warning buzzer harness connector and ground.
H
Terminals
(+) (−) Voltage I
Warning buzzer (Approx.)

M60 1 Battery voltage J
YES >> GO TO 2.
NO >> Repair the warning buzzer power supply circuit. K
2.CHECK WARNING BUZZER GROUND CIRCUIT
1. Turn ignition switch OFF. L
2. Check continuity between the warning buzzer harness connector and ground.
Warning buzzer M
Continuity
M60 3 Yes
N
YES >> GO TO 3.
NO >> Repair the harness or connector.
DAS
3.CHECK WARNING BUZZER SIGNAL CIRCUIT FOR OPEN
1. Disconnect the ADAS control unit connector.
2. Check continuity between the ADAS control unit harness connector and warning buzzer harness connec- P
tor.
ADAS control unit Warning buzzer

Continuity
B182 4 M60 2 Yes

YES >> GO TO 4.
4.CHECK WARNING BUZZER SIGNAL CIRCUIT FOR SHORT
Check continuity between the ADAS control unit harness connector and ground.
ADAS control unit

Continuity
B182 4 No
YES >> GO TO 5.
5.CHECK WARNING BUZZER OPERATION
1. Connect the warning buzzer connector.
3. Apply ground to warning buzzer terminal 2.
4. Check condition of the warning buzzer.
Does warning buzzer sound?
NO >> Replace the warning buzzer. Refer to DAS-187, "Removal and Installation".

DRIVER ASSISTANCE SYSTEM SYMPTOMS
< SYMPTOM DIAGNOSIS > [DRIVER ASSISTANCE SYSTEM]
SYMPTOM DIAGNOSIS A
DRIVER ASSISTANCE SYSTEM SYMPTOMS
Symptom Table INFOID:0000000011231857
B
Symptom Confirmation item Inspection item/Reference page

C
System cannot be turned ON/
All of driver assistance indicators do not illuminate. OFF using the integral switch.
PFCW/FEB/BSW/RCTA indica- Refer to DAS-176, "Description".
tors do not illuminate. D
Combination meter.
Other information display is not illuminated.
Refer to MWI-29, "DTC Index".
ADAS control unit.
Information display is functioning normally. E
FEB/PFCW/BSW/RCTA warn-
ing display does not illuminate Perform On Board Diagnosis of
(Buzzer is functioning normally) Combination meter.
Information display is not functioning normally.
Refer to MWI-18, "On Board Di- F
agnosis Function".
ing buzzer is not sounding Chime does not sound.
(Warning display is functioning
FEB/PFCW warning buzzer does not sound.
G
normally)
Chime does not sound. H
ing buzzer is not sounding
BSW/RCTA warning buzzer does not sound. Refer to DAS-173, "Component
(Warning display is functioning
Function Check".
normally)
Frequently cannot detect the ve- I
Frequently cannot detect the
hicle ahead/Detection zone is
vehicle ahead/Detection zone
short.
is short.
J
System misidentifies a vehicle
PFCW and FEB are not acti- even though there is no vehicle
PFCW/FEB is not activated ahead. Perform radar alignment.
vated.
Refer to CCS-71, "Description".
System misidentifies a vehicle K
in the next lane.
The system does not detect the
System does not detect the ve-
vehicle ahead at all. L
hicle ahead at all.
Refer to DAS-180, "Description"
DAS

SYSTEM SETTINGS CANNOT BE TURNED ON/OFF ON THE INTEGRAL
SWITCH
SYSTEM SETTINGS CANNOT BE TURNED ON/OFF ON THE INTEGRAL
SWITCH
System setting is not selectable on the combination meter information display.

1.CHECK DRIVER ASSISTANCE SYSTEM SETTING

1. Ignition On.
2. Check that the driver assistance system setting can be turned ON/OFF with the integral switch in the com-
bination meter information display using the steering switches.
NO >> GO TO 2.
2.CHECK STEERING SWITCH CIRCUIT
Check the steering switches. Refer to MWI-67, "Diagnosis Procedure".
YES >> GO TO 3.
3.CHECK STEERING SWITCH RESISTANCE
Check the steering switches resistance. Refer to MWI-67, "Component Inspection".
YES >> Replace combination meter. Refer to MWI-78, "Removal and Installation".
NO >> Replace steering switches. Refer to AV-66, "Removal and Installation".

CHIME DOES NOT SOUND
A
The warning chime may not sound in some cases when there is a short distance between vehicles. Some B
examples are:
• When the vehicles are traveling at the same speed and the distance between vehicles is not changing.
• When the vehicle ahead is traveling faster and the distance between vehicles is increasing.
• When a vehicle cuts in near own vehicle. C
• The warning chime will not sound when own vehicle approaches vehicles that are parked or moving slowly.
• The warning chime does not sound when the system does not detect any vehicle ahead. (Diagnose the con-
ditions under which the system is detecting the vehicle ahead and when the system is malfunctioning. If D
there is any malfunction in detecting the vehicle ahead, check the system following the DAS-179, "Descrip-
tion".)
Diagnosis Procedure INFOID:0000000011231861 E
1.PERFORM ACTIVE TEST

CONSULT F
1. Select “METER BUZZER” in “Active Test” mode of “ICC/ADAS”.
2. Check that the function operates normally.
Is the inspection result normal? G
YES >> GO TO 8.
NO >> GO TO 3.
2.PERFORM THE SELF DIAGNOSTIC RESULT H
CONSULT
1. Perform “All DTC Reading” mode. I
2. Check if the “U1000” is detected in “Self Diagnosis Results” of “ICC/ADAS”.
YES >> GO TO 3. J
NO >> GO TO 4.
3.CAN COMMUNICATIONS INSPECTION
Check the CAN communication and repair or replace malfunctioning parts. Refer to DAS-70, "DTC Descrip- K
tion".
>> Inspection End. L
4.PERFORM THE SELF-DIAGNOSIS OF COMBINATION METER

1. Perform “All DTC Reading” with CONSULT. M
2. Check if any DTC is detected in “Self Diagnosis Results” of “METER/M&A”.
YES >> Repair or replace malfunctioning parts. Refer to MWI-29, "DTC Index". N
NO >> GO TO 5.
5.CHECK ICC WARNING CHIME CIRCUIT
DAS
Check meter buzzer. Refer to WCS-30, "Component Function Check".
YES >> GO TO 7.
P
NO >> GO TO 6.
6.REPAIR OR REPLACE MALFUNCTIONING PARTS
Repair or replace malfunctioning parts.
>> Inspection End.

7.REPLACE ADAS CONTROL UNIT

Replace the ADAS control unit. Refer to DAS-85, "Removal and Installation".
>> Inspection End.

8.CHECK THE MALFUNCTION SYMPTOM DURING WARNING CHIME OPERATION
Understand the vehicle ahead detection condition when the malfunction occurred. If the warning chime should
have sounded, replace the ADAS control unit. Refer to DAS-85, "Removal and Installation".
>> Inspection End.

FREQUENTLY CANNOT DETECT THE VEHICLE AHEAD / DETECTION ZONE IS
SHORT
FREQUENTLY CANNOT DETECT THE VEHICLE AHEAD / DETECTION
A
ZONE IS SHORT
B
Symptom check: Detection function may become unstable under the following conditions.
• When the vehicle is driving on a curve such as S-curve where the curvature changes.
• When the vehicle is driving on up-and-down road or passing the peak or foot of slope or passing the break of C
the inclination of hill.
D
1.VISUAL CHECK (1)
Check ICC sensor for contamination and foreign materials.
E
Does contamination or foreign materials exist?
YES >> GO TO 2.
NO >> GO TO 3.
F
2.WIPE OUT DIRT AND FOREIGN MATERIAL
Clean the contamination and foreign material from the ICC sensor.
G
>> GO TO 7.
3.VISUAL CHECK (2) H
Check ICC sensor and ICC sensor bracket for damage or looseness.
Does damage or looseness exist?
YES >> Repair or replace affected components. Refer to CCS-148, "Removal and Installation". I
NO >> GO TO 4.
4.PERFORM RADAR ALIGNMENT
J
1. Perform radar alignment. Refer to CCS-71, "Description".
2. Perform action test. Refer to CCS-78, "Description".
3. Check that the vehicle ahead detection performance improves.
Does it improve? K
NO >> GO TO 5.
L
5.REPLACE ICC SENSOR
1. Replace the ICC sensor. Refer to CCS-148, "Removal and Installation".
2. Perform radar alignment. Refer to CCS-71, "Description". M
Does it improve?
N
>> Inspection End.
DAS

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

1. Start the “Self Diagnosis mode” of combination meter. Refer to MWI-18, "On Board Diagnosis Function".
2. Check that the segment of information display is displayed normally.
YES >> GO TO 2.
NO >> Replace the combination meter. Refer to MWI-78, "Removal and Installation".
2.VISUAL CHECK (1)
Check ICC sensor for contamination and foreign materials.
Does contamination or foreign materials exist?
YES >> GO TO 3.
NO >> GO TO 4.
3.WIPE OUT DIRT AND FOREIGN MATERIAL
Clean the contamination and foreign material from the ICC sensor.
>> Inspection End.

4.VISUAL CHECK (2)
Check ICC sensor and ICC sensor bracket for damage or looseness.
Does damage or looseness exist?
YES >> Repair or replace affect components. Refer to CCS-148, "Removal and Installation".
NO >> GO TO 5.
5.PERFORM RADAR ALIGNMENT
Does it improve?
NO >> GO TO 6.
6.REPLACE ICC SENSOR
1. Replace the ICC sensor. Refer to CCS-148, "Removal and Installation".
Does it improve?
NO >> GO TO 7.
7.REPLACE ADAS CONTROL UNIT
Replace the ADAS control unit. Refer to DAS-85, "Removal and Installation".
>> Inspection End.

NORMAL OPERATING CONDITION
A
PRECAUTIONS FOR PREDICTIVE FORWARD COLLISION WARNING (PFCW) B

• The Predictive Forward Collision Warning system is designed to warn the driver before a collision, but will
not avoid a collision. It is the driver's responsibility to stay alert, drive safely and be in control of the vehicle at
all times. C
• The radar sensor does not detect the following objects:
- Pedestrians, animals, or obstacles in the roadway.
- Crossing vehicles. D
• The Predictive Forward Collision Warning system does not function when a vehicle ahead is a narrow vehi-
cle, such as a motorcycle.
• The radar sensor may not detect a second vehicle ahead in the following conditions: E
- Snow or heavy rain.
- Dirt, ice, snow or other material covering the radar sensor.
- Interference by other radar sources.
- Snow or road spray from traveling vehicles is splashed. F
- Driving in a tunnel.
• The radar sensor may not detect a second vehicle when the vehicle ahead is being towed.
• When the distance to the vehicle ahead is too close, the beam of the radar sensor is obstructed. G
• The radar sensor may not detect a second vehicle when driving on a steep downhill slope or on roads with
sharp curves.
• Excessive noise will interfere with the warning tone sound, and it may not be heard.
H
PRECAUTIONS FOR BLIND SPOT WARNING
• The Blind Spot Warning system are not a replacement for proper driving procedure and are not designed to
prevent contact with vehicles or objects. When changing lanes, always use the side and rear mirrors and I
turn and look in the direction driver will move to ensure it is safe to change lanes. Never rely solely on the
Blind Spot Warning system.
• The Blind Spot Warning system may not provide the warning or the control for vehicles that pass through the
detection zone quickly. J
• Excessive noise (for example, audio system volume, open vehicle window) will interfere with the chime
sound, and it may not be heard.
• The side radar may not be able to detect and activate Blind Spot Warning when certain objects are present K
such as:
- Pedestrians, bicycles, animals.
- Several types of vehicles such as motorcycles.
- Oncoming vehicles. L
- Vehicles remaining in the detection zone when driver accelerate from a stop.
- A vehicle merging into an adjacent lane at a speed approximately the same as vehicle.
- A vehicle approaching rapidly from behind. M
- A vehicle which vehicle overtakes rapidly.
• Severe weather or road spray conditions may reduce the ability of the radar to detect other vehicles.
• The side radar detection zone is designed based on a standard lane width. When driving in a wider lane, the
side radar may not detect vehicles in an adjacent lane. When driving in a narrow lane, the side radar may N
detect vehicles driving two lanes away.
• The side radar is designed to ignore most stationary objects, however, objects such as guardrails, walls, foli-
age and parked vehicles may occasionally be detected. This is a normal operating condition. DAS
PRECAUTIONS FOR REAR CROSS TRAFFIC ALERT (RCTA)
• Always check surroundings and turn to check what is behind you before backing up. The radar sensors
detect approaching (moving) vehicles. The radar sensors cannot detect every object such as: P
- Pedestrians, bicycles, motorcycles, animals or child operated toy vehicles.
• The radar sensors may not detect approaching vehicles in certain situations:
- When the vehicle that is parked next to you obstructs the beam of the radar sensor.
- When the vehicle is parked in an angled parking space.
- When the vehicle is parked on an incline.

- When an approaching vehicle turns into your vehicles parking lot isle.
- When the angle formed by your vehicle is too small.
• The following conditions may reduce the ability of the radar to detect other vehicles:
- Severe weather
- Road spray
- Ice build up on the vehicle
- Frost on the vehicle
- Dirt build up on the vehicle
• Do not attach stickers (including transparent material), install accessories or apply additional paint near the
radar sensors. These conditions may reduce the ability of the radar to detect other vehicles.
• Do not use RCTA systems when towing a trailer.
• Excessive noise (e.g. audio system volume, open vehicle window) will interfere with the chime sound and it
may not be heard.

ICC SENSOR
< REMOVAL AND INSTALLATION > [DRIVER ASSISTANCE SYSTEM]
REMOVAL AND INSTALLATION A

ICC SENSOR
Exploded View INFOID:0000000011573903
B
ALBIA1264ZZ
H
1. Front bumper reinforcement 2. ICC sensor 3. ICC sensor harness connector
4. ICC sensor bracket A. Refer to INSTALLATION Front
I
REMOVAL J
1. Remove front bumper fascia. Refer to EXT-24, "Exploded View".
2. Disconnect the harness connector from the ICC sensor.
3. Remove ICC sensor bracket bolts. K
4. Remove bolts and detach ICC sensor from ICC sensor bracket.
INSTALLATION L
Install ICC sensor to ICC sensor bracket.
• Install ICC sensor bolts loosely and then tighten in sequence as
shown.
M
ICC sensor bolts : 3.8 N·m (0.39 kg-m, 34 in-lb)
DAS
ALBIA1265ZZ
P
Install ICC sensor bracket to front bumper reinforcement.

ICC SENSOR
• Install ICC sensor bracket bolts loosely and then tighten in
sequence as shown.
ICC sensor bracket bolts : 10.0 N·m (1.0 kg-m, 7 ft-lb)
ALBIA1266ZZ
Installation of remaining components is in the reverse order of removal.

CAUTION:
• Always perform the ICC sensor alignment and check the operation after removal, installation or
replacement of ICC sensor. Refer to CCS-68, "Work Procedure".
• Do not touch ICC sensor face.
• Do not drop or shock ICC sensor.
• Make sure ICC sensor harness is installed without any twists.

ICC STEERING SWITCH
ICC STEERING SWITCH
A
I
ALGIA0109GB
1. Steering wheel 2. Cover 3. Steering switches J

4. Driver air bag module A. Refer to SR-12, "Exploded Pawl
View".

K
REMOVAL
NOTE: L
The ICC steering and audio switches are serviced as an assembly.
1. Remove steering wheel. Refer to ST-31, "Removal and Installation".
M
2. Release pawls ( ) and remove steering wheel rear finisher (1)
from steering wheel (2).
DAS
P
ALOIA0026ZZ

ICC STEERING SWITCH
3. Remove ICC steering and audio switch assembly screws ( ).
4. Remove ICC steering and audio switch assembly (1) from steer-
ing wheel (2).
ALOIA0027ZZ
INSTALLATION
CAUTION:
Always perform the ICC system action test to check that the ICC system operates normally after
replacing the ICC sensor or repairing any ICC system malfunction. Refer to CCS-78, "Work Procedure
(Vehicle-To-Vehicle Distance Control Mode)".

WARNING BUZZER
WARNING BUZZER
A
I
ALOIA0245ZZ
1. Warning buzzer 2. Bracket 3. Instrument lower panel LH J
K
REMOVAL
1. Remove the instrument lower panel LH. Refer to IP-24, "Removal and Installation".
2. Remove screw and remove warning buzzer. L
3. Remove screw and remove bracket (if necessary).
INSTALLATION
Installation is in the reverse order of removal. M
DAS

SIDE RADAR
SIDE RADAR
ALOIA0283ZZ
1. Side radar 2. Rear fender Front
NOTE:
LH shown, RH similar.
REMOVAL
1. Remove the rear bumper fascia. Refer to EXT-27, "Removal and Installation".
2. Disconnect the harness connector from side radar.
3. Remove the nuts and remove the side radar.
INSTALLATION

BLIND SPOT WARNING INDICATOR
BLIND SPOT WARNING INDICATOR
A
G
AWOIA0246ZZ
1. Door mirror corner finisher 2. Blind spot warning indicator Clip

H
REMOVAL I
1. Remove the door mirror corner finisher. Refer to INT-15, "Removal and Installation".
2. Remove screws and remove blind spot warning indicator.
J
INSTALLATION
Installation in the reverse order of removal.
K
DAS

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CRUISE CONTROL & DRIVER ASSISTANCE

SYSTEM DESCRIPTION .............................. 6 C1A01 POWER SUPPLY CIRCUIT 1, C1A02 I

ECU DIAGNOSIS INFORMATION .............. 17 C1A14 ECM ....................................................... 54 M

Revision: October 2014 DAS-1 2015 Murano

U1321 CONFIGURATION ................................. 72 SYSTEM ............................................................ 92

ADAS CONTROL UNIT .................................... 114 OPEN CIRCUIT ............................................... 157

BASIC INSPECTION ................................. 148 SIDE RADAR LH ..................................................... 168 K

Revision: October 2014 DAS-3 2015 Murano

FREQUENTLY CANNOT DETECT THE VEHI- WARNING BUZZER ......................................... 187

Revision: October 2014 DAS-4 2015 Murano

Revision: October 2014 DAS-5 2015 Murano

A. View with center console assembly removed.

No. Component Description

ADAS Control Unit INFOID:0000000011231528

• ADAS control unit is installed below the center console assembly.

Revision: October 2014 DAS-6 2015 Murano

ADAS CONTROL UNIT INPUT/OUTPUT SIGNAL ITEM K

Input Signal Item

SET/ switch sig-

Revision: October 2014 DAS-7 2015 Murano

Output Signal Item

Reception unit Signal name Description

Revision: October 2014 DAS-8 2015 Murano

Revision: October 2014 DAS-9 2015 Murano

Warning lamp/Warning dis-

Revision: October 2014 DAS-10 2015 Murano

Diagnosis mode Description C

Work support items Description

SELF DIAGNOSTIC RESULT

Revision: October 2014 DAS-11 2015 Murano

Revision: October 2014 DAS-12 2015 Murano

YAW RATE NOTE: B

Revision: October 2014 DAS-13 2015 Murano

Revision: October 2014 DAS-14 2015 Murano

Display Kick Down decision state.

Test item Description

Test item Operation Description Stop lamp

Revision: October 2014 DAS-15 2015 Murano

Test item Operation Description Operation sound

Test item Operation Description Operation sound

Test item Operation Description “PRESS ORDER” value

Revision: October 2014 DAS-16 2015 Murano

ECU DIAGNOSIS INFORMATION A

VALUES ON THE DIAGNOSIS TOOL

Monitor item Condition Value/Status D

Revision: October 2014 DAS-17 2015 Murano

When the selector lever is in “D” position or manual

Revision: October 2014 DAS-18 2015 Murano

Revision: October 2014 DAS-19 2015 Murano

SYSTEM CANCEL System cancel display ON. On

SIDE RADAR BLOCK Front bumper or side radar is dirty. On

Revision: October 2014 DAS-20 2015 Murano

Fail-safe (ADAS Control Unit) INFOID:0000000011231535

Revision: October 2014 DAS-21 2015 Murano

Priority Detected items (DTC)

DTC Index INFOID:0000000011231537

Systems for fail-safe

U1000NOTE CAN COMM CIRCUIT A, B, C, D, E DAS-70

Revision: October 2014 DAS-22 2015 Murano