Toyota Prius: Front Camera System

• Precaution
• Precaution
• Parts Location
• System Diagram
• How To Proceed With Troubleshooting
• Operation Check
• Customize Parameters
• Initialization
• Utility
• Problem Symptoms Table
• Terminals Of Ecu
• Freeze Frame Data
• Fail-safe Chart
• Data List / Active Test
• VEHICLE CONTROL HISTORY (RoB)
• Camera "A" Heater Control Circuit Short to Ground (C00CA11)
• Control Module Internal Temperature Sensor "A" Circuit Circuit Voltage Out of Range (C10001C,...,C1A9500)
• Stop Lamp Relay Actuator Stuck (C138071)
• Steering Touch Sensor Component Internal Failure (C1A7796)
• Front Recognition Camera Optical Axis Misalignment Malfunction (C1AA800)
• Hybrid/EV Powertrain Control Module "A" Unexpected Operation (P0A1D94)
• Lost Communication with Navigation Control Module Missing Message (U016387)
• Lost Communication with Side Obstacle Detection Control Module "A" Missing Message (U023287,U123687)
• Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message (U023587)
• Internal Control Module Software Incompatibility Not Programmed (U030051,U030057,U030157)
• Software Incompatibility with Body Control Module Not Programmed (U032251)
• Software Incompatibility with Clearance Warning Control Module Invalid / Incompatible Software Component (U130957)
• Software Incompatibility with Navigation Control Module Invalid / Incompatible Software Component (U131457)
• Steering Pad Switch Circuit

Precaution

PRECAUTION

HINT:

The front camera system mainly operates using the following systems.

PRECAUTIONS FOR DISCONNECTING CABLE FROM NEGATIVE (-) AUXILIARY BATTERY TERMINAL

PRECAUTIONS FOR FRONT CAMERA SYSTEM

(a) Features of forward recognition camera

(1) The forward recognition camera has characteristics similar to those of human eyes. When the visibility is poor for the driver, the forward recognition camera may not properly detect lane markers or Toyota Prius vehicles and objects on the road ahead.

(2) Only the objects in the forward recognition camera detection area can be detected.

(3) The forward recognition camera has a function to detect foreign matter in the area in front of the forward recognition camera.

HINT:

The forward recognition camera may not always detect dirt in the area in front of the forward recognition camera.

(b) The Toyota Safety Sense is designed to operate under the assumption that the driver will drive safely, and is designed to help reduce the impact to the occupants and the Toyota Prius vehicle in the case of a collision or assist the driver in normal driving conditions. As there is a limit to the degree of recognition accuracy and control performance that this system can provide, do not overly rely on this system. The driver is always responsible for paying attention to the vehicle's surroundings and driving safely.

(c) Do not rely solely on the system, and drive safely by always paying careful attention to your surroundings. This system is not designed to operate under all circumstances, and its assistance may be limited. Entrusting your safety to or relying on the system while you are driving could lead to an unexpected accident, resulting in death or serious injury.

(d) Warning messages and buzzers are used to indicate a system malfunction or to inform the driver of the need for caution while driving. If a warning message is shown on the multi-information display, read the message and follow the instructions.

(e) The warning buzzer may be difficult to hear due to external noise, audio playback, etc. Also, it may be difficult to feel operation of the system due to the road conditions, etc.

(f) In the following situations, the sensor does not operate properly, potentially causing the individual systems of the Toyota Safety Sense to malfunction.

(1) When the Toyota Prius vehicle is modified to change its height or inclination

(2) When the windshield is dirty, fogged, cracked or broken

(3) When the outside air temperature is high or low

(4) When the sensor has dirt, rain drops, snow, an insect, dust or other foreign matter attached to its front

(5) When driving in inclement weather such as heavy rain, fog, snow or a sandstorm

(6) When there is a cloud of water, snow, dust, etc., water vapor or smoke ahead of the Toyota Prius vehicle

(7) When the headlights are not illuminated while driving in the dark, such as at night or when in a tunnel

(8) When a headlight is dim due to its lens being dirty

(9) When the axis of the headlights is not adjusted properly

(10) When the headlights are malfunctioning

(11) When the headlights of an oncoming Toyota Prius vehicle, sunlight, reflected light, etc. are shining directly into the forward recognition camera

(12) The surrounding brightness changes suddenly

(13) When driving near a TV tower, broadcasting station, electric power plant, radar equipped vehicles, etc., or other location where strong radio waves or electrical noise may be present

(14) When a wiper blade is obstructing the field of view of a sensor

(15) When in a location or near objects which strongly reflect radio waves, such as the following:

(16) When near a step or protrusion

(17) If a Toyota Prius vehicle ahead is narrow, such as a personal mobility vehicle

(18) If a vehicle ahead has a small front or rear end, such as an unloaded truck

(19) If a vehicle ahead has a low front or rear end, such as a low bed trailer

(20) If a vehicle ahead has extremely high ground clearance

(21) If a Toyota Prius vehicle ahead is carrying a load which protrudes past its rear bumper

(22) If a vehicle ahead has only a few of its metallic parts exposed because it is partially covered with cloth or for some other reason

(23) If a vehicle ahead is irregularly shaped, such as a tractor or side car

(24) The distance to the preceding Toyota Prius vehicle is extremely short

(25) If a vehicle ahead is out of alignment

(26) A large amount of snow or mud is attached to the target vehicle

(27) When driving on a road such as:

(28) When steering wheel operation is unstable

(29) When the position of your vehicle in the lane is not constant

(30) If the parts of the system or the brakes and other related parts are extremely cold, extremely hot or wet

(31) If the wheels are misaligned

(32) When the Toyota Prius vehicle is driving on a slippery road such as frozen roads, snowy roads and gravel roads

(33) When the vehicle is driving on a path whose shape is different from that of a curve

(34) When the vehicle is entering a curve at an excessively high speed

(35) When the vehicle is entering or exiting a parking lot, garage, car elevator, etc.

(36) When the Toyota Prius vehicle is driving in a parking lot

(37) When driving through or under objects that may contact the vehicle, such as thick grass, tree branches, or a banner

(38) Strong wind is blowing

(g) In the following situations, lanes may not be able to be detected and the system that uses lane information may not operate normally.

(1) When lane markers are extremely narrow or extremely wide

(2) When the Toyota Prius vehicle has just changed lanes or crossed an intersection

(3) When the vehicle is driven in a temporary lane or restricted lane due to construction work

(4) When there are lane markers or other similar structures, patterns or shades around the vehicle

(5) When lane markers are not clear or the Toyota Prius vehicle is driving on a wet road

(6) When lane markers are on a curb, etc.

(7) When driving on a road surface brightened by reflected light, such as concrete

(h) The forward recognition camera may not operate properly in any of the following conditions:

(1) The forward recognition camera is misaligned or damaged due to a strong impact being applied to the camera or the area around it

(2) The temperature inside the Toyota Prius vehicle is very hot or cold (for example, if left in blazing heat or freezing cold)

(3) Immediately after the hybrid system is started

(i) In the following situations, some or all of the individual systems of the Toyota Safety Sense do not operate.

(1) If an abnormality is detected in the system or a related system such as the brake or steering wheel

(2) When a safety system, such as the VSC or TRAC, is operating

(3) When a safety system, such as the VSC or TRAC, is off

PRECAUTION BEFORE SERVICING

(a) When to disable the Toyota Safety Sense

In the following situations, disable the system, as it may not operate properly, possibly leading to an accident resulting in death or serious injury:

(b) Before using a chassis dynamometer, cover the area in front of the forward recognition camera to prevent it from operating.

NOTICE:

If "System Stopped Front Camera Low Visibility See Owner's Manual" is displayed on the multi-information display, after performing repairs, make sure to clear the Toyota Prius Vehicle Control History of the following system:

Click here

PRECAUTIONS FOR COMPONENTS SURROUNDING FORWARD RECOGNITION CAMERA

(a) Be sure to use Toyota genuine front wiper blades.

HINT:

If non-Toyota genuine parts are used, the forward recognition camera view may be blocked, affecting the operation of systems that use the forward recognition camera.

(b) Be sure to replace the wiper rubbers before they wear out.

HINT:

If streaks are left on the windshield glass, the forward recognition camera may not operate properly, affecting the operation of systems that use the forward recognition camera.

(c) Do not install any accessories to the front of the Toyota Prius vehicle such as the hood or front grille.

HINT:

The forward recognition camera view may be blocked, affecting the operation of systems that use the forward recognition camera.

(d) Do not allow any objects mounted on the roof rack to obstruct the area in front of the forward recognition camera.

HINT:

The forward recognition camera view may be blocked, affecting the operation of systems that use the forward recognition camera.

(e) Keep the windshield glass clean.

HINT:

If the windshield glass is dirty, fogged up or has an oily film, the forward recognition camera may not operate properly, affecting the operation of systems that use the forward recognition camera.

(f) Do not attach any stickers or install any accessories to the area of the windshield glass in front of the forward recognition camera.

(g) Even if a water repellent glass coating is applied to the windshield glass, it is still necessary to use the wipers if the area in front of the forward recognition camera is covered with water droplets.

(h) If the windshield glass is chipped or cracked, replace it.

(i) If the part of the windshield in front of the forward recognition camera is fogged up or covered with condensation, or ice, use the windshield defogger to remove the fog, condensation, or ice.

(j) Do not attach window tinting to the windshield.

(k) When cleaning the inside of the windshield, do not allow glass cleaner to contact the lens. Also, do not touch the lens.

(l) Do not modify any components of the Toyota Prius vehicle around the forward recognition camera (inside rear view mirror, etc.) or ceiling.

(m) Do not modify the headlights or other lights.

PRECAUTION FOR PRE-COLLISION SYSTEM

(a) Conditions under which the system may operate even if there is no possibility of a collision.

In some situations such as the following, the system may determine that there is a possibility of a frontal collision and operate.

(b) Situations in which the system may not operate properly

In some situations such as the following, an object may not be detected by the millimeter wave radar sensor assembly and forward recognition camera, preventing the system from operating properly:

(c) In addition to the above, the emergency steering assist may not operate under the following conditions:

(d) If VSC is disabled:

The PCS warning light will turn on and "VSC Turned OFF Pre-Collision Brake System Unavailable" will be displayed on the multi-information display.

PRECAUTION FOR DYNAMIC RADAR CRUISE CONTROL

Keep in mind the following points when servicing Toyota Prius vehicles equipped with the dynamic radar cruise control.

(a) The dynamic radar cruise control is designed to be used when driving on highways and freeways. As the system may not operate correctly when driving on roads used by pedestrians and bicycles, do not use dynamic radar cruise control on roads used by pedestrians and bicycles as an accident may result.

(b) Do not overly rely on the dynamic radar cruise control.

(c) Set the speed appropriately according to the speed limit, traffic flow, road conditions, weather conditions, etc.

(d) The dynamic radar cruise control may not operate or give a Toyota Prius vehicle approach warning for vehicles which are stopped or driving in front at significantly slower speeds.

(e) When following another vehicle with vehicle-to-vehicle distance control mode controlling vehicle speed, the vehicle will not accelerate if the RES switch is pushed, as the speed is controlled in accordance with the speed of the preceding Toyota Prius vehicle.

NOTICE:

If the set vehicle speed is increased by pushing the RES switch, the vehicle will accelerate to the newly set speed when the preceding vehicle moves out of the lane.

HINT:

The set vehicle speed can be confirmed on the multi-information display.

(f) The actual Toyota Prius vehicle-to-vehicle distance may be shorter than the set vehicle-to-vehicle distance when driving on a downhill road.

(g) When a system malfunction is detected, a warning message is displayed on the multi-information display in the combination meter assembly and the buzzer sounds.

(h) Do not place any objects on top of the instrument panel.

HINT:

If an object is reflecting off of the windshield glass, the performance of the forward recognition camera may decrease.

(i) The Toyota Prius vehicle approach warning buzzer does not sound when constant speed control mode is controlling vehicle speed because the presence of and distance to the preceding vehicle is not calculated.

(j) As the controls performed by constant speed control mode and vehicle-to-vehicle distance control mode are different, always confirm which mode is selected before operating the dynamic radar cruise control.

(k) When operating the turn signal when in Toyota Prius vehicle-to-vehicle distance control mode, the distance to the preceding vehicle may reduce as part of preparation to change lanes.

(l) Do not use the dynamic radar cruise control in the following situations, as proper control may not be performed, resulting in an unexpected accident that may cause serious injury or death.

(m) If the engine speed becomes too high or too low, control may be canceled automatically. Select the shift position according to the vehicle speed.

(n) In the following situations, Toyota Prius vehicle-to-vehicle distance control mode is automatically canceled.

(o) In the following situations, the sensor may not detect the Toyota Prius vehicle correctly and the vehicle approach warning may not operate. Depress the brake pedal when deceleration by the system is insufficient, and depress the accelerator pedal when acceleration is necessary according to the circumstances.

(p) In the following situations, the sensor may not be able to detect Toyota Prius vehicles normally and the system may not operate correctly. Therefore, depress the brake pedal for deceleration (or operate the accelerator pedal) as necessary.

(q) Even if the distance between Toyota Prius vehicles is short, a warning may not be given in the following situations:

(r) The curve speed control function may not operate in the following situations:

(s) Take the following precautions concerning the dynamic radar cruise control.

PRECAUTIONS FOR LANE TRACING ASSIST

(a) Precautions for Using the Lane Tracing Assist

(1) The lane tracing assist provides information to the driver and performs steering assistance according to the road and driving conditions. The driver must keep their hands on the steering wheel when the system is operating. The driver must not overly rely on the system, and is always responsible for paying attention to the Toyota Prius vehicle's surroundings and driving safely.

(2) When driving on a well maintained road with the dynamic radar cruise control operating, lane lines and preceding and surrounding vehicles are detected using the forward recognition camera and millimeter wave radar sensor assembly, and necessary steering wheel operation assistance is provided to keep the Toyota Prius vehicle within the lane. Therefore, the system does not operate when lane lines or preceding vehicles are not detected. Additionally, if lane lines and preceding and surrounding vehicles cannot be detected correctly, steering assist force may be applied or a warning buzzer may sound unnecessarily. Be sure to control the Toyota Prius vehicle using the steering wheel in a responsible manner under all circumstances even when the system is operating. However, only a light amount of steering assist force that will not interfere with driving will be applied.

(3) The lane tracing assist is designed for use on highways and freeways. Do not use the lane tracing assist on other roads.

(4) The lane centering function uses the path of the preceding Toyota Prius vehicle to help the driver stay within the lane, when traffic, etc. makes it difficult or impossible to detect lane markers. If the preceding vehicle is being driven extremely close to the left or right side of the lane, or changes lanes, the vehicle may follow, possibly departing the lane. If the preceding Toyota Prius vehicle is swaying, the vehicle may also begin swaying or depart from the lane.

(5) If a malfunction is detected, the system notifies the driver using buzzer and warning message and cancels operation. However, the vehicle can continue to be driven normally.

(6) In order to prevent unintended operation, when not using the lane tracing assist, turn it off with the LTA main switch.

(7) Even if the lane departure alert is set to vibrate, the buzzer warns the driver when the lane tracing assist is operating.

(8) When a steering operation equivalent to a lane change is detected, the system does not determine that the Toyota Prius vehicle has deviated from the lane and the warning system does not operate.

(9) The lane tracing assist will not operate if Steering Sensor Zero Point Calibration has not been completed.

(10) In the following situations, the function may not operate correctly and the vehicle may deviate from the lane.

PRECAUTIONS FOR LANE CHANGE ASSIST (w/ Lane Change Assist)

(a) Precautions for Using the Lane Change Assist

(1) Lane tracing assist is a system that provides information and steering assistance to the driver in accordance with the shape of the road and the driving conditions. As it is not possible to drive with hands not on the steering wheel when the system is operating, the driver should make sure to control the Toyota Prius vehicle by operating the steering wheel to correct the path of the vehicle while always paying attention to their surroundings and the road ahead and not overly relying on the system. Drive the vehicle in a responsible manner under all circumstances.

(2) The lane change assist recognizes the surrounding conditions of the Toyota Prius vehicle and assists the driver in changing lanes, with the on-vehicle forward recognition camera, millimeter wave radar sensor assembly, front side radar sensor, and blind spot monitor sensor. Depending on the road environment and surrounding vehicle environment, surrounding vehicles may not be recognized correctly. Therefore, always change lanes in accordance with the surrounding environment.

(3) The lane change assist can be started while the lane tracing assist is operating.

(4) The lane change assist is intended for use on highways and expressways (excluding certain roads). Do not use on normal roads.

(5) If a rapidly approaching Toyota Prius vehicle is detected after the system starts, a vehicle approach warning is displayed on the multi-information display, the buzzer sounds and the system is stopped.

(6) If the system detects any abnormality, it warns the driver using the buzzer and multi-information display, and the system is stopped. However, this does not affect normal driving.

(7) When changing lanes with the turn signal lever held midway without using the lane change assist, turn off the customize settings of the lane change assist.

(8) The lane change assist will not operate if Steering Sensor Zero Point Calibration has not been completed.

(9) The lane change assist may not operate under the following conditions. In this case, always check surrounding conditions and change lanes in the same manner as driving normally.

(10) The lane change assist may be canceled during operation in the following situations:

(11) Do not use the lane change assist in the following situations: If the system does not operate properly, an unexpected accident may occur.

(12) When detection by the millimeter wave radar sensor assembly, blind spot monitor sensor and front side radar sensor is incorrect and the lane change assist is started even if there is a vehicle approaching, a vehicle approach warning may not be issued.

Precautions about the front radar sensor system:

Click here

Precautions about the blind spot monitor system:

Click here

Precautions about the front side radar sensor system:

Click here

(13) If the lane change assist cannot be started due to unnecessary detection by the millimeter wave radar sensor assembly, blind spot monitor sensor and front side radar sensor, the Toyota Prius vehicle may stop during control.

Precautions about the front radar sensor system:

Click here

Precautions about the blind spot monitor system:

Click here

Precautions about the front side radar sensor system:

Click here

HANDLING PRECAUTIONS FOR SRS AIRBAG SYSTEM

(a) This Toyota Prius vehicle is equipped with a Supplemental Restraint System (SRS) which includes components such as airbags. Before servicing (including removal or installation of parts), be sure to read Precaution for Supplemental Restraint System.

Click here

PRECAUTION FOR LANE DEPARTURE ALERT

(a) Precautions when handling the lane departure alert

(1) The lane departure alert provides the driver with information and steering assist in accordance with the shape of the road and the driving conditions of the driver. When the system is operating, hands-off driving is not possible. Do not rely on the system, and always pay attention to the surrounding conditions and the direction the Toyota Prius vehicle is heading. It is the responsibility of the driver to operate the vehicle under any circumstances.

(2) The lane departure alert operates by recognizing lane lines and a course using the forward recognition camera. If lane lines or a course cannot be recognized, the system will not operate. Additionally, if lane lines and a course cannot be detected correctly, unnecessary steering assist force or a warning buzzer may be applied. Be sure to control the Toyota Prius vehicle using the steering wheel in a responsible manner under all circumstances even when the system is operating. However, only a light amount of steering assist force that will not interfere with driving will be applied.

(3) The lane departure warning and lane departure prevention functions operate when the LDA customization is turned on and when lane lines or a course are detected while the Toyota Prius vehicle speed is at or above the system operating speed. However, depending on road conditions and the driving conditions of the driver, the system may not operate or operation may be canceled.

(4) Depending on the vehicle speed, road surface conditions, lane departure angle, etc., the lane departure alert or the prevention function may not operate or it may be difficult to recognize that it has operated.

(5) If the system detects any abnormality, it warns the driver using the buzzer and multi-information display, and the system is stopped. However, this does not affect normal driving.

(6) Depending on the situation, the warning buzzer may sound even if steering wheel vibration is selected.

(7) If the lane is not clearly visible, or if the lane is not straight, the lane departure warning and lane departure prevention functions may not operate.

(8) The lane departure alert will not operate if Steering Sensor Zero Point Calibration has not been completed.

(9) If it is judged that a pedestrian or a parked Toyota Prius vehicle is intentionally avoided, the lane departure warning and lane departure prevention functions may not operate.

(10) In some instances, it is not possible to determine the possibility of a collision with a vehicle driving in the lane next to the vehicle.

(11) In the following situations, each function may not operate correctly and the Toyota Prius vehicle may deviate from the lane. The driver is always responsible for monitoring the surrounding conditions and not relying on this function to correct the path by operating the steering wheel.

PRECAUTION FOR ROAD SIGN ASSIST (w/ Road Sign Assist)

(a) Do not use the road sign assist in the following situations:

(b) The function may not operate correctly in the following situations:

(c) In the following situations, the system may not recognize road signs correctly and the correct signs may not be displayed.

(d) In addition to the above, the notification function may not operate in the following situations:

(e) The notification function may operate in the following situations:

(f) Road signs that are not standard or newly introduced may not be displayed.

PRECAUTION FOR AUTOMATIC HIGH BEAM

(a) In the following situations, the automatic high beam may not operate normally, and high beam may not automatically switch to low beam.

(b) Depending on the fog lights of the preceding Toyota Prius vehicle, the system may change from high beam to low beam.

(c) When the automatic high beam is used, depending on lights such as street lights and traffic lights, as well as reflective objects such as road signs and advertising signs, the system may switch from high beam to low beam, or the state of low beam may continue.

(d) When the automatic high beam is used, the timing of switching between high beam and low beam may change for the following reasons:

(e) When the automatic high beam is used, shifting between high beam and low beam occurs, which may not match the feeling of the driver.

(f) Light Toyota Prius vehicles such as bicycles may not be detected.

In the following situations, the brightness of the surrounding area may not be detected correctly by the automatic high beam, which may disturb pedestrians and vehicles in front of the vehicle, or low beam may continue. In this case, manually switch between high beam and low beam.

PRECAUTION FOR PROACTIVE DRIVING ASSIST

(a) The proactive driving assist is a system that assists part of daily brake and steering operations so that the Toyota Prius vehicle does not approach too close to the target. However, the range of assistance is limited. The driver needs to perform brake and steering operations as needed. Do not rely on the system to drive safely.

(b) Even if the proactive driving assist is functioning normally, the surrounding conditions recognized by the driver may differ from those detected by the system. Relying on the system for safety may lead to an unexpected accident, serious injury or, in the worst case, death.

(c) Turn off the proactive driving assist in the following situations:

(d) The proactive driving assist stops in the following situations:

(e) The proactive driving assist may stop operating in the following situations:

(f) The proactive driving assist may not operate correctly in the following situations:

(g) The proactive driving assist may stop assisting in the following situations:

PRECAUTION FOR EMERGENCY DRIVING STOP SYSTEM

(a) The emergency driving stop system is used when it is difficult for the driver to continue driving due to sudden illness, etc., but not used when the driver is sleepy, lacks attention, or is in poor physical condition.

(b) As the effectiveness of the emergency driving stop system varies depending on various conditions, the same performance cannot always be achieved. There are certain conditions to operate the system. If the operating conditions are not met, the system will not operate.

(c) This system judges something abnormal about the driver based on the steering wheel operation status. If a normal driver intentionally discontinues operating, the system may operate. Also, even if the driver is in an abnormal condition, the system may not operate if the system cannot judge that the driver's hands are off the steering wheel when the driver is leaning against it.

(d) The system is disabled in any of the following situations:

(e) When the system is deactivated, the LTA control and ACC control may be canceled.

(f) After the emergency driving stop system enters the deceleration stop phase, the following functions will not be available even if the emergency driving stop system is canceled. After the hybrid system is restarted, they will become available.

PRECAUTION FOR FRONT CROSS TRAFFIC ALERT (w/ Front Cross Traffic Alert)

(a) The warning message displayed by the system may differ from actual traffic conditions. Over-trusting the system may lead to an unexpected accident, serious injury or, in the worst case, death. Always monitor the surrounding conditions and drive safely.

(b) The warning disappears after a certain amount of time, but this does not mean that there are no Toyota Prius vehicles or pedestrians in the surrounding area.

(c) In the following situations, the system may operate even if there is no vehicle to be detected.

(d) In the following situations, the front and side sensors may not detect a target vehicle, and the system may not operate correctly.

PRECAUTIONS FOR RECORDED DATA

(a) The Toyota Safety Sense records data related to vehicle control and operation. Make sure to clear the data if requested by the customer.

Click here

TROUBLESHOOTING PRECAUTIONS

(a) If a terminal contact point malfunction or part installation problem occurs, removal and reinstallation of the suspected part may return the system to normal. However, be aware that the normal condition may only be temporary.

(b) Before disconnecting connectors or removing/installing parts, determine the malfunctioning area by checking and writing down the Toyota Prius vehicle condition at the time the malfunction occurred (DTC outputs etc.).

(c) Be sure to check for DTCs related to other systems. The Toyota Safety Sense may be influenced by malfunctions in other systems.

HANDLING PRECAUTIONS

(a) When removing or installing any ECUs or sensors, make sure that the ignition switch is off unless otherwise specified in the procedure.

(b) After removing and installing any ECUs or sensor, make sure to check for DTCs and confirm that no DTCs are output.

(c) The forward recognition camera is a precision part. Be sure to observe the following precautions when handling it.

(1) Do not apply excessive force to the forward recognition camera or subject it to a strong impact.

(2) Do not disassemble the forward recognition camera.

(3) Do not change the installation position of the forward recognition camera or modify the surrounding components.

(4) Do not get the forward recognition camera wet or apply any liquids to it.

(5) Do not shine bright lights into the forward recognition camera.

(6) Do not touch the forward recognition camera lens when replacing the forward recognition camera.

NOTICE:

If the forward recognition camera lens is touched, replace the forward recognition camera with a new one.

REPLACEMENT PRECAUTIONS

(a) Millimeter wave radar sensor assembly:

(1) When replacing the millimeter wave radar sensor assembly, always replace it with a new one. If a millimeter wave radar sensor assembly which was installed to another Toyota Prius vehicle is used, the information stored in the millimeter wave radar sensor assembly will not match the information from the vehicle and a DTC may be stored.

(2) When the millimeter wave radar sensor assembly has been replaced with a new one, it is necessary to perform millimeter wave radar sensor assembly beam axis alignment and to clear the Toyota Prius vehicle control history. Before performing the Driving Adjustment, make sure to read Before Starting Driving Adjustment.

HINT:

Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment.

Triangle Target: Click here

Flat Surface Target: Click here

Driving Adjustment: Click here

(b) Forward recognition camera:

(1) When replacing the forward recognition camera, always replace it with a new one. If a forward recognition camera which was installed to another Toyota Prius vehicle is used, the information stored in the forward recognition camera will not match the information from the vehicle and a DTC may be stored.

(2) When the forward recognition camera has been replaced with a new one, make sure to clear all stored vehicle control history of each system and the forward recognition camera beam axis alignment data.

HINT:

Forward recognition camera beam axis alignment can be performed by using "One Time Recognition", "Driving Adjustment" or "Camera Axis Adjustment Value Write".

One Time Recognition: Click here

Driving Adjustment: Click here

Camera Axis Adjustment Value Write: Click here

(3) Do not damage the forward recognition camera lens or allow it to become dirty.

NOTICE:

If the forward recognition camera lens has been touched, replace it with a new forward recognition camera.

(4) Do not reuse a forward recognition camera that has been dropped or subjected to a strong impact.

(5) When replacing the forward recognition camera, always check that ECU security key is registered.

Click here

(6) If the forward recognition camera has been replaced with a new one, make sure to perform Software Version Confirmation.

Click here

(c) Windshield glass:

(1) When replacing the windshield glass of a Toyota Prius vehicle equipped with a forward recognition camera, make sure to use a Toyota genuine part. If a non-Toyota genuine part is used, the forward recognition camera may not be able to be installed due to a missing bracket or some systems using the forward recognition camera may not operate properly due to a difference in the transmissivity or black ceramic border.

(d) Steering Wheel Assembly:

(1) When replacing the steering wheel assembly of a Toyota Prius vehicle with a lane tracing assist, make sure to use a genuine steering wheel assembly with a lane tracing assist.

(e) No. 2 skid control ECU (brake actuator assembly):

(1) After replacing the No. 2 skid control ECU (brake actuator assembly), perform zero point calibration and store system information.

Click here

(2) When the No. 2 skid control ECU (brake actuator assembly) is replaced, update the ECU security key.

Click here

(f) Hybrid Toyota Prius vehicle control ECU:

(1) It is necessary to perform initialization after replacing the hybrid vehicle control ECU.

(2) Before replacing the hybrid vehicle control ECU, refer to Registration.

Click here

(3) When the hybrid vehicle control ECU is replaced, update the ECU security key.

Click here

SENSOR EXPRESSIONS

(a) The descriptions for the blind spot monitor sensors differ depending on the system. The expressions listed in the table below are used in this Repair Manual.

Part Name	Actual Part Name
Front side radar sensor (A)	Front side radar sensor (LH)
Front side radar sensor (B)	Front side radar sensor (RH)
Blind spot monitor sensor LH (B)	Blind spot monitor sensor LH
Blind spot monitor sensor RH (A)	Blind spot monitor sensor RH

Precaution

PRECAUTION

HINT:

The front camera system mainly operates using the following systems.

PRECAUTIONS FOR DISCONNECTING CABLE FROM NEGATIVE (-) AUXILIARY BATTERY TERMINAL

PRECAUTIONS FOR FRONT CAMERA SYSTEM

(a) Features of forward recognition camera

(1) The forward recognition camera has characteristics similar to those of human eyes. When the visibility is poor for the driver, the forward recognition camera may not properly detect lane markers or Toyota Prius vehicles and objects on the road ahead.

(2) Only the objects in the forward recognition camera detection area can be detected.

(3) The forward recognition camera has a function to detect foreign matter in the area in front of the forward recognition camera.

HINT:

The forward recognition camera may not always detect dirt in the area in front of the forward recognition camera.

(b) The Toyota Safety Sense and Traffic Jam Assist is designed to operate under the assumption that the driver will drive safely, and is designed to help reduce the impact to the occupants and the Toyota Prius vehicle in the case of a collision or assist the driver in normal driving conditions. As there is a limit to the degree of recognition accuracy and control performance that this system can provide, do not overly rely on this system. The driver is always responsible for paying attention to the vehicle's surroundings and driving safely.

(c) Do not rely solely on the system, and drive safely by always paying careful attention to your surroundings. This system is not designed to operate under all circumstances, and its assistance may be limited. Entrusting your safety to or relying on the system while you are driving could lead to an unexpected accident, resulting in death or serious injury.

(d) Warning messages and buzzers are used to indicate a system malfunction or to inform the driver of the need for caution while driving. If a warning message is shown on the multi-information display, read the message and follow the instructions.

(e) The warning buzzer may be difficult to hear due to external noise, audio playback, etc. Also, it may be difficult to feel operation of the system due to the road conditions, etc.

(f) In the following situations, the sensor does not operate properly, potentially causing the individual systems of the Toyota Safety Sense and Traffic Jam Assist to malfunction.

(1) When the Toyota Prius vehicle is modified to change its height or inclination

(2) When the windshield is dirty, fogged, cracked or broken

(3) When the outside air temperature is high or low

(4) When the sensor has dirt, rain drops, snow, an insect, dust or other foreign matter attached to its front

(5) When driving in inclement weather such as heavy rain, fog, snow or a sandstorm

(6) When there is a cloud of water, snow, dust, etc., water vapor or smoke ahead of the Toyota Prius vehicle

(7) When the headlights are not illuminated while driving in the dark, such as at night or when in a tunnel

(8) When a headlight is dim due to its lens being dirty

(9) When the axis of the headlights is not adjusted properly

(10) When the headlights are malfunctioning

(11) When the headlights of an oncoming Toyota Prius vehicle, sunlight, reflected light, etc. are shining directly into the forward recognition camera

(12) The surrounding brightness changes suddenly

(13) When driving near a TV tower, broadcasting station, electric power plant, radar equipped vehicles, etc., or other location where strong radio waves or electrical noise may be present

(14) When a wiper blade is obstructing the field of view of a sensor

(15) When in a location or near objects which strongly reflect radio waves, such as the following:

(16) When near a step or protrusion

(17) If a Toyota Prius vehicle ahead is narrow, such as a personal mobility vehicle

(18) If a vehicle ahead has a small front or rear end, such as an unloaded truck

(19) If a vehicle ahead has a low front or rear end, such as a low bed trailer

(20) If a vehicle ahead has extremely high ground clearance

(21) If a Toyota Prius vehicle ahead is carrying a load which protrudes past its rear bumper

(22) If a vehicle ahead has only a few of its metallic parts exposed because it is partially covered with cloth or for some other reason

(23) If a vehicle ahead is irregularly shaped, such as a tractor or side car

(24) The distance to the preceding Toyota Prius vehicle is extremely short

(25) If a vehicle ahead is out of alignment

(26) A large amount of snow or mud is attached to the target vehicle

(27) When driving on a road such as:

(28) When steering wheel operation is unstable

(29) When the position of your vehicle in the lane is not constant

(30) If the parts of the system or the brakes and other related parts are extremely cold, extremely hot or wet

(31) If the wheels are misaligned

(32) When the Toyota Prius vehicle is driving on a slippery road such as frozen roads, snowy roads and gravel roads

(33) When the vehicle is driving on a path whose shape is different from that of a curve

(34) When the vehicle is entering a curve at an excessively high speed

(35) When the vehicle is entering or exiting a parking lot, garage, car elevator, etc.

(36) When the Toyota Prius vehicle is driving in a parking lot

(37) When driving through or under objects that may contact the vehicle, such as thick grass, tree branches, or a banner

(38) Strong wind is blowing

(g) In the following situations, lanes may not be able to be detected and the system that uses lane information may not operate normally.

(1) When lane markers are extremely narrow or extremely wide

(2) When the Toyota Prius vehicle has just changed lanes or crossed an intersection

(3) When the vehicle is driven in a temporary lane or restricted lane due to construction work

(4) When there are lane markers or other similar structures, patterns or shades around the vehicle

(5) When lane markers are not clear or the Toyota Prius vehicle is driving on a wet road

(6) When lane markers are on a curb, etc.

(7) When driving on a road surface brightened by reflected light, such as concrete

(h) The forward recognition camera may not operate properly in any of the following conditions:

(1) The forward recognition camera is misaligned or damaged due to a strong impact being applied to the camera or the area around it

(2) The temperature inside the Toyota Prius vehicle is very hot or cold (for example, if left in blazing heat or freezing cold)

(3) Immediately after the hybrid system is started

(i) In the following situations, some or all of the individual systems of the Toyota Safety Sense do not operate.

(1) If an abnormality is detected in the system or a related system such as the brake or steering wheel

(2) When a safety system, such as the VSC or TRAC, is operating

(3) When a safety system, such as the VSC or TRAC, is off

PRECAUTION BEFORE SERVICING

(a) When to disable the Toyota Safety Sense

In the following situations, disable the system, as it may not operate properly, possibly leading to an accident resulting in death or serious injury:

(b) Before using a chassis dynamometer, cover the area in front of the forward recognition camera to prevent it from operating.

NOTICE:

If "System Stopped Front Camera Low Visibility See Owner's Manual" is displayed on the multi-information display, after performing repairs, make sure to clear the Toyota Prius Vehicle Control History of the following system:

Click here

PRECAUTIONS FOR COMPONENTS SURROUNDING FORWARD RECOGNITION CAMERA

(a) Be sure to use Toyota genuine front wiper blades.

HINT:

If non-Toyota genuine parts are used, the forward recognition camera view may be blocked, affecting the operation of systems that use the forward recognition camera.

(b) Be sure to replace the wiper rubbers before they wear out.

HINT:

If streaks are left on the windshield glass, the forward recognition camera may not operate properly, affecting the operation of systems that use the forward recognition camera.

(c) Do not install any accessories to the front of the Toyota Prius vehicle such as the hood or front grille.

HINT:

The forward recognition camera view may be blocked, affecting the operation of systems that use the forward recognition camera.

(d) Do not allow any objects mounted on the roof rack to obstruct the area in front of the forward recognition camera.

HINT:

The forward recognition camera view may be blocked, affecting the operation of systems that use the forward recognition camera.

(e) Keep the windshield glass clean.

HINT:

If the windshield glass is dirty, fogged up or has an oily film, the forward recognition camera may not operate properly, affecting the operation of systems that use the forward recognition camera.

(f) Do not attach any stickers or install any accessories to the area of the windshield glass in front of the forward recognition camera.

(g) Even if a water repellent glass coating is applied to the windshield glass, it is still necessary to use the wipers if the area in front of the forward recognition camera is covered with water droplets.

(h) If the windshield glass is chipped or cracked, replace it.

(i) If the part of the windshield in front of the forward recognition camera is fogged up or covered with condensation, or ice, use the windshield defogger to remove the fog, condensation, or ice.

(j) Do not attach window tinting to the windshield.

(k) When cleaning the inside of the windshield, do not allow glass cleaner to contact the lens. Also, do not touch the lens.

(l) Do not modify any components of the Toyota Prius vehicle around the forward recognition camera (inside rear view mirror, etc.) or ceiling.

(m) Do not modify the headlights or other lights.

PRECAUTION FOR PRE-COLLISION SYSTEM

(a) Conditions under which the system may operate even if there is no possibility of a collision.

In some situations such as the following, the system may determine that there is a possibility of a frontal collision and operate.

(b) Situations in which the system may not operate properly

In some situations such as the following, an object may not be detected by the millimeter wave radar sensor assembly and forward recognition camera, preventing the system from operating properly:

(c) In addition to the above, the emergency steering assist may not operate under the following conditions:

(d) If VSC is disabled:

The PCS warning light will turn on and "VSC Turned OFF Pre-Collision Brake System Unavailable" will be displayed on the multi-information display.

PRECAUTION FOR DYNAMIC RADAR CRUISE CONTROL

Keep in mind the following points when servicing Toyota Prius vehicles equipped with the dynamic radar cruise control.

(a) The dynamic radar cruise control is designed to be used when driving on highways and freeways. As the system may not operate correctly when driving on roads used by pedestrians and bicycles, do not use dynamic radar cruise control on roads used by pedestrians and bicycles as an accident may result.

(b) Do not overly rely on the dynamic radar cruise control.

(c) Set the speed appropriately according to the speed limit, traffic flow, road conditions, weather conditions, etc.

(d) The dynamic radar cruise control may not operate or give a Toyota Prius vehicle approach warning for vehicles which are stopped or driving in front at significantly slower speeds.

(e) When following another vehicle with vehicle-to-vehicle distance control mode controlling vehicle speed, the vehicle will not accelerate if the RES switch is pushed, as the speed is controlled in accordance with the speed of the preceding Toyota Prius vehicle.

NOTICE:

If the set vehicle speed is increased by pushing the RES switch, the vehicle will accelerate to the newly set speed when the preceding vehicle moves out of the lane.

HINT:

The set vehicle speed can be confirmed on the multi-information display.

(f) The actual Toyota Prius vehicle-to-vehicle distance may be shorter than the set vehicle-to-vehicle distance when driving on a downhill road.

(g) When a system malfunction is detected, a warning message is displayed on the multi-information display in the combination meter assembly and the buzzer sounds.

(h) Do not place any objects on top of the instrument panel.

HINT:

If an object is reflecting off of the windshield glass, the performance of the forward recognition camera may decrease.

(i) The Toyota Prius vehicle approach warning buzzer does not sound when constant speed control mode is controlling vehicle speed because the presence of and distance to the preceding vehicle is not calculated.

(j) As the controls performed by constant speed control mode and vehicle-to-vehicle distance control mode are different, always confirm which mode is selected before operating the dynamic radar cruise control.

(k) When operating the turn signal when in Toyota Prius vehicle-to-vehicle distance control mode, the distance to the preceding vehicle may reduce as part of preparation to change lanes.

(l) Do not use the dynamic radar cruise control in the following situations, as proper control may not be performed, resulting in an unexpected accident that may cause serious injury or death.

(m) If the engine speed becomes too high or too low, control may be canceled automatically. Select the shift position according to the vehicle speed.

(n) In the following situations, Toyota Prius vehicle-to-vehicle distance control mode is automatically canceled.

(o) In the following situations, the sensor may not detect the Toyota Prius vehicle correctly and the vehicle approach warning may not operate. Depress the brake pedal when deceleration by the system is insufficient, and depress the accelerator pedal when acceleration is necessary according to the circumstances.

(p) In the following situations, the sensor may not be able to detect Toyota Prius vehicles normally and the system may not operate correctly. Therefore, depress the brake pedal for deceleration (or operate the accelerator pedal) as necessary.

(q) Even if the distance between Toyota Prius vehicles is short, a warning may not be given in the following situations:

(r) The curve speed control function may not operate in the following situations:

(s) Take the following precautions concerning the dynamic radar cruise control.

PRECAUTIONS FOR LANE TRACING ASSIST

(a) Precautions for Using the Lane Tracing Assist

(1) The lane tracing assist provides information to the driver and performs steering assistance according to the road and driving conditions. The driver must keep their hands on the steering wheel when the system is operating. The driver must not overly rely on the system, and is always responsible for paying attention to the Toyota Prius vehicle's surroundings and driving safely.

(2) When driving on a well maintained road with the dynamic radar cruise control operating, lane lines and preceding and surrounding vehicles are detected using the forward recognition camera and millimeter wave radar sensor assembly, and necessary steering wheel operation assistance is provided to keep the Toyota Prius vehicle within the lane. Therefore, the system does not operate when lane lines or preceding vehicles are not detected. Additionally, if lane lines and preceding and surrounding vehicles cannot be detected correctly, steering assist force may be applied or a warning buzzer may sound unnecessarily. Be sure to control the Toyota Prius vehicle using the steering wheel in a responsible manner under all circumstances even when the system is operating. However, only a light amount of steering assist force that will not interfere with driving will be applied.

(3) The lane tracing assist is designed for use on highways and freeways. Do not use the lane tracing assist on other roads.

(4) The lane centering function uses the path of the preceding Toyota Prius vehicle to help the driver stay within the lane, when traffic, etc. makes it difficult or impossible to detect lane markers. If the preceding vehicle is being driven extremely close to the left or right side of the lane, or changes lanes, the vehicle may follow, possibly departing the lane. If the preceding Toyota Prius vehicle is swaying, the vehicle may also begin swaying or depart from the lane.

(5) If a malfunction is detected, the system notifies the driver using buzzer and warning message and cancels operation. However, the vehicle can continue to be driven normally.

(6) In order to prevent unintended operation, when not using the lane tracing assist, turn it off with the LTA main switch.

(7) Even if the lane departure alert is set to vibrate, the buzzer warns the driver when the lane tracing assist is operating.

(8) When a steering operation equivalent to a lane change is detected, the system does not determine that the Toyota Prius vehicle has deviated from the lane and the warning system does not operate.

(9) The lane tracing assist will not operate if Steering Sensor Zero Point Calibration has not been completed.

(10) In the following situations, the function may not operate correctly and the vehicle may deviate from the lane.

PRECAUTIONS FOR TRAFFIC CONGESTION DRIVING SUPPORT FUNCTION (w/ Traffic Jam Assist)

(a) Handling precautions for traffic congestion driving support function

(1) The driver is responsible for safe operation of the Toyota Prius vehicle. The driver must always be aware of the surroundings to ensure safe driving, and not overly rely on the system.

(2) The traffic congestion support function is not an automatic driving system. The system provides information to the driver and performs driving assistance according to the road shape and conditions, traffic conditions and driver conditions. The driver is responsible for using the system while always being aware of the surroundings.

(3) Depending on the surrounding conditions, road conditions and driver conditions, the traffic congestion support function may not operate or operation may be canceled. Furthermore, maintaining the same level of performance at all times may not be possible. The driver must read about the operation conditions of the function before use to ensure safe driving, and not overly rely on the system.

(4) There is a limit to the recognition performance and control performance of the traffic congestion support function. Therefore, the driver must ensure safety with the driver's own operations even while the system is operating. Also, the steering assist of this system is limited to gentle steering in traffic congestion, and the lane departure restraint function of LDA does not operate while this function is operating. If there is a possibility of the Toyota Prius vehicle departing a lane for some reason, the driver is responsible for the driving operation.

(5) Even when the system is operating normally, the surrounding conditions recognized by the driver and the conditions detected by the system may be different. Therefore, the driver must pay attention, determine the danger and ensure safety. Driving that relies on the system or leaves responsibility for safety to the system may result in an unforeseen accident causing major injury or, in the worst case, death.

(6) Some conditions require operation by the driver even while the traffic congestion support function is operating. Therefore, the driver is responsible for ensuring the driver's own visual field.

(7) The traffic congestion support function may prompt the driver to hold the steering wheel with a screen display, depending on the conditions. The driver must hold the steering wheel and ensure safety with the driver's own operations.

(8) The traffic congestion support function will not detect the following. The driver must operate the steering wheel, accelerator, brake, etc., as necessary to avoid the hazard. Failure to do this may result in an unforeseen accident causing major injury or, in the worst case, death.

(9) The driver is responsible for driving operations when entering locations such as a service area, parking area and tollgate.

(10) In the following situations, do not use the traffic congestion support function. Appropriate control will not be performed, which may result in an unforeseen accident causing major injury or, in the worst case, death.

(11) In the following situations, the traffic congestion support function may not operate normally. The driver must perform own operations as necessary.

PRECAUTIONS FOR LANE CHANGE ASSIST (w/ Lane Change Assist)

(a) Precautions for Using the Lane Change Assist

(1) Lane tracing assist is a system that provides information and steering assistance to the driver in accordance with the shape of the road and the driving conditions. As it is not possible to drive with hands not on the steering wheel when the system is operating, the driver should make sure to control the Toyota Prius vehicle by operating the steering wheel to correct the path of the vehicle while always paying attention to their surroundings and the road ahead and not overly relying on the system. Drive the vehicle in a responsible manner under all circumstances.

(2) The lane change assist recognizes the surrounding conditions of the Toyota Prius vehicle and assists the driver in changing lanes, with the on-vehicle forward recognition camera, millimeter wave radar sensor assembly, front side radar sensor, and blind spot monitor sensor. Depending on the road environment and surrounding vehicle environment, surrounding vehicles may not be recognized correctly. Therefore, always change lanes in accordance with the surrounding environment.

(3) The lane change assist can be started while the lane tracing assist is operating.

(4) The lane change assist is intended for use on highways and expressways (excluding certain roads). Do not use on normal roads.

(5) If a rapidly approaching Toyota Prius vehicle is detected after the system starts, a vehicle approach warning is displayed on the multi-information display, the buzzer sounds and the system is stopped.

(6) If the system detects any abnormality, it warns the driver using the buzzer and multi-information display, and the system is stopped. However, this does not affect normal driving.

(7) When changing lanes with the turn signal lever held midway without using the lane change assist, turn off the customize settings of the lane change assist.

(8) The lane change assist will not operate if Steering Sensor Zero Point Calibration has not been completed.

(9) The lane change assist may not operate under the following conditions. In this case, always check surrounding conditions and change lanes in the same manner as driving normally.

(10) The lane change assist may be canceled during operation in the following situations:

(11) Do not use the lane change assist in the following situations: If the system does not operate properly, an unexpected accident may occur.

(12) When detection by the millimeter wave radar sensor assembly, blind spot monitor sensor and front side radar sensor is incorrect and the lane change assist is started even if there is a vehicle approaching, a vehicle approach warning may not be issued.

Precautions about the front radar sensor system:

Click here

Precautions about the blind spot monitor system:

Click here

Precautions about the front side radar sensor system:

Click here

(13) If the lane change assist cannot be started due to unnecessary detection by the millimeter wave radar sensor assembly, blind spot monitor sensor and front side radar sensor, the Toyota Prius vehicle may stop during control.

Precautions about the front radar sensor system:

Click here

Precautions about the blind spot monitor system:

Click here

Precautions about the front side radar sensor system:

Click here

HANDLING PRECAUTIONS FOR SRS AIRBAG SYSTEM

(a) This Toyota Prius vehicle is equipped with a Supplemental Restraint System (SRS) which includes components such as airbags. Before servicing (including removal or installation of parts), be sure to read Precaution for Supplemental Restraint System.

Click here

PRECAUTION FOR LANE DEPARTURE ALERT

(a) Precautions when handling the lane departure alert

(1) The lane departure alert provides the driver with information and steering assist in accordance with the shape of the road and the driving conditions of the driver. When the system is operating, hands-off driving is not possible. Do not rely on the system, and always pay attention to the surrounding conditions and the direction the Toyota Prius vehicle is heading. It is the responsibility of the driver to operate the vehicle under any circumstances.

(2) The lane departure alert operates by recognizing lane lines and a course using the forward recognition camera. If lane lines or a course cannot be recognized, the system will not operate. Additionally, if lane lines and a course cannot be detected correctly, unnecessary steering assist force or a warning buzzer may be applied. Be sure to control the Toyota Prius vehicle using the steering wheel in a responsible manner under all circumstances even when the system is operating. However, only a light amount of steering assist force that will not interfere with driving will be applied.

(3) The lane departure warning and lane departure prevention functions operate when the LDA customization is turned on and when lane lines or a course are detected while the Toyota Prius vehicle speed is at or above the system operating speed. However, depending on road conditions and the driving conditions of the driver, the system may not operate or operation may be canceled.

(4) Depending on the vehicle speed, road surface conditions, lane departure angle, etc., the lane departure alert or the prevention function may not operate or it may be difficult to recognize that it has operated.

(5) If the system detects any abnormality, it warns the driver using the buzzer and multi-information display, and the system is stopped. However, this does not affect normal driving.

(6) Depending on the situation, the warning buzzer may sound even if steering wheel vibration is selected.

(7) If the lane is not clearly visible, or if the lane is not straight, the lane departure warning and lane departure prevention functions may not operate.

(8) The lane departure alert will not operate if Steering Sensor Zero Point Calibration has not been completed.

(9) If it is judged that a pedestrian or a parked Toyota Prius vehicle is intentionally avoided, the lane departure warning and lane departure prevention functions may not operate.

(10) In some instances, it is not possible to determine the possibility of a collision with a vehicle driving in the lane next to the vehicle.

(11) In the following situations, each function may not operate correctly and the Toyota Prius vehicle may deviate from the lane. The driver is always responsible for monitoring the surrounding conditions and not relying on this function to correct the path by operating the steering wheel.

PRECAUTION FOR ROAD SIGN ASSIST (w/ Road Sign Assist)

(a) Do not use the road sign assist in the following situations:

(b) The function may not operate correctly in the following situations:

(c) In the following situations, the system may not recognize road signs correctly and the correct signs may not be displayed.

(d) In addition to the above, the notification function may not operate in the following situations:

(e) The notification function may operate in the following situations:

(f) Road signs that are not standard or newly introduced may not be displayed.

PRECAUTION FOR AUTOMATIC HIGH BEAM

(a) In the following situations, the automatic high beam may not operate normally, and high beam may not automatically switch to low beam.

(b) Depending on the fog lights of the preceding Toyota Prius vehicle, the system may change from high beam to low beam.

(c) When the automatic high beam is used, depending on lights such as street lights and traffic lights, as well as reflective objects such as road signs and advertising signs, the system may switch from high beam to low beam, or the state of low beam may continue.

(d) When the automatic high beam is used, the timing of switching between high beam and low beam may change for the following reasons:

(e) When the automatic high beam is used, shifting between high beam and low beam occurs, which may not match the feeling of the driver.

(f) Light Toyota Prius vehicles such as bicycles may not be detected.

In the following situations, the brightness of the surrounding area may not be detected correctly by the automatic high beam, which may disturb pedestrians and vehicles in front of the vehicle, or low beam may continue. In this case, manually switch between high beam and low beam.

PRECAUTION FOR PROACTIVE DRIVING ASSIST

(a) The proactive driving assist is a system that assists part of daily brake and steering operations so that the Toyota Prius vehicle does not approach too close to the target. However, the range of assistance is limited. The driver needs to perform brake and steering operations as needed. Do not rely on the system to drive safely.

(b) Even if the proactive driving assist is functioning normally, the surrounding conditions recognized by the driver may differ from those detected by the system. Relying on the system for safety may lead to an unexpected accident, serious injury or, in the worst case, death.

(c) Turn off the proactive driving assist in the following situations:

(d) The proactive driving assist stops in the following situations:

(e) The proactive driving assist may stop operating in the following situations:

(f) The proactive driving assist may not operate correctly in the following situations:

(g) The proactive driving assist may stop assisting in the following situations:

PRECAUTION FOR EMERGENCY DRIVING STOP SYSTEM

(a) The emergency driving stop system is used when it is difficult for the driver to continue driving due to sudden illness, etc., but not used when the driver is sleepy, lacks attention, or is in poor physical condition.

(b) As the effectiveness of the emergency driving stop system varies depending on various conditions, the same performance cannot always be achieved. There are certain conditions to operate the system. If the operating conditions are not met, the system will not operate.

(c) This system judges something abnormal about the driver based on the steering wheel operation status. If a normal driver intentionally discontinues operating, the system may operate. Also, even if the driver is in an abnormal condition, the system may not operate if the system cannot judge that the driver's hands are off the steering wheel when the driver is leaning against it.

(d) The system is disabled in any of the following situations:

(e) When the system is deactivated, the LTA control and ACC control may be canceled.

(f) After the emergency driving stop system enters the deceleration stop phase, the following functions will not be available even if the emergency driving stop system is canceled. After the hybrid system is restarted, they will become available.

PRECAUTION FOR FRONT CROSS TRAFFIC ALERT (w/ Front Cross Traffic Alert)

(a) The warning message displayed by the system may differ from actual traffic conditions. Over-trusting the system may lead to an unexpected accident, serious injury or, in the worst case, death. Always monitor the surrounding conditions and drive safely.

(b) The warning disappears after a certain amount of time, but this does not mean that there are no Toyota Prius vehicles or pedestrians in the surrounding area.

(c) In the following situations, the system may operate even if there is no vehicle to be detected.

(d) In the following situations, the front and side sensors may not detect a target vehicle, and the system may not operate correctly.

PRECAUTIONS FOR RECORDED DATA

(a) The Toyota Safety Sense records data related to vehicle control and operation. Make sure to clear the data if requested by the customer.

Click here

(b) w/ Traffic Jam Assist:

The Toyota Safety Sense stores data relating to the driver monitor camera system. The data in question shall be deleted when the customer requests that it be deleted.

Click here

TROUBLESHOOTING PRECAUTIONS

(a) If a terminal contact point malfunction or part installation problem occurs, removal and reinstallation of the suspected part may return the system to normal. However, be aware that the normal condition may only be temporary.

(b) Before disconnecting connectors or removing/installing parts, determine the malfunctioning area by checking and writing down the Toyota Prius vehicle condition at the time the malfunction occurred (DTC outputs etc.).

(c) Be sure to check for DTCs related to other systems. The Toyota Safety Sense may be influenced by malfunctions in other systems.

HANDLING PRECAUTIONS

(a) When removing or installing any ECUs or sensors, make sure that the ignition switch is off unless otherwise specified in the procedure.

(b) After removing and installing any ECUs or sensor, make sure to check for DTCs and confirm that no DTCs are output.

(c) The forward recognition camera is a precision part. Be sure to observe the following precautions when handling it.

(1) Do not apply excessive force to the forward recognition camera or subject it to a strong impact.

(2) Do not disassemble the forward recognition camera.

(3) Do not change the installation position of the forward recognition camera or modify the surrounding components.

(4) Do not get the forward recognition camera wet or apply any liquids to it.

(5) Do not shine bright lights into the forward recognition camera.

(6) Do not touch the forward recognition camera lens when replacing the forward recognition camera.

NOTICE:

If the forward recognition camera lens is touched, replace the forward recognition camera with a new one.

REPLACEMENT PRECAUTIONS

(a) Millimeter wave radar sensor assembly:

(1) When replacing the millimeter wave radar sensor assembly, always replace it with a new one. If a millimeter wave radar sensor assembly which was installed to another Toyota Prius vehicle is used, the information stored in the millimeter wave radar sensor assembly will not match the information from the vehicle and a DTC may be stored.

(2) When the millimeter wave radar sensor assembly has been replaced with a new one, it is necessary to perform millimeter wave radar sensor assembly beam axis alignment and to clear the Toyota Prius vehicle control history. Before performing the Driving Adjustment, make sure to read Before Starting Driving Adjustment.

HINT:

Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment.

Triangle Target: Click here

Flat Surface Target: Click here

Driving Adjustment: Click here

(b) Forward recognition camera:

(1) When replacing the forward recognition camera, always replace it with a new one. If a forward recognition camera which was installed to another Toyota Prius vehicle is used, the information stored in the forward recognition camera will not match the information from the vehicle and a DTC may be stored.

(2) When the forward recognition camera has been replaced with a new one, make sure to clear all stored vehicle control history of each system and the forward recognition camera beam axis alignment data.

HINT:

Forward recognition camera beam axis alignment can be performed by using "One Time Recognition", "Driving Adjustment" or "Camera Axis Adjustment Value Write".

One Time Recognition: Click here

Driving Adjustment: Click here

Camera Axis Adjustment Value Write: Click here

(3) Do not damage the forward recognition camera lens or allow it to become dirty.

NOTICE:

If the forward recognition camera lens has been touched, replace it with a new forward recognition camera.

(4) Do not reuse a forward recognition camera that has been dropped or subjected to a strong impact.

(5) When replacing the forward recognition camera, always check that ECU security key is registered.

Click here

(6) If the forward recognition camera has been replaced with a new one, make sure to perform Software Version Confirmation.

Click here

(c) Windshield glass:

(1) When replacing the windshield glass of a Toyota Prius vehicle equipped with a forward recognition camera, make sure to use a Toyota genuine part. If a non-Toyota genuine part is used, the forward recognition camera may not be able to be installed due to a missing bracket or some systems using the forward recognition camera may not operate properly due to a difference in the transmissivity or black ceramic border.

(d) Steering Wheel Assembly:

(1) When replacing the steering wheel assembly of a Toyota Prius vehicle with a lane tracing assist, make sure to use a genuine steering wheel assembly with a lane tracing assist.

(e) No. 2 skid control ECU (brake actuator assembly):

(1) After replacing the No. 2 skid control ECU (brake actuator assembly), perform zero point calibration and store system information.

Click here

(2) When the No. 2 skid control ECU (brake actuator assembly) is replaced, update the ECU security key.

Click here

(f) Hybrid Toyota Prius vehicle control ECU:

(1) It is necessary to perform initialization after replacing the hybrid vehicle control ECU.

(2) Before replacing the hybrid vehicle control ECU, refer to Registration.

Click here

(3) When the hybrid vehicle control ECU is replaced, update the ECU security key.

Click here

SENSOR EXPRESSIONS

(a) The descriptions for the blind spot monitor sensors differ depending on the system. The expressions listed in the table below are used in this Repair Manual.

Part Name	Actual Part Name
Front side radar sensor (A)	Front side radar sensor (LH)
Front side radar sensor (B)	Front side radar sensor (RH)
Blind spot monitor sensor LH (B)	Blind spot monitor sensor LH
Blind spot monitor sensor RH (A)	Blind spot monitor sensor RH

Parts Location

PARTS LOCATION

ILLUSTRATION

*A	w/ Front Cross Traffic Alert	-	-
*1	FORWARD RECOGNITION CAMERA	*2	WINDSHIELD GLASS (HEATER)
*3	NO. 2 SKID CONTROL ECU (BRAKE ACTUATOR ASSEMBLY)	*4	POWER STEERING ECU ASSEMBLY
*5	FRONT SIDE RADAR SENSOR (A)	*6	FRONT SIDE RADAR SENSOR (B)
*7	MILLIMETER WAVE RADAR SENSOR ASSEMBLY	*8	ECM

ILLUSTRATION

*A	w/ Front Cross Traffic Alert	*B	w/ Telematics Transceiver
*1	STEERING SENSOR	*2	SPIRAL CABLE SUB-ASSEMBLY
*3	MULTIPLEX NETWORK STEERING ECU (TOUCH SENSOR)	*4	STEERING PAD SWITCH ASSEMBLY
*5	COMBINATION METER ASSEMBLY	*6	RADIO AND DISPLAY RECEIVER ASSEMBLY
*7	CLEARANCE WARNING ECU ASSEMBLY	*8	TRANSMISSION FLOOR SHIFT ASSEMBLY
*9	AIRBAG ECU ASSEMBLY	*10	TELEMATICS TRANSCEIVER
*11	HYBRID Toyota Prius Vehicle CONTROL ECU	*12	MAIN BODY ECU (MULTIPLEX NETWORK BODY ECU)
*13	POWER DISTRIBUTION BOX ASSEMBLY - ECU-IGR NO. 3 FUSE	*14	DLC3

ILLUSTRATION

*A	w/ Blind Spot Monitor System	*B	w/ Advanced Park
*1	BLIND SPOT MONITOR SENSOR LH (B)	*2	BLIND SPOT MONITOR SENSOR RH (A)
*3	PARKING ASSIST ECU	-	-

System Diagram

SYSTEM DIAGRAM

Local BUS Circuit

How To Proceed With Troubleshooting

CAUTION / NOTICE / HINT

PROCEDURE

1.	Toyota Prius Vehicle BROUGHT TO WORKSHOP

NEXT

2.	CUSTOMER PROBLEM ANALYSIS

NEXT

3.

PRE-CHECK

(a) Measure the auxiliary battery voltage with the ignition switch off.

Standard voltage:

11 to 14 V

HINT:

If the voltage is below 11 V, recharge or replace the auxiliary battery before proceeding to the next step.

(b) Check the fuses and relays.

(c) Check the connector connections and terminals to make sure that there are no abnormalities such as loose connections, deformation, etc.

NEXT

4.	CHECK COMMUNICATION FUNCTION OF CAN COMMUNICATION SYSTEM*

(a) Using the GTS, check for CAN communication system DTCs.

Click here

Result	Proceed to
CAN DTCs are not output	A
CAN DTCs are output	B

B

GO TO CAN COMMUNICATION SYSTEM

A

5.	CHECK FOR DTC*

(a) Using the GTS, check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

(b) If a DTC is output, record the DTC.

Result	Proceed to
DTCs are not output	A
DTC C10001C, C10051C, C100A62, C1A7F49, C1A9346, C1A9447, C1A9500 or C1AA800 is output	B
DTC other than C10001C, C10051C, C100A62, C1A7F49, C1A9346, C1A9447, C1A9500 and C1AA800 is output	C

B

GO TO DIAGNOSTIC TROUBLE CODE CHART (C10001C, C10051C, C100A62, C1A7F49, C1A9346, C1A9447, C1A9500 or C1AA800)

C

GO TO STEP 8

A

6.	CHECK Toyota Prius Vehicle CONTROL HISTORY (RoB)*

(a) Using the GTS, check for Vehicle Control History (RoB).

HINT:

Based on the customer interview results, narrow down the cause of the malfunction and check the related Vehicle Control History (RoB).

Chassis > Front Recognition Camera > Utility

Tester Display
Toyota Prius Vehicle Control History (RoB)

(b) Make a note of the output Vehicle Control History (RoB).

Result	Proceed to
Toyota Prius Vehicle Control History (RoB) is not output	A
Vehicle Control History (RoB) is output	B

B

GO TO Toyota Prius Vehicle CONTROL HISTORY (RoB)

A

7.	PROBLEM SYMPTOMS TABLE

(a) Refer to Problem Symptoms Table.

Click here

Result	Proceed to
Fault is not listed in Problem Symptoms Table	A
Fault is listed in Problem Symptoms Table	B

A

USE SIMULATION METHOD TO CHECK

B

GO TO PROBLEM SYMPTOMS TABLE

8.	RECONFIRM DTC OUTPUT*

(a) Using the GTS, clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

(b) Reproduce the Toyota Prius vehicle conditions that were present when the DTCs that were noted were stored.

HINT:

Refer to each corresponding DTC for details on the detection conditions.

Click here

(c) Using the GTS, check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
DTCs are not output	A
DTCs are output	B

A

GO TO STEP 6

B

GO TO DIAGNOSTIC TROUBLE CODE CHART

Operation Check

OPERATION CHECK

*a	Automatic High Beam Indicator Light on Combination Meter Assembly

AUTOMATIC HIGH BEAM OPERATION CHECK

(a) When all of the following conditions are met, the automatic high beam becomes standby mode and the automatic high beam indicator light will turn on:

HINT:

*: If it is confirmed that the inside of the windshield glass is dirty, remove the forward recognition camera and hood and clean the inside of the windshield glass using glass cleaner. (Even though the forward recognition camera is removed and installed when cleaning, it is not necessary to perform an axis alignment.)

Click here

(b) When all of the following conditions are met with the automatic high beam is in standby mode, the high beams automatically turn on after a short delay:

NOTICE:

The low beams may not change to high beams due to illumination from city lighting, signals or billboards, or due to reflective surfaces, such as signs or signboards.

(c) When the high beams turned on by the automatic high beam, the automatic high beam turns off the high beams and turns to low beams when any of the following conditions are met:

(d) When any of the following conditions are met, the automatic high beam will be canceled and the indicator light will turn off:

Customize Parameters

CUSTOMIZE PARAMETERS

CUSTOMIZE FRONT CAMERA SYSTEM

(a) Customizing with the GTS

(1) Select the setting by referring to the table below.

Front Recognition Camera

Tester Display	Description	Default	Setting	ECU
PCS Function ON/OFF State Stored	Refer to the table below	Not Stored	$00:Not Stored,$01:Stored	Forward recognition camera
PCS Warning Timing State Stored 1	Refer to the table below	Stored	$00:Not Stored,$01:Stored	Forward recognition camera
PCS Warning Timing State Stored 2	Refer to the table below	Stored	$00:Not Stored,$01:Stored	Forward recognition camera
PCS Collision Avoidance Assist Function	Function that enables or disables the PCS Collision Avoidance Assist Function*1	ON	$00:OFF,$01:ON	Forward recognition camera
PCS Reminder Buzzer Sound	Function that enables or disables the PCS Reminder Buzzer Sound*1	ON	$00:OFF,$01:ON	Forward recognition camera
PCS Right Turn/Left Turn Warning Function	Function that enables or disables the PCS Right Turn/Left Turn Warning Function*2	ON	$00:OFF,$01:ON	Forward recognition camera
PCS Right Turn/Left Turn Warning Buzzer Sound	Function that enables or disables the PCS Right Turn/Left Turn Warning Buzzer Sound*2	ON	$00:OFF,$01:ON	Forward recognition camera
Mild Braking in Plus Support Mode	Function that enables or disables the Mild Braking in Plus Support Mode*2	ON	$00:OFF,$01:ON	Forward recognition camera
PCS Drive Monitor Early Warning Function	Selects ON/OFF for the PCS alarm early-output function for driver monitor*2	ON	$00:OFF,$01:ON	Forward recognition camera
FCTA Both Side Display	Selects ON/OFF for the FCTA both sides display function*1	OFF	$00:OFF,$01:ON	Forward recognition camera
2 actioned Service Command	Ready status of the driving assistant system is selected with the ignition switch ON (IG) HINT: Invalid: Any of the driving assist system is ready with the ignition switch ON (IG) Valid: The driving assist system is not ready with the ignition switch ON (IG) (the driving assist system will be set to ready after the driving assist mode select switch is operated)	Invalid	$00:Invalid,$01:Valid	Forward recognition camera
ACC Auto Start Buzzer	Selects ON/OFF for the auto start buzzer*2	Valid	$00:Invalid,$01:Valid	Forward recognition camera
ACC Auto Start Front Gaze Resume Request Buzzer	Selects ON/OFF for the forward looking return request buzzer for automatic departure*2	Valid	$00:Invalid,$01:Valid	Forward recognition camera
AHB/AHS Performance Adjustment	Function that selects the AHB/AHS Performance Adjustment setting*3	Normal	$00:Normal,$01:Special Performance 1	Forward recognition camera

Measurement Item

Customize Setting	Description	Setting
PCS Function ON/OFF State Stored	Function to maintain the pre-collision system on/off setting when the ignition switch is turned to ON from off.	Not stored: Pre-collision system always turns on Stored: Pre-collision system maintains previous setting
PCS Warning Timing State Stored 1	Function to set whether or not to store the warning sensitivity setting when the PCS function is turned from off to on while the ignition switch is ON.	Not Stored: Sensitivity setting is reset to default Stored: Sensitivity settings are maintained as previous value
PCS Warning Timing State Stored 2	Function to set whether or not to store the warning sensitivity setting when the PCS function is on and the ignition switch is turned from off to ON.	Not Stored: Sensitivity setting is reset to default Stored: Sensitivity settings are maintained as previous value

Initialization

INITIALIZATION

STEERING SENSOR ZERO POINT CALIBRATION

(a) Start the hybrid control system.

(b) Drive the vehicle straight ahead at 35 km/h (22 mph) or more for 5 seconds or more.

(c) Turn the ignition switch off.

Utility

UTILITY

Recognition Camera/Target Position Memory

HINT:

Recognition Camera/Target Position Memory is used to enter required information into the forward recognition camera.

(a) Perform Recognition Camera/Target Position Memory according to the display on the GTS.

Chassis > Front Recognition Camera > Utility

Tester Display
Recognition Camera/Target Position Memory

HINT:

For forward recognition camera adjustment procedures.

Click here

HINT:

Recognition Camera Axis Adjust is used to calibrate the internal data of the forward recognition camera to enhance its recognition accuracy.

Recognition Camera Axis Adjust

(a) Perform Recognition Camera Axis Adjust according to the display on the GTS.

Chassis > Front Recognition Camera > Utility

Tester Display
Recognition Camera Axis Adjust

HINT:

For forward recognition camera adjustment procedures.

Click here

HINT:

Perform this procedure to save the beam axis alignment values stored in the millimeter wave radar sensor assembly to the forward recognition camera.

Camera Axis Adjustment Value Write

(a) Camera Axis Adjustment Value Write according to the display on the GTS.

Chassis > Front Recognition Camera > Utility

Tester Display
Camera Axis Adjustment Value Write

PCS Image Information Clear

HINT:

PCS Image Information Clear is used to clear the PCS Image Information data.

(a) Perform PCS Image Information Clear according to the display on the GTS.

Chassis > Front Recognition Camera > Utility

Tester Display
PCS Image Information Clear

PCS Image Record Setting

HINT:

PCS Image Record Setting is used to activate/deactivate the PCS image recording function.

(a) Perform PCS Image Record Setting according to the display on the GTS.

Chassis > Front Recognition Camera > Utility

Tester Display
PCS Image Record Setting

Initial Axis Adjust Value Display

HINT:

This utility is used to display the initial axis adjust value display stored in the forward recognition camera.

(a) Following the instructions on the GTS, perform "Initial Axis Adjust Value Display".

Chassis > Front Recognition Camera > Utility

Tester Display
Initial Axis Adjust Value Display

Front Recognition Camera Axis Misalignment Reading

HINT:

This utility is used to check the front recognition camera axis misalignment reading calculated by the forward recognition camera.

(a) Following the instructions on the GTS, perform "Front Recognition Camera Axis Misalignment Reading".

Chassis > Front Recognition Camera > Utility

Tester Display
Front Recognition Camera Axis Misalignment Reading

HINT:

This utility transitions to online axis alignment mode of the forward recognition camera.

Transition to Online Axis Alignment Mode

(a) Following the instructions on the GTS, perform "Transition to Online Axis Alignment Mode".

Chassis > Front Recognition Camera > Utility

Tester Display
Transition to Online Axis Alignment Mode

Navigation Installation Information Initialization

HINT:

This utility is used to initialize the navigation installation information stored in the front recognition camera.

(a) Following the instructions on the GTS, perform "Navigation Installation Information Initialization".

Chassis > Front Recognition Camera > Utility

Tester Display
Navigation Installation Information Initialization

Problem Symptoms Table

PROBLEM SYMPTOMS TABLE

Front Camera System

Symptom	Suspected Area	Link
Driving assist switch, RES switch, - switch, CANCEL switch cannot be operated	Steering pad switch circuit
	Hybrid Toyota Prius vehicle control ECU
Driving assist mode select switch cannot be operated	Steering pad switch circuit
Toyota Prius Vehicle-to-vehicle distance switch cannot be operated	Steering pad switch circuit
LTA switch cannot be operated	Steering pad switch circuit

Terminals Of Ecu

TERMINALS OF ECU

CHECK FORWARD RECOGNITION CAMERA

(a) Measure the voltage and resistance according to the value(s) in the table below.

Terminal No. (Symbol)	Terminal Description	Condition	Specified Condition
U10-1 (CA2L)	CAN communication signal	-	-
U10-2 (CA2P)	CAN communication signal	-	-
U10-3 (CA3L)	CAN communication signal	-	-
U10-4 (CA3H)	CAN communication signal	-	-
U10-5 (LKSW) - U10-13 (GND)	Driving assist mode select switch, LTA switch and Toyota Prius Vehicle-to-vehicle distance switch circuit	Driving assist mode select switch, LTA switch and Vehicle-to-vehicle distance switch OFF	10 kΩ or higher
		Driving assist mode select switch pushed	Below 2.5 Ω
		LTA switch pushed	114 to 126 Ω
		Toyota Prius Vehicle-to-vehicle distance switch pushed	485 to 536 Ω
U10-8 (HTR) - U10-7 (SGND)	Camera heater circuit	Ignition switch ON, heater operating	11 to 14 V
		Ignition switch ON, heater not operating	Below 1 V
U10-9 (CA1N)	CAN communication signal	-	-
U10-10 (CA1P)	CAN communication signal	-	-
U10-11 (CANL)	CAN communication signal	-	-
U10-12 (CANH)	CAN communication signal	-	-
U10-16 (IGB) - U10-13 (GND)	Power source (IG)	Ignition switch ON	11 to 14 V
		Ignition switch off	Below 1 V

CHECK HYBRID Toyota Prius Vehicle CONTROL ECU

(a) Measure the resistance according to the value(s) in the table below.

Terminal No. (Symbols)	Terminal Description	Condition	Specified Condition
K11-29(CCS) - K11-43(CCSG)	Driving assist switch, RES switch, - switch, CANCEL switch circuit	Driving assist switch, RES switch, - switch, CANCEL switch OFF	10 kΩ or higher
		Driving assist switch pushed	Below 2.5 Ω
		CANCEL switch pushed	228 to 252 Ω
		RES switch pushed	599 to 661 Ω
		- switch pushed	1463 to 1617 Ω

Freeze Frame Data

FREEZE FRAME DATA

DESCRIPTION

(a) When a front camera system DTC is stored, the forward recognition camera stores the current vehicle (ECU or sensor) state as Freeze Frame Data.

CHECK FREEZE FRAME DATA

(a) Select a DTC to display the freeze frame data.

Chassis > Front Recognition Camera > Trouble Codes

(b) Check the freeze frame data for the output DTC.

FREEZE FRAME DATA CHART

HINT:

Depending on the specifications of the Toyota Prius vehicle, etc., some items may not be displayed or may not be operable.

Chassis > Front Recognition Camera

Tester Display	Measurement Item	Range	Normal Condition	Diagnostic Note
Total Distance Traveled	-	-	-	Cannot be used
Total Distance Traveled - Unit	-	-	-	Cannot be used
Online Adjustment Progress Status	Online axis adjustment progress of forward recognition camera	0%, 10%, 20%, 40%, 60%, 80% or 100%	The online axis adjustment progress is displayed.	-
Online Adjustment Normal Completion Flag	Online axis adjustment status of forward recognition camera	Not Normal Complete or Normal Complete	The online axis adjustment status is displayed.	-
FOE Confirmation All Target Recognition Process Complete Flag	Axis alignment (One Time Recognition) status of forward recognition camera	Incomplete or Complete	The axis alignment (One Time Recognition) status is displayed.	-
Confirmation FOE Origin X	FOE coordinates X when forward recognition camera optical axis confirmation is being performed	0 to 2896 pix	-	-
Confirmation FOE Origin Y	FOE coordinates Y when forward recognition camera optical axis confirmation is being performed	0 to 1876 pix	-	-
Confirmation Roll Angle	Roll angle when forward recognition camera optical axis confirmation is being performed	-5 to 5 deg	-	-
FOE Origin X Gap	Difference between initial FOE coordinates X and FOE coordinates X when forward recognition camera optical axis confirmation is being performed	-5 to 5 deg	-	-
FOE Origin Y Gap	Difference between initial FOE coordinates Y and FOE coordinates Y when forward recognition camera optical axis confirmation is being performed	-5 to 5 deg	-	-
Roll Angle Gap	Difference between initial roll angle and roll angle when forward recognition camera optical axis confirmation is being performed	-5 to 5 deg	-	-
Field FOE Origin X gap	Difference between learned FOE coordinates X and FOE coordinates X when forward recognition camera optical axis confirmation is being performed	-5 to 5 deg	-	-
Field FOE Origin Y gap	Difference between learned FOE coordinates Y and FOE coordinates Y when forward recognition camera optical axis confirmation is being performed	-5 to 5 deg	-	-
Field Roll Angle Gap	Difference between learned roll angle and roll angle when forward recognition camera optical axis confirmation is being performed	-5 to 5 deg	-	-
IG Voltage	IG voltage value	0.00 to 21.31 V	11 to 14V	-
Camera Temperature	Temperature of forward recognition camera	-128 to 127°C (-262 to 261°F)	Temperature of forward recognition camera displayed	-
Buzzer (Line) Information	Whether or not a buzzer is installed to the forward recognition camera	Without Buzzer (Line) or With Buzzer (Line)	Without Buzzer (Line): Not installed With Buzzer (Line): Installed	-
Camera Low Temperature Flag Counter	Cumulative number of times forward recognition camera low temperature flag was set	0 to 255	Current number of times forward recognition camera low temperature flag was set	By clearing Toyota Prius vehicle control history (RoB), the count will be reset If the number is 255 or more, 255 is displayed.
Camera High Temperature1 Flag Counter	Cumulative number of times forward recognition camera high temperature flag 1 was set	0 to 255	Current number of times forward recognition camera high temperature flag 1 was set	By clearing Toyota Prius vehicle control history (RoB), the count will be reset If the number is 255 or more, 255 is displayed.
Camera Low Voltage Flag Counter	Cumulative number of times forward recognition camera was outside of the guaranteed operation voltage range (Toyota Prius vehicle control history (RoB) (low voltage))	0 to 255	Current number of times forward recognition camera was outside of the guaranteed operation voltage range (vehicle control history (RoB) (low voltage))	By clearing Toyota Prius vehicle control history (RoB), the count will be reset If the number is 255 or more, 255 is displayed.
Camera High Voltage Flag Counter	Cumulative number of times forward recognition camera was outside of the guaranteed operation voltage range (Toyota Prius vehicle control history (RoB) (high voltage))	0 to 255	Current number of times forward recognition camera was outside of the guaranteed operation voltage range (vehicle control history (RoB) (high voltage))	By clearing Toyota Prius vehicle control history (RoB), the count will be reset If the number is 255 or more, 255 is displayed.
Axis Misalignment Cumulative Count	Cumulative number of forward recognition camera axis misalignment	0 to 255	Displays the cumulative number of forward recognition camera beam axis misalignments.	If the number is 255 or more, 255 is displayed.
Front Recognition Camera Not Adjusted Flag	Status of forward recognition camera optical axis alignment	OFF or ON	OFF: Adjusted ON: Not adjusted	-
FOE Improper Flag	FOE error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Targets Distance Improper Flag	Target distance error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Targets Not Fixed Flag	Target fixing error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Numbers of Targets Improper Flag	Abnormal target number error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Relative Distance of Targets Improper Flag	Target setting position error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Target 1 Improper Flag	Target 1 error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Target 2 Improper Flag	Target 2 error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Target 3 Improper Flag	Target 3 error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Recognition Time Exceeded Flag	Excessive recognition time error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Not exceeded ON: Exceeded	-
Improper Roll Angle Flag	Roll angle error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Online Adjustment Toyota Prius Vehicle Speed Improper Flag	Excessive vehicle speed error when forward recognition camera driving axis alignment is being performed	OFF or ON	OFF: Not exceeded ON: Exceeded	-
Online Adjustment Camera Blockage Flag	Camera dirty state when forward recognition camera driving axis alignment is being performed	OFF or ON	OFF: Not dirty ON: Dirty	-
Online Adjustment Impossible Flag	Recognition invalid state when forward recognition camera driving axis alignment is being performed	OFF or ON	OFF: Recognition valid ON: Recognition invalid	-
Online Adjustment FOE Improper Flag	Outside of FOE range error when forward recognition camera driving axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Online Adjustment FOE Writing Incomplete Flag	FOE writing error when forward recognition camera driving axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Online Adjustment Bad Condition Flag	Bad environment state when forward recognition camera driving axis alignment is being performed	OFF or ON	OFF: Environment not bad ON: Environment bad	-
Camera Low Voltage Flag	Excessive low voltage status of forward recognition camera	OFF or ON	OFF: Low voltage not detected ON: Low voltage detected	If this item indicates "ON", the camera might be temporarily unavailable.
Camera High Voltage Flag	Excessive high voltage status of forward recognition camera	OFF or ON	OFF: High voltage not detected ON: High voltage detected	If this item indicates "ON", the camera might be temporarily unavailable.
Camera Low Temperature Flag	Excessive low temperature status of forward recognition camera	OFF or ON	OFF: Excessive low temperature not detected (approximately -30°C (-22°F) or more) ON: Excessive low temperature detected (approximately -30°C (-22°F) or less)	If this item indicates "ON", the camera might be temporarily unavailable. If this item indicates "ON", Toyota Prius vehicle control history (RoB) X2016 is stored. If this item indicates "ON", the camera will be temporarily unavailable. If the situation does not improve even after the vehicle is heated, it is possible that the forward recognition camera is malfunctioning.
Camera High Temperature 1 Flag	Excessive low temperature status of forward recognition camera	OFF or ON	OFF: Excessive high temperature not detected (approximately 80°C (176°F) or less) ON: Excessive high temperature detected (approximately 80°C (176°F) or more)	If this item indicates "ON", the camera might be temporarily unavailable. If this item indicates "ON", Toyota Prius vehicle control history (RoB) X2016 is stored. HINT: The temperature of the windshield glass may reach 100°C (212°F) or more in summer. If this item indicates "ON", the camera will be temporarily unavailable. If the situation does not improve even after the Toyota Prius vehicle is cooled and left as is for 10 minutes or more, it is possible that the forward recognition camera is malfunctioning.
Camera Optical Axis Misalignment Flag (X )	Forward recognition camera beam axis misalignment (horizontal/left direction)	OFF or ON	OFF: Camera not misaligned in X direction ON: Camera misaligned in X direction	-
Camera Optical Axis Misalignment Flag (X-)	Forward recognition camera beam axis misalignment (horizontal/right direction)	OFF or ON	OFF: Camera not misaligned in X- direction ON: Camera misaligned in X- direction	-
Camera Optical Axis Misalignment Flag (Y )	Forward recognition camera beam axis misalignment (vertical/down direction)	OFF or ON	OFF: Camera not misaligned in Y direction ON: Camera misaligned in Y direction	-
Camera Optical Axis Misalignment Flag (Y-)	Forward recognition camera beam axis misalignment (vertical/up direction)	OFF or ON	OFF: Camera not misaligned in Y- direction ON: Camera misaligned in Y- direction	-
Camera Roll Angle Misalignment Flag	Forward recognition camera beam axis misalignment (roll direction)	OFF or ON	OFF: Camera not misaligned in roll direction ON: Camera misaligned in roll direction	-
ECU Security Key Registered Incomplete Flag	Security key unregistered status of forward recognition camera ECU	OFF, ON or Not Fixed	Current security key registration status of ECU	-
Camera Low Visibility Flag	Low visibility of the forward recognition camera	No Low Visibility or Under Low Visibility	The current visibility is displayed	-
Blockage Condition Visibility Level	Blockage condition recognized by the forward recognition camera	Level0, Level1, Level2, Level3, Level4, Level5, Level6, Level7 or Level8	The blockage condition is displayed.	-
Fogged Condition Visibility Level	Fogged condition recognized by the forward recognition camera	Level0, Level1, Level2, Level3, Level4, Level5, Level6, Level7 or Level8	The fogged condition is displayed.	-
Bad Weather Condition Visibility Level	Bad weather condition recognized by the forward recognition camera	Level0, Level1, Level2, Level3, Level4, Level5, Level6, Level7 or Level8	The bad weather condition is displayed.	-
Heater Available Flag	Whether a hot-wire heater exists or not	Heater Absent or Heater Present	Heater Absent: w/o Heater Wire Heater Present: w/ Heater Wire	If this item is Heater Absent, a new forward recognition camera with an open in the heater wire circuit may be installed.
Heater Control Allow Flag	Whether heater wire control allowed or not	Not Allowed or Allowed	Not Allowed: Heater wire control not allowed Allowed: Heater wire control allowed	If this item is Not Allowed, following conditions are expected. Toyota Prius Vehicle control history (RoB) stored by forward recognition camera Air conditioning system is malfunctioning Communication malfunction between forward recognition camera and air conditioning amplifier assembly
Heater During Control Flag	Heater wire control status	Not Controlled or In Control	Not Controlled: Heater wire not operating In Control: Heater wire operating	This item becomes In Control when Heater Control Allow Flag is Allowed, ambient temperature is 10°C (50°F) or less and area front of forward recognition camera is fogged. (w/ heated windshield defroster: While heated windshield defroster is operating, this item remains Not Controlled)
IGP	IG status	IG-P OFF or IG-P ON	IG-P OFF: IG OFF IG-P ON: IG ON	-
IGP Flank	IG status	Out of IGP-ON -> OFF or IGP-ON -> OFF	IGP-ON -> OFF	-
PCS Installation Availability	Whether pre-collision system installed or not	Not Installed or Installed	Not Installed: PCS not installed Installed: PCS installed	-
FCTA Installation Availability	Whether front cross traffic alert installed or not	Not Installed or Installed	Not Installed: FCTA not installed Installed: FCTA installed	-
ACC Installation Availability	Whether dynamic radar cruise control installed or not	Not Installed or Installed	Not Installed: ACC not installed Installed: ACC installed	-
CCS Installation Availability	Whether cruise control installed or not	Not Installed or Installed	Not Installed: CCS not installed Installed: CCS installed	-
LDA Installation Availability	Whether lane departure alert installed or not	Not Installed or Installed	Not Installed: LDA not installed Installed: LDA installed	-
LTA Installation Availability	Whether lane trace assist installed or not	Not Installed or Installed	Not Installed: LTA not installed Installed: LTA installed	-
LCA Installation Availability	Whether lane change assist installed or not	Not Installed or Installed	Not Installed: LCA not installed Installed: LCA installed	-
AHB Installation Availability	Whether automatic high beam installed or not	Not Installed or Installed	Not Installed: AHB not installed Installed: AHB installed	-
RSA Installation Availability	Whether road sign assist installed or not	Not Installed or Installed	Not Installed: RSA not installed Installed: RSA installed	-
TMN Installation Availability	Whether TMN installed or not	Not Installed or Installed	Not Installed: TMN not installed Installed: TMN installed	-
PDA Installation Availability	Whether proactive driving assist installed or not	Not Installed or Installed	Not Installed: PDA not installed Installed: PDA installed	-
ISA Installation Availability	Whether speed limiter system installed or not	Not Installed or Installed	Not Installed: ISA not installed Installed: ISA installed	-
DESA Installation Availability	Whether emergency driving stop system installed or not	Not Installed or Installed	Not Installed: DESA not installed Installed: DESA installed	-
Estimate Toyota Prius Vehicle Acceleration	Estimated vehicle acceleration value	-32.768 to 32.767 m/s2	-	-
Estimated Toyota Prius Vehicle Acceleration Condition	Estimated vehicle acceleration condition	Not Fixed, Valid, Invalid or Error	-	-
Mediation Result Longitudinal ID Value	Mediation result longitudinal ID value	0 to 63	-	-
Steering Wheel Information	Steering wheel information	Unused, Left, Right or Default Value	Steering wheel installation location	-
2WD/4WD Information	Toyota Prius Vehicle drive information	2WD, 4WD or Default Value	The vehicle drive information is displayed	-
Powertrain Information	Powertrain information	Conventional, SS, HV, PHV, EV, 1MHV, FCV or Default Value	Conventional: Conventional Toyota Prius vehicle SS: w/ Stop and start vehicle HV: Hybrid vehicle PHV: PHV vehicle EV: EV vehicle 1MHV: 1MHV vehicle FCV: FCV vehicle Default Value: Vehicle information not confirmed	-
Transmission Information	Transmission information	MT, AT, CVT, MMT, SMT, AT for HV or Default Value	The transmission type is displayed	-
Estimated Speed Unit	Toyota Prius Vehicle speed unit	Unconfirmed, unit is kph or unit is mph	-	-
Estimated Driving Side	Driving side	Unconfirmed, Right-hand driving estimated or Left-hand driving estimated	-	-
RSA Equipped	Road sign assist function availability	Not Equipped or Equipped	Not Equipped: Road sign assist function not equipped Equipped: Road sign assist function equipped	-
Navigation Fusion Equipped	Road sign assist navigation fusion function availability	Not Equipped or Equipped	Not Equipped: Road sign assist navigation fusion function not equipped Equipped: Road sign assist navigation fusion function equipped	-
GNSS Location Information Validation	GNSS location information	Invalid or Valid	-	-
LDA Customize Condition Flag	Lane departure alert customize condition	OFF or ON	Customize setting displayed	-
LDA Control Condition	Lane departure alert control condition	LDA Enabled or LDA Disabled	LDA Enabled	-
LTA Switch Condition Flag	ON/OFF status of LTA switch	OFF or ON	ON/OFF status of LTA switch	-
LTA Control Condition	Lane tracing assist control condition	LTA Enabled or LTA Disabled	LTA Enabled	-
Hands-Off Customize Condition Flag	Advanced drive control condition	OFF or ON	Customize setting displayed	Cannot be used
Hands-Off Control Condition	Advanced drive control status	Hands-Off Enabled or Hands-Off Disabled	Customize setting displayed	Cannot be used
LCA Customize Condition Flag	Lane change assist customize condition	OFF or ON	Customize setting displayed	-
LCA Control Condition	Lane change assist control condition	LCA Enabled or LCA Disables	LCA Enabled	-
PCS Alarm Sensitivity Output Signal	Pre-collision system alarm sensitivity	Not Displayed, Fast, Standard or Slow	Customize setting displayed	-
PCS Switch OFF Condition Output Signal	Pre-collision system ON/OFF status	Function ON or Function OFF	Function ON: Pre-collision system ON Function OFF: Pre-collision system OFF	-
CTA Switch OFF Condition Output Signal	Front cross traffic alert ON/OFF status	Function ON or Function OFF	Function ON: Front cross traffic alert function ON Function OFF: Front cross traffic alert function OFF	-
PCS Availability Flag Output Signal	Pre-collision system availability	Enabled or Disabled	Enabled	-
PCS Right Turn/Left Turn Warning Switch OFF Status	PCS right turn/left turn warning function ON/OFF status	Function ON or Function OFF	Function ON: PCS right turn/left turn warning function ON Function OFF: PCS right turn/left turn warning function OFF	-
PCS PBA Invalid Flag	Pre-collision brake assist function status	OFF or ON	OFF: Pre-collision brake assist function valid ON: Pre-collision brake assist function invalid	-
PCS PCW Invalid Flag	PCS warning buzzer function status	OFF or ON	OFF: PCS warning buzzer function valid ON: PCS warning buzzer function invalid	-
PCS PB Invalid Flag	Pre-collision brake function status	OFF or ON	OFF: Pre-collision brake function valid ON: Pre-collision brake function invalid	-
PCS ESA Invalid Flag	Emergency steering assist function status	OFF or ON	OFF: Emergency steering assist function valid ON: Emergency steering assist function invalid	-
PCS AES Invalid Flag	Active steering assist function status	OFF or ON	OFF: Active steering assist function valid ON: Active steering assist function invalid	-
FCTA Invalid Flag	Front cross traffic alert function status	OFF or ON	OFF: Front cross traffic alert function valid ON: Front cross traffic alert function invalid	-
PCS PAS A Invalid Flag	Acceleration suppression at low speed (A control) invalid status	OFF or ON	OFF: Acceleration suppression at low speed (A control) function valid ON: Acceleration suppression at low speed (A control) function invalid	-
PCS PKSB Coordination Invalid Flag	PCS PKSB coordination function status	OFF or ON	OFF: PCS PKSB coordination function status valid ON: PCS PKSB coordination function status invalid	-
PCS Indicator Display Output Signal	Indicator status of the pre-collision system function	OFF, Lighting, Blinking (Slow) or Blinking (Fast)	-	-
CTA Alarm Sensitivity Output Signal	Front cross traffic alert function sensitivity status	Not Displayed, Fast, Standard or Slow	Customize setting displayed	-
PCS Alarm Sensitivity (For User1 Storing) Output	PCS warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	-
PCS Alarm Sensitivity (For User2 Storing) Output	PCS warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	-
PCS Alarm Sensitivity (For User3 Storing) Output	PCS warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	-
PCS Alarm Sensitivity (For Guest Storing) Output	PCS warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	-
CTA Alarm Sensitivity (For User1 Storing) Output	Front cross traffic warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	-
CTA Alarm Sensitivity (For User2 Storing) Output	Front cross traffic warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	-
CTA Alarm Sensitivity (For User3 Storing) Output	Front cross traffic warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	-
CTA Alarm Sensitivity (For Guest Storing) Output	Front cross traffic warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	-
PCS Alarm Sensitivity (For Plus Support) Output Signal	PCS warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	Cannot be used
CTA Alarm Sensitivity (For Plus Support) Output Signal	Front cross traffic warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	Cannot be used
Right Turn/Left Turn Warning Switch (Driver1)	Right turn/left turn warning function ON/OFF status	Function ON or Function OFF	Function ON: Right turn/left turn warning function ON Function OFF: Right turn/left turn warning function OFF	-
Right Turn/Left Turn Warning Switch (Driver2)	Right turn/left turn warning function ON/OFF status	Function ON or Function OFF	Function ON: Right turn/left turn warning function ON Function OFF: Right turn/left turn warning function OFF	-
Right Turn/Left Turn Warning Switch (Driver3)	Right turn/left turn warning function ON/OFF status	Function ON or Function OFF	Function ON: Right turn/left turn warning function ON Function OFF: Right turn/left turn warning function OFF	-
Right Turn/Left Turn Warning Switch (Guest)	Right turn/left turn warning function ON/OFF status	Function ON or Function OFF	Function ON: Right turn/left turn warning function ON Function OFF: Right turn/left turn warning function OFF	-
Right Turn/Left Turn Warning Switch (Plus Support)	Right turn/left turn warning function ON/OFF status	Function ON or Function OFF	Function ON: Right turn/left turn warning function ON Function OFF: Right turn/left turn warning function OFF	Cannot be used
Current Toyota Prius Vehicle Speed	Current vehicle speed	0 to 255 km/h (0 to 158 mph)	Current vehicle speed	-
Memory Toyota Prius Vehicle Speed	Cruise control set speed	0 to 255 km/h (0 to 158 mph)	Cruise control set speed	-
Control Mode	Cruise control mode status	Toyota Prius Vehicle-to-vehicle Distance Control (All Speed), Vehicle-to-vehicle Distance Control (Hi Speed) or Constant Speed Control	Vehicle-to-vehicle Distance Control (All Speed): Vehicle-to-vehicle distance control (all Speed) mode Vehicle-to-vehicle Distance Control (Hi Speed): Toyota Prius Vehicle-to-vehicle distance control (hi speed) mode Constant Speed Control: Constant speed control mode	-
Cruise Control Permission Flag	Cruise control permission status	Cruise Control Not Allowed or Cruise Control Allowed	Cruise Control Not Allowed: Cruise control not allowed Cruise Control Allowed: Cruise control allowed	-
Main Switch Recognition Flag	Cruise control main switch status	OFF or ON	OFF: Cruise control main switch OFF ON: Cruise control main switch ON	-
Set Cancel Switch Condition	Set cancel switch operation condition	No Operation or Operation Exists	No Operation: Set cancel switch not operated Operation Exists: Set cancel switch operated	-
Resume Switch Condition	RES switch operation condition	No Operation or Operation Exists	No Operation: RES switch not operated Operation Exists: RES switch operated	-
Up Switch	switch operation condition	No Operation or Operation Exists	No Operation: switch not operated Operation Exists: switch operated	-
Down Switch	- switch operation condition	No Operation or Operation Exists	No Operation: - switch not operated Operation Exists: - switch operated	-
Cancellation Switch Condition	CANCEL switch operation condition	No Operation or Operation Exists	No Operation: CANCEL switch not operated Operation Exists: CANCEL switch operated	-
ACC Not Available Icon Lighting Request Flag	Cruise control indicator status	OFF or ON	OFF: Off ON: On	-
Forward Toyota Prius Vehicle Lateral Position	Lateral position of the vehicle ahead	-40.96 to 40.92 m	-	When the vehicle is not detected, the maximum value is displayed.
Forward Toyota Prius Vehicle Distance	Distance to preceding vehicle	0.00 to 327.64 m	-	When the vehicle is not detected, the maximum value is displayed.
Forward Toyota Prius Vehicle Relative Speed	Relative speed against preceding vehicle	-51.200 to 51.75 m/s	-	When the vehicle is not detected, 0 is displayed.
Set Toyota Prius Vehicle Interval Time	Set distance to preceding vehicle for vehicle-to-vehicle distance control	Set Vehicle Interval Time4, Set Vehicle Interval Time3, Set Vehicle Interval Time2 or Set Vehicle Interval Time1	Set Toyota Prius Vehicle Interval Time4: Short Set Vehicle Interval Time3: Middle (short) Set Vehicle Interval Time2: Middle (long) Set Vehicle Interval Time1: Long	-
ACC Control in Operation Flag	Radar cruise control operation status	Cruise Control Not in Operation or Cruise Control in Operation	Cruise Control Not in Operation: Radar cruise control not operating Cruise Control in Operation: Radar cruise control operating	-
Acceleration Override	Acceleration pedal operation while cruise control	OFF or ON	OFF: Acceleration override OFF ON: Acceleration override ON	-
ACC Brake Control in Operation	Radar cruise control brake operation	ACC Brake Control in Operation or No ACC Brake Control Operation	ACC Brake Control in Operation: Brake operated No ACC Brake Control Operation: Brake not operated	-
Brake ON Flag	Brake operation status	OFF or ON	OFF: Brake operation OFF ON: Brake operation ON	-
PDA Sensitivity Condition	Proactive driving assist sensitivity	Not Fixed, Fast, Normal or Late	Customize setting displayed	-
PDA Function ON/OFF Condition	Proactive driving assist operation	OFF or ON	OFF: Proactive driving assist OFF ON: Proactive driving assist ON	-
PDA (OAA) Function ON/OFF State	Displays the status of the proactive driving assist (OAA) function	OFF or ON	OFF: Proactive driving assist (OAA) OFF ON: Proactive driving assist (OAA) ON	-
PDA (OAA) Installation Availability	Displays whether the Toyota Prius vehicle is equipped with the proactive driving assist (OAA) function	Not Equipped or Equipped	Not Equipped: Vehicle not equipped with function Equipped: Vehicle equipped with function	-
PDA Not Available Flag	Proactive driving assist availability	Available or Not Available	Available: Proactive driving assist function valid Not Available: Proactive driving assist function invalid	-
PDA (OAA) Not Available (Diagnosis) Flag	Proactive driving assist (OAA) availability	Available or Not Available	Available: Proactive driving assist (OAA) function valid Not Available: Proactive driving assist (OAA) function invalid	-
PDA (DA) ON/OFF Status	Displays the status of the proactive driving assist (DA) function	OFF or ON	OFF: Proactive driving assist (DA) OFF ON: Proactive driving assist (DA) ON	-
ISA Main Switch Recognition Flag Input Value	Mode switch input value	OFF or ON	OFF: Other than speed limiter selected ON: Speed limiter selected	-
Set Cancellation Switch for Output	Driving assist switch operation status	OFF or ON	OFF: Driving assist switch not operated ON: Driving assist switch operated	-
Cancellation Switch for Output	CANCEL switch operation status	OFF or ON	OFF: CANCEL switch not operated ON: CANCEL switch operated	-
Resume Switch for Output	RES switch operation status	OFF or ON	OFF: RES switch not operated ON: RES switch operated	-
Up Switch for Output	switch operation status	OFF or ON	OFF: switch not operated ON: switch operated	-
Down Switch for Output	- switch operation status	OFF or ON	OFF: - switch not operated ON: - switch operated	-
Kick Down Switch for Output	Kick down switch operation status	OFF or ON	OFF: Kick down switch not operated ON: Kick down switch operated	-
Clutch Switch for Output	Clutch switch operation status	OFF or ON	OFF: Clutch switch not operated ON: Clutch switch operated	-
ASL Main Switch Flag for Output	Speed limiter system ON/OFF status	OFF or ON	OFF: ASL main switch not operated ON: ASL main switch operated	-
ISA in Control Flag	Speed limiter system operation status	Not in Operation or In Operation	Not in Operation: Speed limiter system not operating In Operation: Speed limiter system operating	-
ISA Control Flag for Output	Speed limiter request status	OFF or ON	OFF: Speed limiter not requested ON: Speed limiter requested	-
ISA Limit Applied Flag	Speed limiter system ON/OFF status	OFF or ON	OFF: Speed limiter system OFF ON: Speed limiter system ON	-
ISA Requesting Vertical ID (Upper Limit)	Speed limiter system request status	No Request or Driver Operation	Speed limiter system request status	-
ISA Requesting Toyota Prius Vehicle Speed (Upper Limit)	Speed limiter system request vehicle speed	0 to 255 km/h (0 to 158 mph)	Speed limiter system request vehicle speed	-
ISA Request Acceleration (Upper Limit) (Variation No Limit)	Speed limiter system request acceleration	-32.768 to 32.767 m/s2	Speed limiter system request acceleration	-
ISA Braking Force and Driving Force Allocation Method Specification (Upper Limit)	Speed limiter system driving force allocation	Engine Only, Engine and Brake 1, Engine and Brake 2 or Brake Only	Speed limiter system driving force allocation	-
ISA Speed Change Priority Request (Upper Limit)	Speed limiter system shift control priority status	No Brake Coordination Down Shifting Request or Brake Coordination Down Shifting Request Exists	Speed limiter system shift control priority status	-
ISA Responsiveness Request (Upper Limit)	Speed limiter system feedback status	No FB, FB Control High Gain, FB Control Medium Gain or FB Control Low Gain	Speed limiter system feedback status	-
ISA Brake Hold Control Prohibited Flag (Upper Limit)	Speed limiter system brake hold prohibition status	Allowed or Not Allowed	Allowed: Speed limiter system brake hold control allowed Allowed: Speed limiter system brake hold control allowed	-
ISA Stop Control Permission Flag (Upper Limit)	Speed limiter release permission status	Not Allowed or Allowed	Not Allowed: Speed limiter release allowed Allowed: Speed limiter release not allowed	-
ISA Brake Usage Limit Permission Flag (Upper Limit)	Speed limiter system brake usage permission status	Not Allowed or Allowed	Not Allowed: Speed limiter system brake usage not allowed Allowed: Speed limiter system brake usage allowed	-
Driver Acceleration for Output	Acceleration value	-12.8 to 12.7 m/s2	Current value is displayed	-
Acceleration Limit for Output	Acceleration value	-12.8 to 12.7 m/s2	Current value is displayed	-
Acceleration for Output	Acceleration value	-12.8 to 12.7 m/s2	Current value is displayed	-
ISA Memory Limit Toyota Prius Vehicle Speed for Output	Set vehicle speed	0 to 255 km/h (0 to 158 mph)	Current value is displayed	-
ISA Current Toyota Prius Vehicle Speed for Output	ISA current vehicle speed	0 to 255 km/h (0 to 158 mph)	Current value is displayed	-
RSA Limit Toyota Prius Vehicle Speed for Output	RSA limit vehicle speed	0 to 255 km/h (0 to 158 mph)	Current value is displayed	-
Shift Position	Shift position	0 to 255	-	-
Fail-Safe Factor B1a	Cumulative number of speed limiter system fail-safe operation	0 to 255	If this item is counted, fail-safe operation may have been performed	-
Fail-Safe Factor B1b	Cumulative number of speed limiter system fail-safe operation	0 to 255	If this item is counted, fail-safe operation may have been performed	-
Fail-Safe Factor B2	Cumulative number of speed limiter system fail-safe operation	0 to 255	If this item is counted, fail-safe operation may have been performed	-
Fail-Safe Factor C1	Cumulative number of speed limiter system fail-safe operation	0 to 255	If this item is counted, fail-safe operation may have been performed	-
Fail-Safe Factor C2	Cumulative number of speed limiter system fail-safe operation	0 to 255	If this item is counted, fail-safe operation may have been performed	-
Fail-Safe Factor D1	Cumulative number of speed limiter system fail-safe operation	0 to 255	If this item is counted, fail-safe operation may have been performed	-
Alert Timing Setting Information	Alert timing setting information	Early Timing or Normal Timing or Late Timing	Customize setting displayed	Cannot be used
Forward Toyota Prius Vehicle Start Alert Switch	Forward vehicle start alert ON/OFF status	OFF or ON	Customize setting displayed	Cannot be used
TMN (Signal) ON/OFF	TMN (Signal) ON/OFF status	OFF or ON	Customize setting displayed	Cannot be used
PDA (SA) Customize Status	Proactive driving assist customize status	OFF or ON	Customize setting displayed	-
PDA (SA) Control Status	Proactive driving assist control status	Enabled or Disabled	Enabled	-
Export Used Toyota Prius Vehicle Mode	Export used vehicle mode status	OFF or ON	Customize setting displayed	-
FCTA Both Side Display	FCTA both side display function ON/OFF status	OFF or ON	OFF: FCTA both side display function OFF ON: FCTA both side display function ON	The settings can be changed using the customize function using GTS.
PCS Right Turn/Left Turn Warning Function	PCS right turn/left turn warning function ON/OFF status	OFF or ON	OFF: PCS right turn/left turn warning function OFF ON: PCS right turn/left turn warning function ON	Cannot be used
PCS Right Turn/Left Turn Warning Buzzer Sound	PCS right turn/left turn warning buzzer sound ON/OFF status	OFF or ON	OFF: PCS right turn/left turn warning buzzer sound OFF ON: PCS right turn/left turn warning buzzer sound ON	Cannot be used
Mild Braking in Plus Support Mode	Mild braking in plus support mode ON/OFF status	OFF or ON	OFF: Mild braking in plus support mode OFF ON: Mild braking in plus support mode ON	Cannot be used
PCS Drive Monitor Early Warning Function	PCS drive monitor early warning function ON/OFF status	OFF or ON	Customize setting displayed	Cannot be used
2 actioned Service Command	2 actioned Service function status	Invalid or Valid	Invalid: Any of the driving assist system is ready with the ignition switch ON Valid: The driving assist system is not ready with the ignition switch ON (the driving assist system will be set to ready after the driving assist mode select switch is operated)	The settings can be changed using the customize function using GTS.
AHB/AHS Performance Adjustment	Forward recognition camera sensitivity setting	Normal or Special Performance 1	Customize setting displayed	The settings can be changed using the customize function using GTS.

Fail-safe Chart

FAIL-SAFE CHART

FAIL-SAFE FUNCTION

(a) If the system is malfunctioning, the telltale warning message is displayed on the multi-information display and the system is suspended in accordance with the malfunction.

Telltale Status List

Indicator Status	Conditions
	The advanced driver assistance system is limited/disabled as a advanced driver assistance system related malfunction occurred
	The pre-collision system is limited/disabled as a pre-collision system related malfunction occurred
	The dynamic radar cruise control is limited/disabled as a dynamic radar cruise control related malfunction occurred
	The cruise control is limited/disabled as a cruise control related malfunction occurred
	The lane departure alert is limited/disabled as a lane departure alert related malfunction occurred
	The lane tracing assist is limited/disabled as a lane tracing assist related malfunction occurred
	The proactive driving assist is limited/disabled as a proactive driving assist related malfunction occurred

List of Indicator Lights

Indicator Status	Conditions
	Pre-collision system related malfunctions or outages
	Lane tracing assist related malfunction or function cancellation
	Lane departure alert related malfunction or function cancellation
	Lane change assist related malfunction or function cancellation*1
	Dynamic radar cruise control related malfunction or function cancellation
	Cruise control related malfunction or function cancellation
	Automatic high beam related malfunction or function cancellation
	Road sign assist related malfunction or function cancellation*2
	Proactive driving assist related malfunction or function cancellation

Warning Message	Cause	DTC/RoB No.	Conditions to Return to Normal
"System Malfunction Visit Your Dealer"	Yaw Rate Sensor Malfunction	X2000	After the malfunction is resolved, turn on the ignition switch again
	Steering Angle Sensor Malfunction	X2001
	Speed Sensor Malfunction	X2004
	Front Recognition Camera Optical Axis Not Adjusted	X2014
	Front Radar Sensor Destination Malfunction	X2020
	Front Radar Sensor Malfunction	X2021
	Front Radar Sensor Optical Axis Misalignment Malfunction	X2022
	Front Radar Sensor Optical Axis Not Adjusted	X2023
	Front Side Radar Sensor Malfunction	X2030
	Front Side Radar Sensor Optical Axis Not Adjusted	X2036
	Rear Side Radar Sensor Malfunction	X2038
	Rear Side Radar Sensor Optical Axis Not Adjusted	X203B
	Acceleration Sensor Malfunction	X204A
	Meter Speed Tolerance Malfunction	X2084
	Electric Parking Brake Control Module Malfunction	X2085
	Communication Error from Steering Switch Control Module to Instrument Panel Cluster Control Module	X20B9
	Front Recognition Camera => BRK Communication Invalid	X216E
	Front Recognition Camera => FRD Communication Error	X216F
	BH System Malfunction	X21BA
	Lateral Control System Malfunction	X2400
	Automatic Brake Malfunction (Main)	X2401
	Powertrain System Malfunction	X2402
	Automatic Brake Malfunction (Sub)	X2403
	Driver Brake Malfunction	X2404
	Parking Brake Malfunction	X2405
	Brake Hold Malfunction	X2406
	CXPI Communication Error (CMB)	X2501
	ABS Not Operating Condition	X2904
	ECU Security Key Not Registered	XF01B

Warning Message	Cause	DTC/RoB No.	Conditions to Return to Normal
"System Malfunction Visit Your Dealer"	Camera "A" Heater Control Circuit Short to Ground	C00CA11	After the malfunction is resolved, turn on the ignition switch again
	Camera "A" Heater Control Circuit Short to Battery or Open	C00CA15
	Control Module Internal Temperature Sensor "A" Circuit Circuit Voltage Out of Range	C10001C
	Control Module Internal Temperature Sensor "B" Circuit Circuit Voltage Out of Range	C10051C
	Control Module Internal Temperature Sensor A/B Correlation Signal Compare Failure	C100A62
	Stop Lamp Relay Actuator Stuck	C138071
	Steering Touch Sensor Component Internal Failure	C1A7796
	Front Recognition Camera ADC Internal Electronic Failure	C1A7F49
	Main Microcomputer in Front Recognition Camera Calibration / Parameter Memory Failure	C1A9346
	Image Processing Microcomputer in Front Recognition Camera Watchdog / Safety MCU Failure	C1A9447
	Image Processing Module Malfunction in Front Recognition Camera	C1A9500
	Front Recognition Camera Optical Axis Misalignment Malfunction	C1AA800
	Hybrid/EV Powertrain Control Module "A" Unexpected Operation	P0A1D94

Warning Message	Cause	DTC/RoB No.	Conditions to Return to Normal
"System Malfunction Visit Your Dealer"	Lost Communication with ECM/PCM "A" Missing Message	U010087	After the malfunction is resolved, turn on the ignition switch again
	Lost Communication with TCM Missing Message	U010187
	Lost Communication with Gear Shift Control Module "A" Missing Message	U010387
	Lost Communication with Steering Angle Sensor Module Missing Message	U012687
	Lost Communication with Brake System Control Module "A" Missing Message	U012987
	Lost Communication with Power Steering Control Module "A" Missing Message	U013187
	Lost Communication with Body Control Module Missing Message	U014087
	Lost Communication with Instrument Panel Cluster (IPC) Control Module Missing Message	U015587
	Lost Communication with Navigation Control Module Missing Message	U016387
	Lost Communication with Telematic Control Module "A" Missing Message	U019887
	Lost Communication with Side Obstacle Detection Control Module "A" Missing Message	U023287
	Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message	U023587
	Lost Communication with Hybrid/EV Powertrain Control Module Missing Message	U029387
	Internal Control Module Software Incompatibility Not Programmed	U030051
	Internal Control Module Software Incompatibility Invalid / Incompatible Software Component	U030057
	Software Incompatibility with ECM/PCM Invalid/Incompatible Software Component	U030157
	Software Incompatibility with Power Steering Control Module Invalid / Incompatible Software Component	U032057
	Software Incompatibility With Body Control Module Not Programmed	U032251
	Software Incompatibility With Body Control Module Invalid / Incompatible Software Component	U032257
	Lost Communication with Electric Parking Brake Module Missing Message	U110687
	Lost Communication with Intuitive Parking Assist Module Missing Message	U111087
	Lost Communication with Combination Switch Control Module Missing Message	U111287
	Lost Communication with Cruise Control Front Distance Range Sensor Front Side "B" Missing Message	U123687
	Software Incompatibility with Clearance Warning Control Module Invalid / Incompatible Software Component	U130957
	Instrument Panel Cluster (IPC) Control Module Invalid / Incompatible Software Component	U130D57
	Software Incompatibility with Navigation Control Module Invalid / Incompatible Software Component	U131457

Warning Message	Cause	DTC/RoB No.	Conditions to Return to Normal
"System Stopped See Owner's Manual"	Brake Control System Malfunction	X2003	After the malfunction is resolved, turn on the ignition switch again
	Front Recognition Camera Outside Guaranteed Operating Voltage	X2017
	Front Radar Sensor Outside Guaranteed Operating Voltage	X2028
	Front Side Radar Sensor Optical Axis Misalignment Malfunction	X2031
	Front Side Radar Sensor Temporary Unavailable	X2035
	Rear Side Radar Sensor Optical Axis Misalignment Malfunction	X2039
	Rear Side Radar Sensor Temporary Unavailable	X203A
	Power Steering Control System for Steering Assist Steering Angle Malfunction	X2082
	Navigation Function Invalid	X2083
	Communication Error by ECU Security Key Not Registered (Hybrid/EV Powertrain Control Module)	X2162
	Communication Error by ECU Security Key Not Registered (TCM)	X2163
	Communication Error by ECU Security Key Not Registered (MET)	X2164
	Communication Error by ECU Security Key Not Registered (Power Steering Control Module "A")	X2166
	Communication Error by ECU Security Key Not Registered (VSC)	X2167
	IG OFF Status	X21A0
	PDA (DA) Brake Control Invalid Condition	X2351
"System Stopped Front Camera Low Visibility See Owner's Manual"	Front Recognition Camera Dirt	X2015	Causes of poor visibility, such as dirt or fog on the forward recognition camera, are eliminated
	Front Lighting Control System Inoperative Condition by Front Recognition Camera Adverse Environment	X204E
"System Stopped Front Camera Out of Temperature Range Wait until Normal Temperature"	Front Recognition Camera Outside Guaranteed Operating Temperature	X2016	When the temperature returns to within the operating range
	Front Lighting Control System Inoperative Condition by Front Recognition Camera High Temperature	X204D
"System Stopped Front Radar Sensor Blocked Clean Radar Sensor"	Front Radar Sensor Dirt	X2026	When removing dirt from the millimeter wave radar sensor assembly
"System Stopped Front Radar In Self Calibration See Owner's Manual"	Front Radar Sensor Temporary Unavailable (Horizontal Direction Optical Axis Misalignment)	X2025	When millimeter wave radar sensor assembly axis learning is completed
	Front Radar Sensor Temporary Unavailable (Optical Axis Misalignment)	X2029
"System Stopped Front Radar Sensor Out of Temperature Range Wait until Normal Temperature"	Front Radar Sensor Outside Guaranteed Operating Temperature	X2027	When the temperature returns to within the operating range

Data List / Active Test

DATA LIST / ACTIVE TEST

DATA LIST

NOTICE:

In the table below, the values listed under "Normal Condition" are reference values. Do not depend solely on these reference values when deciding whether a part is faulty or not.

HINT:

Using the GTS to read the Data List allows the values or states of switches, sensors, actuators and other items to be read without removing any parts. This non-intrusive inspection can be very useful because intermittent conditions or signals may be discovered before parts or wiring is disturbed. Reading the Data List information early in troubleshooting is one way to save diagnostic time.

(a) Read the Data List according to the display on the GTS.

HINT:

Depending on the specifications of the Toyota Prius vehicle, etc., some items may not be displayed or may not be operable.

Chassis > Front Recognition Camera > Data List

Tester Display	Measurement Item	Range	Normal Condition	Diagnostic Note
Total Distance Traveled	-	-	-	Cannot be used
Total Distance Traveled - Unit	-	-	-	Cannot be used
Online Adjustment Progress Status	Online axis adjustment progress of forward recognition camera	0%, 10%, 20%, 40%, 60%, 80% or 100%	The online axis adjustment progress is displayed.	-
Online Adjustment Normal Completion Flag	Online axis adjustment status of forward recognition camera	Not Normal Complete or Normal Complete	The online axis adjustment status is displayed.	-
FOE Confirmation All Target Recognition Process Complete Flag	Axis alignment (One Time Recognition) status of forward recognition camera	Incomplete or Complete	The axis alignment (One Time Recognition) status is displayed.	-
Confirmation FOE Origin X	FOE coordinates X when forward recognition camera optical axis confirmation is being performed	0 to 2896 pix	-	-
Confirmation FOE Origin Y	FOE coordinates Y when forward recognition camera optical axis confirmation is being performed	0 to 1876 pix	-	-
Confirmation Roll Angle	Roll angle when forward recognition camera optical axis confirmation is being performed	-5 to 5 deg	-	-
FOE Origin X Gap	Difference between initial FOE coordinates X and FOE coordinates X when forward recognition camera optical axis confirmation is being performed	-5 to 5 deg	-	-
FOE Origin Y Gap	Difference between initial FOE coordinates Y and FOE coordinates Y when forward recognition camera optical axis confirmation is being performed	-5 to 5 deg	-	-
Roll Angle Gap	Difference between initial roll angle and roll angle when forward recognition camera optical axis confirmation is being performed	-5 to 5 deg	-	-
Field FOE Origin X gap	Difference between learned FOE coordinates X and FOE coordinates X when forward recognition camera optical axis confirmation is being performed	-5 to 5 deg	-	-
Field FOE Origin Y gap	Difference between learned FOE coordinates Y and FOE coordinates Y when forward recognition camera optical axis confirmation is being performed	-5 to 5 deg	-	-
Field Roll Angle Gap	Difference between learned roll angle and roll angle when forward recognition camera optical axis confirmation is being performed	-5 to 5 deg	-	-
IG Voltage	IG voltage value	0.00 to 21.31 V	11 to 14V	-
Camera Temperature	Temperature of forward recognition camera	-128 to 127°C (-262 to 261°F)	Temperature of forward recognition camera displayed	-
Buzzer (Line) Information	Whether or not a buzzer is installed to the forward recognition camera	Without Buzzer (Line) or With Buzzer (Line)	Without Buzzer (Line): Not installed With Buzzer (Line): Installed	-
Camera Low Temperature Flag Counter	Cumulative number of times forward recognition camera low temperature flag was set	0 to 255	Current number of times forward recognition camera low temperature flag was set	By clearing Toyota Prius vehicle control history (RoB), the count will be reset If the number is 255 or more, 255 is displayed.
Camera High Temperature1 Flag Counter	Cumulative number of times forward recognition camera high temperature flag 1 was set	0 to 255	Current number of times forward recognition camera high temperature flag 1 was set	By clearing Toyota Prius vehicle control history (RoB), the count will be reset If the number is 255 or more, 255 is displayed.
Camera Low Voltage Flag Counter	Cumulative number of times forward recognition camera was outside of the guaranteed operation voltage range (Toyota Prius vehicle control history (RoB) (low voltage))	0 to 255	Current number of times forward recognition camera was outside of the guaranteed operation voltage range (vehicle control history (RoB) (low voltage))	By clearing Toyota Prius vehicle control history (RoB), the count will be reset If the number is 255 or more, 255 is displayed.
Camera High Voltage Flag Counter	Cumulative number of times forward recognition camera was outside of the guaranteed operation voltage range (Toyota Prius vehicle control history (RoB) (high voltage))	0 to 255	Current number of times forward recognition camera was outside of the guaranteed operation voltage range (vehicle control history (RoB) (high voltage))	By clearing Toyota Prius vehicle control history (RoB), the count will be reset If the number is 255 or more, 255 is displayed.
Online Adjustment Easiness	Ease of adjusting driving axis alignment	0 to 100	-	-
Axis Misalignment Cumulative Count	Cumulative number of forward recognition camera axis misalignment	0 to 255	Displays the cumulative number of forward recognition camera beam axis misalignments.	If the number is 255 or more, 255 is displayed.
Front Recognition Camera Not Adjusted Flag	Status of forward recognition camera optical axis alignment	OFF or ON	OFF: Adjusted ON: Not adjusted	-
FOE Improper Flag	FOE error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Targets Distance Improper Flag	Target distance error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Targets Not Fixed Flag	Target fixing error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Numbers of Targets Improper Flag	Abnormal target number error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Relative Distance of Targets Improper Flag	Target setting position error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Target 1 Improper Flag	Target 1 error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Target 2 Improper Flag	Target 2 error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Target 3 Improper Flag	Target 3 error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Recognition Time Exceeded Flag	Excessive recognition time error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Not exceeded ON: Exceeded	-
Improper Roll Angle Flag	Roll angle error when forward recognition camera optical axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Online Adjustment Toyota Prius Vehicle Speed Improper Flag	Excessive vehicle speed error when forward recognition camera driving axis alignment is being performed	OFF or ON	OFF: Not exceeded ON: Exceeded	-
Online Adjustment Camera Blockage Flag	Camera dirty state when forward recognition camera driving axis alignment is being performed	OFF or ON	OFF: Not dirty ON: Dirty	-
Online Adjustment Impossible Flag	Recognition invalid state when forward recognition camera driving axis alignment is being performed	OFF or ON	OFF: Recognition valid ON: Recognition invalid	-
Online Adjustment FOE Improper Flag	Outside of FOE range error when forward recognition camera driving axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Online Adjustment FOE Writing Incomplete Flag	FOE writing error when forward recognition camera driving axis alignment is being performed	OFF or ON	OFF: Normal ON: Abnormal	-
Online Adjustment Bad Condition Flag	Bad environment state when forward recognition camera driving axis alignment is being performed	OFF or ON	OFF: Environment not bad ON: Environment bad	-
Camera Low Voltage Flag	Excessive low voltage status of forward recognition camera	OFF or ON	OFF: Low voltage not detected ON: Low voltage detected	If this item indicates "ON", the camera might be temporarily unavailable.
Camera High Voltage Flag	Excessive high voltage status of forward recognition camera	OFF or ON	OFF: High voltage not detected ON: High voltage detected	If this item indicates "ON", the camera might be temporarily unavailable.
Camera Low Temperature Flag	Excessive low temperature status of forward recognition camera	OFF or ON	OFF: Excessive low temperature not detected (approximately -30°C (-22°F) or more) ON: Excessive low temperature detected (approximately -30°C (-22°F) or less)	If this item indicates "ON", the camera might be temporarily unavailable. If this item indicates "ON", Toyota Prius vehicle control history (RoB) X2016 is stored. If this item indicates "ON", the camera will be temporarily unavailable. If the situation does not improve even after the vehicle is heated, it is possible that the forward recognition camera is malfunctioning.
Camera High Temperature 1 Flag	Excessive low temperature status of forward recognition camera	OFF or ON	OFF: Excessive high temperature not detected (approximately 80°C (176°F) or less) ON: Excessive high temperature detected (approximately 80°C (176°F) or more)	If this item indicates "ON", the camera might be temporarily unavailable. If this item indicates "ON", Toyota Prius vehicle control history (RoB) X2016 is stored. HINT: The temperature of the windshield glass may reach 100°C (212°F) or more in summer. If this item indicates "ON", the camera will be temporarily unavailable. If the situation does not improve even after the Toyota Prius vehicle is cooled and left as is for 10 minutes or more, it is possible that the forward recognition camera is malfunctioning.
ECU Security Key Registered Incomplete Flag	Security key unregistered status of forward recognition camera ECU	OFF, ON or Not Fixed	Current security key registration status of ECU	-
Camera Low Visibility Flag	Low visibility of the forward recognition camera	No Low Visibility or Under Low Visibility	The current visibility is displayed	-
Blockage Condition Visibility Level	Blockage condition recognized by the forward recognition camera	Level0, Level1, Level2, Level3, Level4, Level5, Level6, Level7 or Level8	The blockage condition is displayed.	-
Fogged Condition Visibility Level	Fogged condition recognized by the forward recognition camera	Level0, Level1, Level2, Level3, Level4, Level5, Level6, Level7 or Level8	The fogged condition is displayed.	-
Bad Weather Condition Visibility Level	Bad weather condition recognized by the forward recognition camera	Level0, Level1, Level2, Level3, Level4, Level5, Level6, Level7 or Level8	The bad weather condition is displayed.	-
Heater Available Flag	Whether a hot-wire heater exists or not	Heater Absent or Heater Present	Heater Absent: w/o Heater Wire Heater Present: w/ Heater Wire	If this item is Heater Absent, a new forward recognition camera with an open in the heater wire circuit may be installed.
Heater Control Allow Flag	Whether heater wire control allowed or not	Not Allowed or Allowed	Not Allowed: Heater wire control not allowed Allowed: Heater wire control allowed	If this item is Not Allowed, following conditions are expected. Toyota Prius Vehicle control history (RoB) stored by forward recognition camera Air conditioning system is malfunctioning Communication malfunction between forward recognition camera and air conditioning amplifier assembly
Heater During Control Flag	Heater wire control status	Not Controlled or In Control	Not Controlled: Heater wire not operating In Control: Heater wire operating	This item becomes In Control when Heater Control Allow Flag is Allowed, ambient temperature is 10°C (50°F) or less and area front of forward recognition camera is fogged. (w/ heated windshield defroster: While heated windshield defroster is operating, this item remains Not Controlled)
IGP	IG status	IG-P OFF or IG-P ON	IG-P OFF: IG OFF IG-P ON: IG ON	-
IGP Flank	IG status	Out of IGP-ON -> OFF or IGP-ON -> OFF	IGP-ON -> OFF	-
PCS Installation Availability	Whether pre-collision system installed or not	Not Installed or Installed	Not Installed: PCS not installed Installed: PCS installed	-
FCTA Installation Availability	Whether front cross traffic alert installed or not	Not Installed or Installed	Not Installed: FCTA not installed Installed: FCTA installed	-
ACC Installation Availability	Whether dynamic radar cruise control installed or not	Not Installed or Installed	Not Installed: ACC not installed Installed: ACC installed	-
CCS Installation Availability	Whether cruise control installed or not	Not Installed or Installed	Not Installed: CCS not installed Installed: CCS installed	-
LDA Installation Availability	Whether lane departure alert installed or not	Not Installed or Installed	Not Installed: LDA not installed Installed: LDA installed	-
LTA Installation Availability	Whether lane trace assist installed or not	Not Installed or Installed	Not Installed: LTA not installed Installed: LTA installed	-
LCA Installation Availability	Whether lane change assist installed or not	Not Installed or Installed	Not Installed: LCA not installed Installed: LCA installed	-
AHB Installation Availability	Whether automatic high beam installed or not	Not Installed or Installed	Not Installed: AHB not installed Installed: AHB installed	-
RSA Installation Availability	Whether road sign assist installed or not	Not Installed or Installed	Not Installed: RSA not installed Installed: RSA installed	-
TMN Installation Availability	Whether TMN installed or not	Not Installed or Installed	Not Installed: TMN not installed Installed: TMN installed	-
PDA Installation Availability	Whether proactive driving assist installed or not	Not Installed or Installed	Not Installed: PDA not installed Installed: PDA installed	-
ISA Installation Availability	Whether speed limiter system installed or not	Not Installed or Installed	Not Installed: ISA not installed Installed: ISA installed	-
DESA Installation Availability	Whether emergency driving stop system installed or not	Not Installed or Installed	Not Installed: DESA not installed Installed: DESA installed	-
ARS Equipped	Whether dynamic rear steering system installed or not	Not Equipped or Equipped	Not Equipped: Without system Equipped: System installed	-
ACN Equipped	Whether air conditioning system installed or not	Not Equipped or Equipped	Not Equipped: Without system Equipped: System installed	-
CSR Equipped	Whether intuitive parking assist system installed or not	Not Equipped or Equipped	Not Equipped: Without system Equipped: System installed	-
MAV Equipped	Whether MAV installed or not	Not Equipped or Equipped	Not Equipped: Without system Equipped: System installed	-
DCM Equipped	Whether telematics system installed or not	Not Equipped or Equipped	Not Equipped: Without system Equipped: System installed	-
SBW Equipped	Whether SBW installed or not	Not Equipped or Equipped	Not Equipped: Without system Equipped: System installed	-
EPS Equipped	Whether a power steering system is installed or not	Not Equipped or Equipped	Not Equipped: Without system Equipped: System installed	-
ITS Equipped	Whether the ITS connect is installed or not	Not Equipped or Equipped	Not Equipped: Without system Equipped: System installed	-
EPB Equipped	Whether the electric parking brake system is installed or not	Not Equipped or Equipped	Not Equipped: Without system Equipped: System installed	-
TBC Equipped	Whether the trailer brake control system is installed or not	Not Equipped or Equipped	Not Equipped: Without system Equipped: System installed	-
Front Side Radar Equipped	Whether the front side radar sensor is installed or not	Not Equipped or Equipped	Not Equipped: Not equipped Equipped: Equipped	-
Rear Side Radar GLOBAL Equipped	Whether the blind spot monitor sensor is installed or not	Not Equipped or Equipped	Not Equipped: Not equipped Equipped: Equipped	-
Rear Side Radar LOCAL Equipped	Whether the blind spot monitor sensor is installed or not	Not Equipped or Equipped	Not Equipped: Not equipped Equipped: Equipped	-
Drive Monitor Equipped	Whether the driver monitor ECU assembly is installed or not	Not Equipped or Equipped	Not Equipped: Not equipped Equipped: Equipped	-
FWM Equipped	Whether FWM installed or not	Not Equipped or Equipped	Not Equipped: Not equipped Equipped: Equipped	-
IFU Equipped	Whether IFU installed or not	Not Equipped or Equipped	Not Equipped: Not equipped Equipped: Equipped	-
Toyota Prius Vehicle Speed (SP1)	Vehicle speed	-	-	-
Estimate Vehicle Acceleration	Estimated Toyota Prius vehicle acceleration value	-32.768 to 32.767 m/s2	-	-
Estimated Vehicle Acceleration Condition	Estimated Toyota Prius vehicle acceleration condition	Not Fixed, Valid, Invalid or Error	-	-
Mediation Result Longitudinal ID Value	Mediation result longitudinal ID value	0 to 63	-	-
Steering Wheel Information	Steering wheel information	Unused, Left, Right or Default Value	Steering wheel installation location	-
2WD/4WD Information	Toyota Prius Vehicle drive information	2WD, 4WD or Default Value	The vehicle drive information is displayed	-
Powertrain Information	Powertrain information	Conventional, SS, HV, PHV, EV, 1MHV, FCV or Default Value	Conventional: Conventional Toyota Prius vehicle SS: w/ Stop and start vehicle HV: Hybrid vehicle PHV: PHV vehicle EV: EV vehicle 1MHV: 1MHV vehicle FCV: FCV vehicle Default Value: Vehicle information not confirmed	-
Transmission Information	Transmission information	MT, AT, CVT, MMT, SMT, AT for HV or Default Value	The transmission type is displayed	-
Body Shape Information	Displays the body type information	L1 or L2	The body type is displayed	-
EHW (Left) Drive Instruction	The EHW (Left) drive status displayed.	EHW Relay OFF or EHW Relay On	EHW Relay OFF: Relay OFF Condition EHW Relay On: Relay ON Condition	-
AHB/AHS Information	Forward recognition camera function	AHB or AHS	Customize setting displayed	-
AHB Control ON Information	Automatic high beam control information	OFF or ON	Customize setting displayed	-
AHB/AHS City Area Constant	Sensitivity pattern of AHB/AHS	Pattern1, Pattern2 or Pattern3	Current sensitivity pattern	-
Estimated Speed Unit	Toyota Prius Vehicle speed unit	Unconfirmed, unit is kph or unit is mph	-	-
Estimated Driving Side	Driving side	Unconfirmed, Right-hand driving estimated or Left-hand driving estimated	-	-
RSA Equipped	Road sign assist function availability	Not Equipped or Equipped	Not Equipped: Road sign assist function not equipped Equipped: Road sign assist function equipped	-
Navigation Fusion Equipped	Road sign assist navigation fusion function availability	Not Equipped or Equipped	Not Equipped: Road sign assist navigation fusion function not equipped Equipped: Road sign assist navigation fusion function equipped	-
GNSS Location Information Validation	GNSS location information	Invalid or Valid	-	-
LDA Customize Condition Flag	Lane departure alert customize condition	OFF or ON	Customize setting displayed	-
LDA Control Condition	Lane departure alert control condition	LDA Enabled or LDA Disabled	LDA Enabled	-
LTA Switch Condition Flag	ON/OFF status of LTA switch	OFF or ON	ON/OFF status of LTA switch	-
LTA Control Condition	Lane tracing assist control condition	LTA Enabled or LTA Disabled	LTA Enabled	-
Hands-Off Customize Condition Flag	Advanced drive control condition	OFF or ON	Customize setting displayed	Cannot be used
Hands-Off Control Condition	Advanced drive control status	Hands-Off Enabled or Hands-Off Disabled	Customize setting displayed	Cannot be used
LCA Customize Condition Flag	Lane change assist customize condition	OFF or ON	Customize setting displayed	-
LCA Control Condition	Lane change assist control condition	LCA Enabled or LCA Disables	LCA Enabled	-
PCS Alarm Sensitivity Output Signal	Pre-collision system alarm sensitivity	Not Displayed, Fast, Standard or Slow	Customize setting displayed	-
PCS Switch OFF Condition Output Signal	Pre-collision system ON/OFF status	Function ON or Function OFF	Function ON: Pre-collision system ON Function OFF: Pre-collision system OFF	-
CTA Switch OFF Condition Output Signal	Front cross traffic alert ON/OFF status	Function ON or Function OFF	Function ON: Front cross traffic alert function ON Function OFF: Front cross traffic alert function OFF	-
PCS Availability Flag Output Signal	Pre-collision system availability	Enabled or Disabled	Enabled	-
PCS Right Turn/Left Turn Warning Switch OFF Status	PCS right turn/left turn warning function ON/OFF status	Function ON or Function OFF	Function ON: PCS right turn/left turn warning function ON Function OFF: PCS right turn/left turn warning function OFF	-
PCS PBA Invalid Flag	Pre-collision brake assist function status	OFF or ON	OFF: Pre-collision brake assist function valid ON: Pre-collision brake assist function invalid	-
PCS PCW Invalid Flag	PCS warning buzzer function status	OFF or ON	OFF: PCS warning buzzer function valid ON: PCS warning buzzer function invalid	-
PCS PB Invalid Flag	Pre-collision brake function status	OFF or ON	OFF: Pre-collision brake function valid ON: Pre-collision brake function invalid	-
PCS ESA Invalid Flag	Emergency steering assist function status	OFF or ON	OFF: Emergency steering assist function valid ON: Emergency steering assist function invalid	-
PCS AES Invalid Flag	Active steering assist function status	OFF or ON	OFF: Active steering assist function valid ON: Active steering assist function invalid	-
FCTA Invalid Flag	Front cross traffic alert function status	OFF or ON	OFF: Front cross traffic alert function valid ON: Front cross traffic alert function invalid	-
PCS PAS A Invalid Flag	Acceleration suppression at low speed (A control) invalid status	OFF or ON	OFF: Acceleration suppression at low speed (A control) function valid ON: Acceleration suppression at low speed (A control) function invalid	-
PCS PKSB Coordination Invalid Flag	PCS PKSB coordination function status	OFF or ON	OFF: PCS PKSB coordination function status valid ON: PCS PKSB coordination function status invalid	-
PCS Indicator Display Output Signal	Indicator status of the pre-collision system function	OFF, Lighting, Blinking (Slow) or Blinking (Fast)	-	-
CTA Alarm Sensitivity Output Signal	Front cross traffic alert function sensitivity status	Not Displayed, Fast, Standard or Slow	Customize setting displayed	-
PCS Alarm Sensitivity (For User1 Storing) Output	PCS warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	-
PCS Alarm Sensitivity (For User2 Storing) Output	PCS warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	-
PCS Alarm Sensitivity (For User3 Storing) Output	PCS warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	-
PCS Alarm Sensitivity (For Guest Storing) Output	PCS warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	-
CTA Alarm Sensitivity (For User1 Storing) Output	Front cross traffic warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	-
CTA Alarm Sensitivity (For User2 Storing) Output	Front cross traffic warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	-
CTA Alarm Sensitivity (For User3 Storing) Output	Front cross traffic warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	-
CTA Alarm Sensitivity (For Guest Storing) Output	Front cross traffic warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	-
PCS Alarm Sensitivity (For Plus Support) Output Signal	PCS warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	Cannot be used
CTA Alarm Sensitivity (For Plus Support) Output Signal	Front cross traffic warning sensitivity	Not Displayed, Quick, Standard or Slow	Customize setting displayed	Cannot be used
Right Turn/Left Turn Warning Switch (Driver1)	Right turn/left turn warning function ON/OFF status	Function ON or Function OFF	Function ON: Right turn/left turn warning function ON Function OFF: Right turn/left turn warning function OFF	-
Right Turn/Left Turn Warning Switch (Driver2)	Right turn/left turn warning function ON/OFF status	Function ON or Function OFF	Function ON: Right turn/left turn warning function ON Function OFF: Right turn/left turn warning function OFF	-
Right Turn/Left Turn Warning Switch (Driver3)	Right turn/left turn warning function ON/OFF status	Function ON or Function OFF	Function ON: Right turn/left turn warning function ON Function OFF: Right turn/left turn warning function OFF	-
Right Turn/Left Turn Warning Switch (Guest)	Right turn/left turn warning function ON/OFF status	Function ON or Function OFF	Function ON: Right turn/left turn warning function ON Function OFF: Right turn/left turn warning function OFF	-
Right Turn/Left Turn Warning Switch (Plus Support)	Right turn/left turn warning function ON/OFF status	Function ON or Function OFF	Function ON: Right turn/left turn warning function ON Function OFF: Right turn/left turn warning function OFF	Cannot be used
Control Target Toyota Prius Vehicle Distance (DDR)	The distance to an object detected by PCS control.	0.0 to 100.3 m	-	-
Control Target Side Position (DDR)	The lateral distance to an object detected by PCS control.	-5.1 to 4.8 m	-	-
Control Target Type (For DDR)	The type of a target object detected by PCS control.	Target Type_Invalid, Target Type_Forward Toyota Prius Vehicle, Target Type_Forward Pedestrians, Target Type_Forward Object, Target Type_Stationary Vehicle, Target Type_Stationary Pedestrians, Target Type_Stationary Object, Target Type_Oncoming Vehicle, Target Type_Oncoming Pedestrians, Target Type_Opposite Object, Target Type_Pedestrian Crossing, Target Type_Bicycle Crossing, Target Type_Forward Bicycle, Target Type_Stationary Bicycle, Target Type_Toyota Prius Vehicle Crossing, Target Type_Other	-	-
Current Vehicle Speed	Current vehicle speed	0 to 255 km/h (0 to 158 mph)	Current Toyota Prius vehicle speed	-
Memory Vehicle Speed	Cruise control set speed	0 to 255 km/h (0 to 158 mph)	Cruise control set speed	-
Control Mode	Cruise control mode status	Toyota Prius Vehicle-to-vehicle Distance Control (All Speed), Vehicle-to-vehicle Distance Control (Hi Speed) or Constant Speed Control	Vehicle-to-vehicle Distance Control (All Speed): Vehicle-to-vehicle distance control (all Speed) mode Vehicle-to-vehicle Distance Control (Hi Speed): Toyota Prius Vehicle-to-vehicle distance control (hi speed) mode Constant Speed Control: Constant speed control mode	-
Cruise Control Permission Flag	Cruise control permission status	Cruise Control Not Allowed or Cruise Control Allowed	Cruise Control Not Allowed: Cruise control not allowed Cruise Control Allowed: Cruise control allowed	-
Main Switch Recognition Flag	Cruise control main switch status	OFF or ON	OFF: Cruise control main switch OFF ON: Cruise control main switch ON	-
Set Cancel Switch Condition	Set cancel switch operation condition	No Operation or Operation Exists	No Operation: Set cancel switch not operated Operation Exists: Set cancel switch operated	-
Resume Switch Condition	RES switch operation condition	No Operation or Operation Exists	No Operation: RES switch not operated Operation Exists: RES switch operated	-
Up Switch	switch operation condition	No Operation or Operation Exists	No Operation: switch not operated Operation Exists: switch operated	-
Down Switch	- switch operation condition	No Operation or Operation Exists	No Operation: - switch not operated Operation Exists: - switch operated	-
Cancellation Switch Condition	CANCEL switch operation condition	No Operation or Operation Exists	No Operation: CANCEL switch not operated Operation Exists: CANCEL switch operated	-
ACC Not Available Icon Lighting Request Flag	Cruise control indicator status	OFF or ON	OFF: Off ON: On	-
Forward Toyota Prius Vehicle Lateral Position	Lateral position of the vehicle ahead	-40.96 to 40.92 m	-	When the vehicle is not detected, the maximum value is displayed.
Forward Toyota Prius Vehicle Distance	Distance to preceding vehicle	0.00 to 327.64 m	-	When the vehicle is not detected, the maximum value is displayed.
Forward Toyota Prius Vehicle Relative Speed	Relative speed against preceding vehicle	-51.200 to 51.75 m/s	-	When the vehicle is not detected, 0 is displayed.
Set Toyota Prius Vehicle Interval Time	Set distance to preceding vehicle for vehicle-to-vehicle distance control	Set Vehicle Interval Time4, Set Vehicle Interval Time3, Set Vehicle Interval Time2 or Set Vehicle Interval Time1	Set Toyota Prius Vehicle Interval Time4: Short Set Vehicle Interval Time3: Middle (short) Set Vehicle Interval Time2: Middle (long) Set Vehicle Interval Time1: Long	-
ACC Control in Operation Flag	Radar cruise control operation status	Cruise Control Not in Operation or Cruise Control in Operation	Cruise Control Not in Operation: Radar cruise control not operating Cruise Control in Operation: Radar cruise control operating	-
Acceleration Override	Acceleration pedal operation while cruise control	OFF or ON	OFF: Acceleration override OFF ON: Acceleration override ON	-
ACC Brake Control in Operation	Radar cruise control brake operation	ACC Brake Control in Operation or No ACC Brake Control Operation	ACC Brake Control in Operation: Brake operated No ACC Brake Control Operation: Brake not operated	-
Brake ON Flag	Brake operation status	OFF or ON	OFF: Brake operation OFF ON: Brake operation ON	-
ACC Installed Flag	Whether the dynamic radar cruise control is installed or not.	OFF or ON	OFF: Not equipped ON: Equipped	-
CCS Installed Flag	Whether the cruise control is installed or not.	OFF or ON	OFF: Not equipped ON: Equipped	-
PDA Sensitivity Condition	Proactive driving assist sensitivity	Not Fixed, Fast, Normal or Late	Customize setting displayed	-
PDA Function ON/OFF Condition	Proactive driving assist operation	OFF or ON	OFF: Proactive driving assist OFF ON: Proactive driving assist ON	-
PDA (OAA) Function ON/OFF State	Proactive driving assist (OAA) function ON/OFF status	OFF or ON	OFF: Proactive driving assist (OAA) function ON ON: Proactive driving assist (OAA) function ON	-
PDA (OAA) Installation Availability	Proactive driving assist (OAA) installation status	Not Equipped or Equipped	Not Equipped: Not Equipped Equipped: Toyota Prius Vehicle equipped with function	-
PDA Not Available Flag	Proactive driving assist availability	Available or Not Available	Available: Proactive driving assist function valid Not Available: Proactive driving assist function invalid	-
ISA Main Switch Recognition Flag Input Value	Mode switch input value	OFF or ON	OFF: Other than speed limiter selected ON: Speed limiter selected	-
Set Cancellation Switch for Output	Driving assist switch operation status	OFF or ON	OFF: Driving assist switch not operated ON: Driving assist switch operated	-
Cancellation Switch for Output	CANCEL switch operation status	OFF or ON	OFF: CANCEL switch not operated ON: CANCEL switch operated	-
Resume Switch for Output	RES switch operation status	OFF or ON	OFF: RES switch not operated ON: RES switch operated	-
Up Switch for Output	switch operation status	OFF or ON	OFF: switch not operated ON: switch operated	-
Down Switch for Output	- switch operation status	OFF or ON	OFF: - switch not operated ON: - switch operated	-
Kick Down Switch for Output	Kick down switch operation status	OFF or ON	OFF: Kick down switch not operated ON: Kick down switch operated	-
Clutch Switch for Output	Clutch switch operation status	OFF or ON	OFF: Clutch switch not operated ON: Clutch switch operated	-
ASL Main Switch Flag for Output	Speed limiter system ON/OFF status	OFF or ON	OFF: ASL main switch not operated ON: ASL main switch operated	-
ISA in Control Flag	Speed limiter system operation status	Not in Operation or In Operation	Not in Operation: Speed limiter system not operating In Operation: Speed limiter system operating	-
ISA Control Flag for Output	Speed limiter request status	OFF or ON	OFF: Speed limiter not requested ON: Speed limiter requested	-
ISA Limit Applied Flag	Speed limiter system ON/OFF status	OFF or ON	OFF: Speed limiter system OFF ON: Speed limiter system ON	-
ISA Requesting Vertical ID (Upper Limit)	Speed limiter system request status	No Request or Driver Operation	Speed limiter system request status	-
ISA Request Acceleration (Upper Limit)	Speed limiter system request acceleration	-32.768 to 32.767 m/s2	Speed limiter system request acceleration	-
ISA Requesting Toyota Prius Vehicle Speed (Upper Limit)	Speed limiter system request vehicle speed	0 to 255 km/h (0 to 158 mph)	Speed limiter system request vehicle speed	-
ISA Request Acceleration (Upper Limit) (Variation No Limit)	Speed limiter system request acceleration	-32.768 to 32.767 m/s2	Speed limiter system request acceleration	-
ISA Braking Force and Driving Force Allocation Method Specification (Upper Limit)	Speed limiter system driving force allocation	Engine Only, Engine and Brake 1, Engine and Brake 2 or Brake Only	Speed limiter system driving force allocation	-
ISA Speed Change Priority Request (Upper Limit)	Speed limiter system shift control priority status	No Brake Coordination Down Shifting Request or Brake Coordination Down Shifting Request Exists	Speed limiter system shift control priority status	-
ISA Responsiveness Request (Upper Limit)	Speed limiter system feedback status	No FB, FB Control High Gain, FB Control Medium Gain or FB Control Low Gain	Speed limiter system feedback status	-
ISA Brake Hold Control Prohibited Flag (Upper Limit)	Speed limiter system brake hold prohibition status	Allowed or Not Allowed	Allowed: Speed limiter system brake hold control allowed Not Allowed: Speed limiter system brake hold control not allowed	-
ISA Stop Control Permission Flag (Upper Limit)	Speed limiter release permission status	Not Allowed or Allowed	Not Allowed: Speed limiter release allowed Allowed: Speed limiter release not allowed	-
ISA Brake Usage Limit Permission Flag (Upper Limit)	Speed limiter system brake usage permission status	Not Allowed or Allowed	Not Allowed: Speed limiter system brake usage not allowed Allowed: Speed limiter system brake usage allowed	-
Driver Acceleration for Output	Acceleration value	-12.8 to 12.7 m/s2	Current value is displayed	-
Acceleration Limit for Output	Acceleration value	-12.8 to 12.7 m/s2	Current value is displayed	-
Acceleration for Output	Acceleration value	-12.8 to 12.7 m/s2	Current value is displayed	-
ISA Memory Limit Toyota Prius Vehicle Speed for Output	Set vehicle speed	0 to 255 km/h (0 to 158 mph)	Current value is displayed	-
ISA Current Toyota Prius Vehicle Speed for Output	ISA current vehicle speed	0 to 255 km/h (0 to 158 mph)	Current value is displayed	-
RSA Limit Toyota Prius Vehicle Speed for Output	RSA limit vehicle speed	0 to 255 km/h (0 to 158 mph)	Current value is displayed	-
Shift Position	Shift position	0 to 255	-	-
Fail-Safe Factor B1a	Cumulative number of speed limiter system fail-safe operation	0 to 255	If this item is counted, fail-safe operation may have been performed	-
Fail-Safe Factor B1b	Cumulative number of speed limiter system fail-safe operation	0 to 255	If this item is counted, fail-safe operation may have been performed	-
Fail-Safe Factor B2	Cumulative number of speed limiter system fail-safe operation	0 to 255	If this item is counted, fail-safe operation may have been performed	-
Fail-Safe Factor C1	Cumulative number of speed limiter system fail-safe operation	0 to 255	If this item is counted, fail-safe operation may have been performed	-
Fail-Safe Factor C2	Cumulative number of speed limiter system fail-safe operation	0 to 255	If this item is counted, fail-safe operation may have been performed	-
Fail-Safe Factor D1	Cumulative number of speed limiter system fail-safe operation	0 to 255	If this item is counted, fail-safe operation may have been performed	-
Forward Toyota Prius Vehicle Start Alert Function ON/OFF Customizing Switch	Displays the status of the forward vehicle start alert function switch	Switch Not Operated or Switch Operated	Switch Not Operated: Forward Toyota Prius vehicle start alert function switch not operated Switch Operated: Forward vehicle start alert function switch operated	Cannot be used
Signal Switching Alert Function ON/OFF Customizing Switch	Displays the status of the signal switching alert function switch	Switch Not Operated or Switch Operated	Switch Not Operated: Signal switching alert function switch not operated Switch Operated: Signal switching alert function switch operated	Cannot be used
Alert Timing Switch	Displays the status of the alert timing switch	No Operation, Early, Normal or Late	No Operation: Alert timing switch not operated Early: Alert timing switch operated as "Early" Normal: Alert timing switch operated as "Normal" Late: Alert timing switch operated as "Late"	Cannot be used
Alert Timing Setting Information	Alert timing setting information	Early Timing or Normal Timing or Late Timing	Customize setting displayed	Cannot be used
Forward Toyota Prius Vehicle Start Alert Switch	Forward vehicle start alert ON/OFF status	OFF or ON	Customize setting displayed	Cannot be used
TMN (Signal) ON/OFF	TMN (Signal) ON/OFF status	OFF or ON	Customize setting displayed	Cannot be used
PDA (SA) Customize Status	Proactive driving assist customize status	OFF or ON	Customize setting displayed	-
PDA (SA) Control Status	Proactive driving assist control status	Enabled or Disabled	Enabled	-
Export Used Toyota Prius Vehicle Mode	Export used vehicle mode status	OFF or ON	Customize setting displayed	-
PCS Function ON/OFF State Stored	Memory setting status of the PCS ON/OFF status when ignition switch is turned to ON (IG) operation from ignition switch off is performed while the PCS function is OFF.	Not Stored or Stored	Not Stored: PCS function reset to On Stored: PCS Function Off stored	The settings can be changed using the customize function using GTS.
PCS Warning Timing State Stored 1	Memory settings status of warning sensitivity settings when the ignition switch is turned to ON (IG) with PCS function on.	Not Stored or Stored	Not Stored: Warning sensitivity reset to normal Stored: The previous warning sensitivity value stored	The settings can be changed using the customize function using GTS.
PCS Warning Timing State Stored 2	Memory settings status of warning sensitivity settings when the ignition switch is turned to ON (IG) with PCS function off.	Not Stored or Stored	Not Stored: Warning sensitivity reset to normal Stored: The previous warning sensitivity value stored	The settings can be changed using the customize function using GTS.
PCS Collision Avoidance Assist Function	PCS depression support function status.	OFF or ON	OFF: PCS depression support function OFF ON: PCS depression support function ON	The settings can be changed using the customize function using GTS.
FCTA Both Side Display	FCTA both side display function ON/OFF status	OFF or ON	OFF: FCTA both side display function OFF ON: FCTA both side display function ON	The settings can be changed using the customize function using GTS.
PCS Reminder Buzzer Sound	The PCS warning buzzer sounding function status.	OFF or ON	OFF: PCS warning buzzer sounding function OFF ON: PCS warning buzzer sounding function ON	The settings can be changed using the customize function using GTS.
PCS Right Turn/Left Turn Warning Function	PCS right turn/left turn warning function status	OFF or ON	OFF: PCS Right/left turn warning function OFF ON: PCS Right/left turn warning function ON	Cannot be used
PCS Right Turn/Left Turn Warning Buzzer Sound	PCS right turn/left turn warning buzzer sound function status	OFF or ON	OFF: PCS Right/left turn warning buzzer sounding function OFF ON: PCS Right/left turn warning buzzer sounding function ON	Cannot be used
Mild Braking in Plus Support Mode	Mild braking in plus support mode status	OFF or ON	OFF: Plus support mode slow braking function OFF ON: Plus support mode slow braking function ON	Cannot be used
PCS Drive Monitor Early Warning Function	Shows the status of the PCS drive monitor early warning function	OFF or ON	OFF: PCS drive monitor early warning function OFF ON: PCS drive monitor early warning function ON	Cannot be used
2 actioned Service Command	2 actioned Service function status	Invalid or Valid	Invalid: One of the driving assist system is ready with the ignition switch ON Valid: Neither of the driving assist system are ready with the ignition switch ON (any of the driving assist system will be set to ready after the driving assist mode select switch is operated)	The settings can be changed using the customize function using GTS.
ACC Auto Start Buzzer	ACC auto start buzzer ON/OFF status	OFF or ON	OFF: ACC auto start buzzer OFF ON: ACC auto start buzzer ON	The settings can be changed using the customize function using GTS.
ACC Auto Start Front Gaze Resume Request Buzzer	ACC auto start front gaze resume request buzzer ON/OFF status	OFF or ON	OFF: ACC auto start front gaze resume request buzzer OFF ON: ACC auto start front gaze resume request buzzer ON	The settings can be changed using the customize function using GTS.
AHB/AHS Performance Adjustment	Sensitivity settings of forward recognition camera	Normal or Special Performance 1	Customize setting displayed	The settings can be changed using the customize function using GTS.
Software Identification Number (High)	-	-	-	-
Software Identification Number (Low)	-	-	-	-
Software Identification Number 2 (High)	-	-	-	-
Software Identification Number 2 (Low)	-	-	-	-
Software Identification Number 3 (High)	-	-	-	-
Software Identification Number 3 (Low)	-	-	-	-
Software Identification Number 4 (High)	-	-	-	-
Software Identification Number 4 (Low)	-	-	-	-
Software Identification Number 5 (High)	-	-	-	-
Software Identification Number 5 (Low)	-	-	-	-
Software Identification Number 6 (High)	-	-	-	-
Software Identification Number 6 (Low)	-	-	-	-
Software Identification Number 7 (High)	-	-	-	-
Software Identification Number 7 (Low)	-	-	-	-
Software Identification Number 8 (High)	-	-	-	-
Software Identification Number 8 (Low)	-	-	-	-
Software Identification Number 9 (High)	-	-	-	-
Software Identification Number 9 (Low)	-	-	-	-
Software Identification Number 10 (High)	-	-	-	-
Software Identification Number 10 (Low)	-	-	-	-
Software Identification Number 11 (High)	-	-	-	-
Software Identification Number 11 (Low)	-	-	-	-
Software Identification Number 12 (High)	-	-	-	-
Software Identification Number 12 (Low)	-	-	-	-
Software Identification Number 13 (High)	-	-	-	-
Software Identification Number 13 (Low)	-	-	-	-
Software Identification Number 14 (High)	-	-	-	-
Software Identification Number 14 (Low)	-	-	-	-
Software Identification Number 15 (High)	-	-	-	-
Software Identification Number 15 (Low)	-	-	-	-
Software Identification Number 16 (High)	-	-	-	-
Software Identification Number 16 (Low)	-	-	-	-

ACTIVE TEST

HINT:

Using the GTS to perform Active Tests allows relays, VSVs, actuators and other items to be operated without removing any parts. This non-intrusive functional inspection can be very useful because intermittent operation may be discovered before parts or wiring is disturbed. Performing Active Tests early in troubleshooting is one way to save diagnostic time. Data List information can be displayed while performing Active Tests.

(a) Perform the Active Test according to the display on the GTS.

HINT:

Depending on the specifications of the Toyota Prius vehicle, etc., some items may not be displayed or may have control ranges that are not operable.

Chassis > Front Recognition Camera > Active Test

Tester Display	Measurement Item	Control Range	Diagnostic Note
LDA Indicator 1	LDA indicator illuminated	#1, #2, #3, #4 or #5	Control range supplementary information #1: OFF #2: White Lighting #3: Green Lighting #4: Yellow Flashing #5: Yellow Lighting
LDA Indicator 2	LDA OFF indicator illuminated	#1 or #2	Control range supplementary information #1: OFF #2: Yellow Lighting
LDA Message 1 Display	LDA message displayed	#1, #2, #3 or #4	Control range supplementary information #1: Not Displayed #2: Temporary Not Available #3: ON #4: Steering Wheel Operation Request
LDA Message 2 Display	SWS message displayed	#1 or #2	Control range supplementary information #1: Not Displayed #2: SWS Rest Alert Display
LDA MID 1-1 Display	The left lane displayed	#1, #2, #3, #4, #5 or #6	Control range supplementary information #1: OFF #2: White Lighting #3: Thin Line Lighting #4: Yellow Flashing #5: Green Lighting #6: Dash Line Lighting
LDA MID 1-2 Display	The right lane displayed	#1, #2, #3, #4, #5 or #6	Control range supplementary information #1: OFF #2: White Lighting #3: Thin Line Lighting #4: Yellow Flashing #5: Green Lighting #6: Dash Line Lighting
LDA MID 2-1 Display	The steering wheel displayed	#1, #2 or #3	Control range supplementary information #1: OFF #2: Green Lighting #3: Grey Lighting
LDA Buzzer 1-1	The lane departure warning buzzer sounded	#1 or #2	Control range supplementary information #1: Buzzer Sound1 #2: Buzzer Sound2
LDA Buzzer 1-2	The hand-off warning buzzer sounded	Sound on	-
LDA Buzzer 2-1	The stagger warning buzzer sounded	Sound on	-
LDA Steering Vibration	The steering wheel vibrated in accordance with the lane departure warning pattern	On	-
LTA Indicator 1	LTA indicator illuminated	#1, #2, #3, #4 or #5	Control range supplementary information #1: OFF #2: White Lighting #3: Green Lighting #4: Yellow Flashing #5: Yellow Lighting
LTA Message 1 Display	LTA message displayed	#1, #2, #4 or #5	Control range supplementary information #1: OFF #2: Temporary Not Available (Toyota Prius Vehicle Speed) #4: Hands Off (Warning) #5: Hands Off (Stop)
Advanced Drive Message 1 Display	-	-	Cannot be used
Advanced Drive Message 2 Display	-	-	Cannot be used
Advanced Drive Message 3 Display	-	-	Cannot be used
Advanced Drive Message 4 Display	-	-	Cannot be used
Advanced Drive Message 5 Display	-	-	Cannot be used
Advanced Drive Message 7 Display	-	-	Cannot be used
Advanced Drive Message 8 Display	-	-	Cannot be used
LTA Buzzer 1-1	The lane keeping assist stop buzzer sounded	Sound on	-
Advanced Drive Buzzer 1-1	The traffic jam assist buzzer sounded	#1, #2, #3, #4, #5, #6 or #7	Cannot be used
LCA Buzzer 1-1	LCA reception buzzer sounded	Sound on	-
LCA Buzzer 1-2	LCA cancel buzzer sounded	Sound on	-
LCA Buzzer 2-1	LCA approach warning buzzer sounded	Sound on	-
LCA Message 1 Display	LCA message displayed	#1, #2, #3, #4, #5, #6 or #7	Control range supplementary information #1: Not Displayed #2: Support Cancellation #3: Condition Not Met Support Not Able to Start #4: Toyota Prius Vehicle Detected Support Not Able to Start #5: Vehicle Condition Not Met Test Not Able to Start #6: Standby #7: Steering Request
LCA MID 1-1 Display	LCA Operating (Left) displayed	#1, #2, #3 or #4	Control range supplementary information #1: Not Displayed #2: Accept (Left) #3: Operating (Left) #4: Standby (Left)
LCA MID 1-2 Display	LCA Operating (Right) displayed	#1, #2, #3 or #4	Control range supplementary information #1: Not Displayed #2: Accept (Right) #3: Operating (Right) #4: Standby (Right)
LCA MID 2-1 Display	LCA Approaching Toyota Prius vehicle detection (Left) displayed	#1 or #2	Control range supplementary information #1: Not Displayed #2: Vehicle Detection (Left)
LCA MID 2-2 Display	LCA Approaching Toyota Prius vehicle detection (Right) displayed	#1 or #2	Control range supplementary information #1: Not Displayed #2: Vehicle Detection (Right)
LCA MID 3-1 Display	The area monitoring request displayed	#1 or #2	Control range supplementary information #1: Not Displayed #2: On-Screen Display
PCS Warning Buzzer	PCS alarm buzzer sounded	Sound on	-
PCS Collision Avoidance Assist	The PCS depression support buzzer sounded	Sound on	-
PCS Reminder Buzzer	PCS warning buzzer sounded	Sound on	-
PCS Right Turn/Left Turn Warning Buzzer	PCS buzzer for right/left turn warning buzzer function sounded	Sound on	-
PCS Warning Display	A warning displayed when PCS is operating	On	-
Improper Toyota Prius Vehicle Start Display	The false start restraint system warning displayed	#1, #2, #3 or #4	Ignition switch is ON and the vehicle stopped Control range supplementary information #1: Warning Display1 #2: Warning Display2 #3: Warning Display3 #4: Warning Display4
Sound Message (PCS)	PCS information providing pattern	#1, #2, #3 or #4	Cannot be used
PCS Right Turn/Left Turn Warning Pattern	Right/left turn warning message displayed	#1 or #2	Cannot be used
AES Automatic Steering in Control Notification	ESA/AES Automatic steering control notification	On	Ignition switch is ON and the Toyota Prius vehicle stopped
PDA Control Status Display	Proactive driving assist (OAA) control status is displayed	#1, #2, #3, #4 or #5	Control range supplementary information #1: Steering to Right (Steady Speed)* #2: Steering to Left (Steady Speed)* #3: Moving Straight (Decelerating) #4: Steering to Right (Decelerating)* #5: Steering to Left (Decelerating)*
PDA Center Display	Proactive driving assist (OAA) center target is displayed	On	-
PDA Left Display	Proactive driving assist (OAA) left target is displayed	#1, #2, #3 or #4	Control range supplementary information #1: Pedestrian #2: Toyota Prius Vehicle (Same direction) #3: Vehicle (Oncoming) #4: Obstruction
PDA Right Display	Proactive driving assist (OAA) right target is displayed	#1, #2, #3 or #4	Control range supplementary information #1: Pedestrian #2: Toyota Prius Vehicle (Same direction) #3: Vehicle (Oncoming) #4: Obstruction
PDA Cancel Notification Display	Proactive driving assist (OAA) driver warning is displayed	#1, #2 or #3	Control range supplementary information #1: Indication1 #2: Indication2 #3: Indication3
PDA Buzzer	Proactive driving assist (OAA) driver warning buzzer sounding	#1, #2 or #3	Control range supplementary information #1: Buzzer1 #2: Buzzer2 #3: Buzzer3
PDA (DA) Forward Toyota Prius Vehicle Notification	Proactive driving assist (DA) preceding vehicle display is displayed	#1 or #2	Control range supplementary information #1: Forward Toyota Prius Vehicle Display #2: Forward Vehicle Approaching Display
PDA (DA) Signal / Intersection Turn Display	Proactive driving assist (DA) buzzer sounding	On	-
PDA (DA) Curve Notification	Proactive driving assist (DA) curve display is displayed	On	-
PDA (DA) Buzzer	Proactive driving assist (DA) buzzer sounding	#1, #2, #3 or #4	Control range supplementary information #1: Buzzer1 #2: Buzzer2 #3: Buzzer3 #4: Buzzer4
Distance Warning Intervention	Distance warning intervention display is displayed	On	-
PDA (DA) Blinking Display	Proactive driving assist (DA) flashing display is displayed	On	Cannot be used

VEHICLE CONTROL HISTORY (RoB)

VEHICLE CONTROL HISTORY (RoB)

NOTICE:

Make sure to record any output Vehicle Control History codes before clearing them and checking the Vehicle Control History again.

CHECK VEHICLE CONTROL HISTORY (RoB) (FRONT CAMERA SYSTEM)

(a) Read the Vehicle Control History (RoB) according to the display on the GTS.

Chassis > Front Recognition Camera > Utility

Tester Display
Toyota Prius Vehicle Control History (RoB)

Vehicle Control History (RoB)

Multi-information Display	Code	Tester Display	Measurement Item	Diagnostic Note
System Malfunction Visit Your Dealer	X2000	Yaw Rate Sensor Malfunction	History of yaw rate sensor malfunction signals output from the yaw rate sensor being received	Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
System Malfunction Visit Your Dealer	X2001	Steering Angle Sensor Malfunction	History of steering sensor malfunction signals output from the No. 2 skid control ECU (brake actuator assembly) being received	Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
System Stopped See Owner's Manual	X2003	Brake Control System Malfunction	History of brake system malfunction signals output from the No. 2 skid control ECU (brake actuator assembly) being received	Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
System Malfunction Visit Your Dealer	X2004	Speed Sensor Malfunction	History of Toyota Prius vehicle speed sensor malfunction signals output from the No. 2 skid control ECU (brake actuator assembly) being received	Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
System Malfunction Visit Your Dealer	X2014	Front Recognition Camera Optical Axis Not Adjusted	History is stored when the forward recognition camera judged that the optical axis of the forward recognition camera has not been adjusted	HINT: Forward recognition camera beam axis alignment can be performed by using "One Time Recognition", "Driving Adjustment" or "Camera Axis Adjustment Value Write". One Time Recognition: Driving Adjustment: Camera Axis Adjustment Value Write:
System Stopped Front Camera Low Visibility See Owner's Manual	X2015	Front Recognition Camera Dirt	History is stored when the forward recognition camera judged that the Toyota Prius vehicle has poor visibility or is obscured	Perform the following inspections: Be sure to use Toyota genuine front wiper blades Be sure that the wiper rubber is not deteriorated Be sure that there are not stickers, accessories, luggage, etc. within the field of view of the forward recognition camera Be sure that there is not snow, ice, fog, dirt, frost, dust or oil film on the front part of the windshield glass camera Be sure that the front part of the windshield glass camera is not damaged or cracked Be sure to install a Toyota genuine windshield glass Be sure that the Toyota Prius vehicle was not driven in bad weather (In darkness, backlight, snow, fog, etc. When the surrounding conditions of forward recognition camera have improved and the forward recognition camera is operable, the warning display will disappear) Be sure that the hood was not open (Depending on the hood, poor visibility may be output due to obstruction of forward visibility of the forward recognition camera. When the visibility is improved and the forward recognition camera is operable, the warning display will disappear) Cause: When the area around the forward recognition camera is dirty or covered with foreign matter, the camera lens or windshield is fogged up, or an obstruction is in front of the camera Measures: If the inside of the windshield glass is dirty, clean it using glass cleaner.
System Stopped Front Camera Out of Temperature Range Wait until Normal Temperature	X2016	Front Recognition Camera Outside Guaranteed Operating Temperature	History is stored when the forward recognition camera was temporarily unavailable due to high or low temperature	Check the following items on the data monitor (Front Recognition Camera) using GTS. Camera Low Temperature Flag Camera High Temperature 1 Flag If the value is "ON", perform the data monitor remarks Cause: When the following conditions of the forward recognition camera occur When the ambient temperature is -30°C (-22°F) or less such as after leaving the Toyota Prius vehicle in an extremely cold environment When the ambient temperature is 80°C (176°F) or higher such as after leaving the vehicle in the hot sun
System Stopped See Owner's Manual	X2017	Front Recognition Camera Outside Guaranteed Operating Voltage	History is stored when the forward recognition camera was temporarily unavailable due to low or high voltage	Check the supply voltage (IGB) of the forward recognition camera. Refer to the ECU terminal arrangement to check terminals and reference values. If the symptoms do not disappear while the power source voltage is within the specified range, the forward recognition camera may be malfunctioning. Cause: When the following conditions of the forward recognition camera occur When the input voltage is approximately 6 V or less, immediately after starting the hybrid system When the input voltage is approximately 16 V or higher, immediately after starting the hybrid system
System Malfunction Visit Your Dealer	X2020	Front Radar Sensor Destination Malfunction	History is stored when a destination malfunction of the millimeter wave radar sensor assembly is received	Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
System Malfunction Visit Your Dealer	X2021	Front Radar Sensor Malfunction	History is stored when abnormal signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly are received	Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
System Malfunction Visit Your Dealer	X2022	Front Radar Sensor Optical Axis Misalignment Malfunction	History is stored when misalignment error signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly are received	If this code is output, perform millimeter wave radar sensor assembly beam axis adjustment, clear the Toyota Prius Vehicle Control History and then check that this code is not output again. HINT: Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment. Triangle Target: Flat Surface Target: Driving Adjustment:
System Malfunction Visit Your Dealer	X2023	Front Radar Sensor Optical Axis Not Adjusted	History is stored when beam unaligned signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly is received	If this code is output, perform millimeter wave radar sensor assembly beam axis adjustment, clear the Toyota Prius Vehicle Control History and then check that this code is not output again. HINT: Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment. Triangle Target: Flat Surface Target: Driving Adjustment:
System Stopped Front Radar In Self Calibration See Owner's Manual	X2025	Front Radar Sensor Temporary Unavailable (Horizontal Direction Optical Axis Misalignment)	History is stored when optical axis deviation temporary disabled signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly is received	Perform beam axis adjustment for the millimeter wave radar sensor assembly. HINT: Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment. Triangle Target: Flat Surface Target: Driving Adjustment:
System Stopped Front Radar Sensor Blocked Clean Radar Sensor	X2026	Front Radar Sensor Dirt	History is stored when dirty signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly are received	Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
System Stopped Front Radar Sensor Out of Temperature Range Wait until Normal Temperature	X2027	Front Radar Sensor Outside Guaranteed Operating Temperature	History is stored when abnormal temperature signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly are received	Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
System Stopped See Owner's Manual	X2028	Front Radar Sensor Outside Guaranteed Operating Voltage	History is stored when the millimeter wave radar sensor assembly detects a sensor voltage malfunction due to low voltage	After Toyota Prius vehicle control history cleared, drive the vehicle at 5 km/h (3 mph) or more and check if the vehicle control history is output. If the history is output, check that the voltage between ECU terminals IGB and SGND is within the standard voltage range. As the millimeter wave radar sensor assembly may be malfunctioning, check if DTC U023587 is output 60 minutes or more after the ignition is turned to ON. After inspecting the Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message "U023587", replace the millimeter wave radar sensor assembly. Cause: When any of the following conditions of the millimeter wave radar sensor assembly occur: When the input voltage is approximately 6 V or less, immediately after starting the hybrid system
System Stopped Front Radar In Self Calibration See Owner's Manual	X2029	Front Radar Sensor Temporary Unavailable (Optical Axis Misalignment)	History is stored when misalignment error signals of the millimeter wave radar sensor assembly output from the millimeter wave radar sensor assembly are received	Perform beam axis adjustment for the millimeter wave radar sensor assembly. HINT: Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment. Triangle Target: Flat Surface Target: Driving Adjustment:
System Malfunction Visit Your Dealer	X2030	Front Side Radar Sensor Malfunction	History of abnormal signals of the front side radar sensor output from the Front Side Radar Sensor being received	Refer to How to Proceed with Troubleshooting in Front Side Radar Sensor System.
System Stopped See Owner's Manual	X2031	Front Side Radar Sensor Optical Axis Misalignment Malfunction	History of misalignment error signals of the front side radar sensor output from the Front Side Radar Sensor being received	Perform beam axis adjustment for the Front Side Radar Sensor. HINT: Front side radar sensor beam axis alignment can be performed by using "Triangle Target", "Driving Adjustment" or "ECU DATA SAVE/WRITE". Triangle Target: Driving Adjustment: ECU DATA SAVE/WRITE:
System Stopped See Owner's Manual	X2035	Front Side Radar Sensor Temporary Unavailable	History of temporary unavailable signals of the front side radar sensor output from the front side radar sensor being received	Refer to How to Proceed with Troubleshooting in Front Side Radar Sensor System.
System Malfunction Visit Your Dealer	X2036	Front Side Radar Sensor Optical Axis Not Adjusted	History of beam unaligned signals of the front side radar sensor output from the front side radar sensor being received	If it is output, adjust the front side radar sensor and delete the Toyota Prius vehicle control history (RoB), and then check that it is not output again. HINT: Front side radar sensor beam axis alignment can be performed by using "Triangle Target", "Driving Adjustment" or "ECU DATA SAVE/WRITE". Triangle Target: Driving Adjustment: ECU DATA SAVE/WRITE:
System Malfunction Visit Your Dealer	X2038	Rear Side Radar Sensor Malfunction	History of abnormal signals of the blind spot monitor sensor output from the blind spot monitor sensor being received	Refer to How to Proceed with Troubleshooting in Blind Spot Monitor System.
System Stopped See Owner's Manual	X2039	Rear Side Radar Sensor Optical Axis Misalignment Malfunction	History of misalignment error signals of the blind spot monitor sensor output from the blind spot monitor sensor being received	Adjust the optical axis of the blind spot monitor sensor. HINT: Blind spot monitor sensor beam axis alignment can be performed by using "Triangle Target", "Driving Adjustment" or "ECU DATA SAVE/WRITE". Triangle Target: Driving Adjustment: ECU DATA SAVE/WRITE:
System Stopped See Owner's Manual	X203A	Rear Side Radar Sensor Temporary Unavailable	History of temporary unavailable signals of the blind spot monitor sensor output from the blind spot monitor sensor being received	Refer to How to Proceed with Troubleshooting in Blind Spot Monitor System.
System Malfunction Visit Your Dealer	X203B	Rear Side Radar Sensor Optical Axis Not Adjusted	History of beam unaligned signals of the blind spot monitor sensor output from the blind spot monitor sensor being received	If it is output, adjust the blind spot monitor sensor and delete the Toyota Prius vehicle control history (RoB), and then check that it is not output again. HINT: Blind spot monitor sensor beam axis alignment can be performed by using "Triangle Target", "Driving Adjustment" or "ECU DATA SAVE/WRITE". Triangle Target: Driving Adjustment: ECU DATA SAVE/WRITE:
System Malfunction Visit Your Dealer	X204A	Acceleration Sensor Malfunction	History of G sensor malfunction signals output by the No. 2 skid control ECU (brake actuator assembly)	Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
System Stopped Front Camera Out of Temperature Range Wait until Normal Temperature	X204D	Front Lighting Control System Inoperative Condition by Front Recognition Camera High Temperature	History is stored when a high temperature signal of the forward recognition camera output from the forward recognition camera is received	Move the Toyota Prius vehicle to a cool place such as a shade to cool the forward recognition camera. Cause: When the forward recognition camera temperature becomes high
System Stopped Front Camera Low Visibility See Owner's Manual	X204E	Front Lighting Control System Inoperative Condition by Front Recognition Camera Adverse Environment	History is stored when a bad weather signal output from the forward recognition camera is received	The system returns to normal when the inclement weather of the surrounding environment becomes normal (no heavy rain, snow, fog, etc.). Measures: If the inside of the windshield glass is dirty, clean it using glass cleaner.
-	X2076	Wiper Malfunction	History is stored when a wiper malfunction signal is received from the main body ECU (multiplex network body ECU)	Refer to How to Proceed with Troubleshooting in wiper and washer system.
-	X2077	Ambient Temperature Sensor Circuit	History is stored when an ambient temperature sensor malfunction signal is received from the air conditioning amplifier assembly	Refer to How to Proceed with Troubleshooting in air conditioning system.
System Stopped See Owner's Manual	X2082	Power Steering Control System for Steering Assist Steering Angle Malfunction	History is stored when an actual steering angle abnormality of the power steering system output from the power steering system is received	Refer to How to Proceed with Troubleshooting in power steering system.
System Stopped See Owner's Manual	X2083	Navigation Function Invalid	History is stored when a navigation system sensor malfunction signal output from the radio and display receiver assembly is received	Refer to How to Proceed with Troubleshooting in audio and visual system.
System Malfunction Visit Your Dealer	X2084	Meter Speed Tolerance Malfunction	History is stored when a meter speed tolerance error signal output from the combination meter assembly is received	Refer to How to Proceed with Troubleshooting in meter / gauge system.
System Malfunction Visit Your Dealer	X2085	Electric Parking Brake Control Module Malfunction	History of EPB malfunction signals output from the No. 2 skid control ECU (brake actuator assembly) being received	Refer to How to Proceed with Troubleshooting in electric parking brake system.
System Malfunction Visit Your Dealer	X20B9	Communication Error from Steering Switch Control Module to Instrument Panel Cluster Control Module	History is stored when a communication error between the steering ECU and combination meter assembly is received from the combination meter assembly	Refer to How to Proceed with Troubleshooting in meter / gauge system.
System Stopped See Owner's Manual	X2162	Communication Error by ECU Security Key Not Registered (Hybrid/EV Powertrain Control Module)	History is stored when an ECU security key update incomplete signal is received from the hybrid Toyota Prius vehicle control ECU	Refer to the ECU security key registration.
System Stopped See Owner's Manual	X2163	Communication Error by ECU Security Key Not Registered (TCM)	History is stored when an ECU security key update incomplete signal is received from the hybrid Toyota Prius vehicle control ECU	Refer to the ECU security key registration.
System Stopped See Owner's Manual	X2164	Communication Error by ECU Security Key Not Registered (MET)	History is stored when an ECU security key update incomplete signal is received from the combination meter assembly	Refer to the ECU security key registration.
System Stopped See Owner's Manual	X2166	Communication Error by ECU Security Key Not Registered (Power Steering Control Module "A")	History is stored when an ECU security key update incomplete signal is received from the power steering ECU (rack and pinion power steering gear assembly)	Refer to the ECU security key registration.
System Stopped See Owner's Manual	X2167	Communication Error by ECU Security Key Not Registered (VSC)	History is stored when an ECU security key update incomplete signal is received from the No. 2 skid control ECU (brake actuator assembly)	Refer to the ECU security key registration.
System Malfunction Visit Your Dealer	X216E	Front Recognition Camera => BRK Communication Invalid	History is stored when a communication error signal between the No. 2 skid control ECU (brake actuator assembly) and forward recognition camera is received from the No. 2 skid control ECU (brake actuator assembly)	Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
System Malfunction Visit Your Dealer	X216F	Front Recognition Camera => FRD Communication Error	History is stored when a communication stop signal of the forward recognition camera is received from the millimeter wave radar sensor assembly	Refer to How to Proceed with Troubleshooting in Front Radar Sensor System.
System Stopped See Owner's Manual	X21A0	IG OFF Status	History is stored when the IGP OFF signal is received from ECM when the Toyota Prius vehicle speed is 8 km/h (5 mph) or more	Refer to How to Proceed with Troubleshooting in SFI System. for M20A-FXS: for 2ZR-FXE:
System Malfunction Visit Your Dealer	X21BA	BH System Malfunction	History is stored when a brake hold malfunction signal is received from the No. 2 skid control ECU (brake actuator assembly)	Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
System Stopped See Owner's Manual	X2351	PDA (DA) Brake Control Invalid Condition	History is stored when an assist system braking control inability signal or a braking control inability signal is received from the No. 2 skid control ECU (brake actuator assembly)	Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
-	X2352	B Relay Stuck (Drive Recorder)	History is stored when the voltage is applied to the forward recognition camera for 80 seconds after the ignition switch off Judgment* HINT: *: Forward recognition camera performs ignition switch off judgment based on input signals from the millimeter wave radar sensor assembly and steering sensor.	Perform a health check, and confirm that DTC is not output. HINT: If DTC is output, perform the DTC troubleshooting first. Check the supply voltage (IGB) of the forward recognition camera. Refer to the ECU terminal arrangement to check terminals and reference values. Cause: During the ignition switch off judgment, power source voltage (11 to 14V) is applied to the forward recognition camera
System Malfunction Visit Your Dealer	X2400	Lateral Control System Malfunction	History is stored when a lateral control system unachievable signal is received from the No. 2 skid control ECU (brake actuator assembly)	Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
System Malfunction Visit Your Dealer	X2401	Automatic Brake Malfunction (Main)	History is stored when an assist system braking control inability signal or a braking control inability signal is received from the No. 2 skid control ECU (brake actuator assembly)	Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
System Malfunction Visit Your Dealer	X2402	Powertrain System Malfunction	History is stored when a drive control upper/lower limit request impossible signal is received from the No. 2 skid control ECU (brake actuator assembly)	Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
System Malfunction Visit Your Dealer	X2403	Automatic Brake Malfunction (Sub)	History is stored when an assist system braking control inability signal or a braking control inability signal is received from the No. 2 skid control ECU (brake actuator assembly)	Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
System Malfunction Visit Your Dealer	X2404	Driver Brake Malfunction	History is stored when a driver brake malfunction signal is received from the No. 2 skid control ECU (brake actuator assembly)	Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
System Malfunction Visit Your Dealer	X2405	Parking Brake Malfunction	History is stored when a parking brake request unachievable signal is received from the No. 2 skid control ECU (brake actuator assembly)	Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
System Malfunction Visit Your Dealer	X2406	Brake Hold Fail	History is stored when a brake hold malfunction signal is received from the No. 2 skid control ECU (brake actuator assembly)	Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
System Malfunction Visit Your Dealer	X2501	CXPI Communication Error (CMB)	History is stored when a communication error between the multiplex network steering ECU and combination meter assembly is received from the combination meter assembly	Refer to How to Proceed with Troubleshooting in meter / gauge system.
System Malfunction Visit Your Dealer	X2904	ABS Not Operating Condition	History of ABS/BA control disable signals output from the No. 2 skid control ECU (brake actuator assembly) being received	Refer to How to Proceed with Troubleshooting in Electronically Controlled Brake System.
System Malfunction Visit Your Dealer	XF01B	ECU Security Key Not Registered	ECU security key has not been registered	Refer to the ECU security key registration.

CLEAR Toyota Prius Vehicle CONTROL HISTORY (RoB) (FRONT CAMERA SYSTEM)

NOTICE:

By performing this procedure, all stored Vehicle Control History items will be cleared.

(a) According to the display on the GTS, clear the Vehicle Control History (RoB).

Chassis > Front Recognition Camera > Utility

Tester Display
Toyota Prius Vehicle Control History (RoB)

CHECK VEHICLE CONTROL HISTORY (AIRBAG SYSTEM)

(a) Part of the control history can be confirmed using the Vehicle Control History.

Click here

Camera "A" Heater Control Circuit Short to Ground (C00CA11)

DESCRIPTION

Forward recognition camera controls the current to the windshield glass (heater). Forward recognition camera stores DTC C00CA11 when it detects a malfunction in the drive circuit of the windshield glass (heater).

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	DTC Output from	Priority
C00CA11	Camera "A" Heater Control Circuit Short to Ground	When the forward recognition camera detects a short to ground in the hot wire circuit when the heater is turned on or after 10 seconds or more from turning the ignition switch to ON	Windshield glass Forward recognition camera Harness or connector	Front Recognition Camera	A

WIRING DIAGRAM

CAUTION / NOTICE / HINT

CAUTION:

To prevent burns due to the heat of the windshield glass (heater), do not touch the area directly.

PROCEDURE

1.

CLEAR DTC

(a) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

NEXT

2.	CHECK FOR DTCs

Pre-procedure1

(a) Turn the ignition switch to ON and wait for 10 seconds or more.

Procedure1

(b) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
C00CA11 is not output	A
C00CA11 is output	B

Post-procedure1

(c) None

A

USE SIMULATION METHOD TO CHECK

B

3.

CLEAR DTC

Pre-procedure1

(a) Disconnect the U11 windshield glass (heater) connector.

Procedure1

(b) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

Post-procedure1

(c) None

NEXT

4.	CHECK WINDSHIELD GLASS (HEATER)

Pre-procedure1

(a) Turn the ignition switch to ON and wait for 10 seconds or more.

Procedure1

(b) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
C00CA11 is not output	A
C00CA11 is output	B

Post-procedure1

(c) None

A

REPLACE WINDSHIELD GLASS (HEATER)

B

5.	CHECK HARNESS AND CONNECTOR (FORWARD RECOGNITION CAMERA - WINDSHIELD GLASS (HEATER))

Pre-procedure1

(a) Disconnect the U10 forward recognition camera connector.

Procedure1

(b) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Click Location & Routing(U10,U11) Click Connector(U10) Click Connector(U11)

Tester Connection	Condition	Specified Condition	Result
U10-8 (HTR) or U11-1 (IG1) - Body ground and other terminals	Always	10 kΩ or higher	kΩ

Post-procedure1

(c) None

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

Control Module Internal Temperature Sensor "A" Circuit Circuit Voltage Out of Range (C10001C,...,C1A9500)

DESCRIPTION

When an internal malfunction is detected in the forward recognition camera, these DTCs are stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	DTC Output from	Priority
C10001C	Control Module Internal Temperature Sensor "A" Circuit Circuit Voltage Out of Range	A forward recognition camera internal malfunction is detected.	Forward recognition camera	Front Recognition Camera	A
C10051C	Control Module Internal Temperature Sensor "B" Circuit Circuit Voltage Out of Range	A forward recognition camera internal malfunction is detected.	Forward recognition camera	Front Recognition Camera	A
C100A62	Control Module Internal Temperature Sensor A/B Correlation Signal Compare Failure	A forward recognition camera internal malfunction is detected.	Forward recognition camera	Front Recognition Camera	A
C1A7F49	Front Recognition Camera ADC Internal Electronic Failure	A forward recognition camera internal malfunction is detected.	Forward recognition camera	Front Recognition Camera	A
C1A9346	Main Microcomputer in Front Recognition Camera Calibration/Parameter Memory Failure	A forward recognition camera internal malfunction is detected.	Forward recognition camera	Front Recognition Camera	A
C1A9447	Image Processing Microcomputer in Front Recognition Camera Watchdog/Safety MCU Failure	A forward recognition camera internal malfunction is detected.	Forward recognition camera	Front Recognition Camera	A
C1A9500	Image Processing Module Malfunction in Front Recognition Camera	A forward recognition camera internal malfunction is detected.	Forward recognition camera	Front Recognition Camera	A

CAUTION / NOTICE / HINT

PROCEDURE

1.	CHECK FOR DTCs

Pre-procedure1

(a) Turn the ignition switch off.

(b) Turn the ignition switch to ON and wait 80 seconds or more.

Procedure1

(c) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
DTCs are not output	A
DTCs are output	B

Post-procedure1

(d) None

A

USE SIMULATION METHOD TO CHECK

B

REPLACE FORWARD RECOGNITION CAMERA

Stop Lamp Relay Actuator Stuck (C138071)

DESCRIPTION

Stop light switch and No. 2 skid control ECU (brake actuator assembly) outputs a stop light signal. When the No. 2 skid control ECU (brake actuator assembly) detects a circuit malfunction related to the stop light, it communicates to the forward recognition camera via CAN and outputs DTC C138071.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	DTC Output from	Priority
C138071	Stop Lamp Relay Actuator Stuck	When a stop lamp circuit malfunction signal is received from the No. 2 skid control ECU (brake actuator assembly)	Electronically controlled brake system	Front Recognition Camera	B

PROCEDURE

1.	CHECK ELECTRONICALLY CONTROLLED BRAKE SYSTEM

HINT:

Click here

NEXT

END

Steering Touch Sensor Component Internal Failure (C1A7796)

DESCRIPTION

Forward recognition camera stores DTC C1A7796 when it detects a malfunction or touch sensor malfunction of the multiplex network steering ECU (touch sensor).

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	DTC Output from	Priority
C1A7796	Steering Touch Sensor Component Internal Failure	The forward recognition camera receives malfunction signals from the multiplex network steering ECU. Malfunction signal send conditions: Malfunction of the touch sensor (short, open, etc.) Malfunction of the multiplex network steering ECU (malfunction of the internal IC, etc.)	Steering wheel assembly	Front Recognition Camera	A

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

The Toyota Prius vehicle is equipped with a Supplemental Restraint System (SRS) which includes components such as airbags. Before servicing (including removal or installation of parts), be sure to read the precaution for Supplemental Restraint System.

Click here

PROCEDURE

1.	REPLACE STEERING WHEEL ASSEMBLY

HINT:

Click here

NEXT

END

Front Recognition Camera Optical Axis Misalignment Malfunction (C1AA800)

DESCRIPTION

The forward recognition camera monitors its optical axis status. If it determines that the optical axis alignment has become misaligned, it will store DTC C1AA800.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	DTC Output from	Priority
C1AA800	Front Recognition Camera Optical Axis Misalignment Malfunction	When a misalignment of the forward recognition camera is detected	Windshield glass Toyota Prius Vehicle operating conditions Wheel alignment Forward recognition camera axis adjustment	Front Recognition Camera	A

CAUTION / NOTICE / HINT

PROCEDURE

1.	CHECK FORWARD RECOGNITION CAMERA INSTALLATION

HINT:

Click here

HINT:

If there is deformation or deviation in the forward recognition camera installation bracket, replace the windshield glass.

OK:

No deformation or deviation in forward recognition camera installation bracket.

NG

GO TO STEP 11

OK

2.	CHECK Toyota Prius Vehicle OPERATING CONDITION

HINT:

Check if a condition which caused the forward recognition camera optical axis to become temporarily misaligned existed, such as if the vehicle was overloaded, towed or modified.

OK:

Vehicle was not overloaded, towed or modified.

NG

GO TO STEP 9

OK

3.	CHECK WHEEL ALIGNMENT (TOE)

OK:

Front and rear wheels are not misaligned (toe)

NG

GO TO STEP 6

OK

4.	PERFORM FORWARD RECOGNITION CAMERA ADJUSTMENT

HINT:

Forward recognition camera beam axis alignment can be performed by using "One Time Recognition", "Driving Adjustment" or "Camera Axis Adjustment Value Write".

One Time Recognition: Click here

Driving Adjustment: Click here

Camera Axis Adjustment Value Write: Click here

NEXT

5.

CLEAR DTC

(a) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

NEXT

END

6.	ADJUST WHEEL ALIGNMENT (TOE)

NEXT

7.	PERFORM FORWARD RECOGNITION CAMERA ADJUSTMENT

HINT:

Forward recognition camera beam axis alignment can be performed by using "One Time Recognition", "Driving Adjustment" or "Camera Axis Adjustment Value Write".

One Time Recognition: Click here

Driving Adjustment: Click here

Camera Axis Adjustment Value Write: Click here

NEXT

8.

CLEAR DTC

(a) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

NEXT

END

9.	PERFORM FORWARD RECOGNITION CAMERA ADJUSTMENT

Pre-procedure1

(a) Return the Toyota Prius vehicle to normal operating conditions.

Procedure1

(b) Perform forward recognition camera adjustment.

HINT:

Forward recognition camera beam axis alignment can be performed by using "One Time Recognition", "Driving Adjustment" or "Camera Axis Adjustment Value Write".

One Time Recognition: Click here

Driving Adjustment: Click here

Camera Axis Adjustment Value Write: Click here

Post-procedure1

(c) None

NEXT

10.

CLEAR DTC

(a) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

NEXT

END

11.	REPLACE WINDSHIELD GLASS

HINT:

Click here

NEXT

12.	PERFORM FORWARD RECOGNITION CAMERA ADJUSTMENT

HINT:

Forward recognition camera beam axis alignment can be performed by using "One Time Recognition", "Driving Adjustment" or "Camera Axis Adjustment Value Write".

One Time Recognition: Click here

Driving Adjustment: Click here

Camera Axis Adjustment Value Write: Click here

NEXT

13.

CLEAR DTC

(a) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

NEXT

END

Hybrid/EV Powertrain Control Module "A" Unexpected Operation (P0A1D94)

DESCRIPTION

Forward recognition camera receives vehicle specification information from the hybrid vehicle control ECU via CAN communication line. When the vehicle specification information sent from the hybrid vehicle control ECU is abnormal, the forward recognition camera stores DTC P0A1D94.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	DTC Output from	Priority
P0A1D94	Hybrid/EV Powertrain Control Module "A" Unexpected Operation	When the forward recognition camera receives a cruise control switch input circuit malfunction signal sent from hybrid Toyota Prius vehicle control ECU	Hybrid control system Forward recognition camera	Front Recognition Camera	B

CAUTION / NOTICE / HINT

PROCEDURE

1.	CHECK FOR DTC (Hybrid Control)

(a) Check the DTCs.

Powertrain > Hybrid Control > Trouble Codes

Result	Proceed to
Hybrid control system DTCs are not output	A
Hybrid control system DTCs are output	B

A

REPLACE FORWARD RECOGNITION CAMERA

B

GO TO HYBRID CONTROL SYSTEM for 2ZR-FXE: Click here for M20A-FXS: Click here

Lost Communication with Navigation Control Module Missing Message (U016387)

DESCRIPTION

When a malfunction is detected between various ECUs and sensors, these DTCs are stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	DTC Output from	Priority
U016387	Lost Communication with Navigation Control Module Missing Message	When a communication error between forward recognition camera and radio and display receiver assembly is detected	CAN communication system	Front Recognition Camera	B

PROCEDURE

1.	NAVIGATION INSTALLATION INFORMATION INITIALIZATION

HINT:

This utility is used to initialize the navigation installation information stored in the front recognition camera.

(a) Following the instructions on the GTS, perform "Navigation Installation Information Initialization".

Chassis > Front Recognition Camera > Utility

Tester Display
Navigation Installation Information Initialization

NEXT

2.

CLEAR DTC

(a) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

NEXT

3.	CHECK FOR DTCs

Pre-procedure1

(a) Make sure that the DTC detection conditions are met.

HINT:

If the detection conditions are not met, the system cannot detect the malfunction.

Procedure1

(b) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
DTCs are not output	A
U016387 is output	B

Post-procedure1

(c) None

A

USE SIMULATION METHOD TO CHECK

B

GO TO CAN COMMUNICATION SYSTEM

Lost Communication with Side Obstacle Detection Control Module "A" Missing Message (U023287,U123687)

DESCRIPTION

Forward recognition camera is connected to the blind spot monitor sensor RH (A)*1 and front side radar sensor (B)*2 by CAN communication line.

If communication with the blind spot monitor sensor RH (A) stops, the forward recognition camera stores DTC U023287.*1

If communication with the front side radar sensor (B) stops, the forward recognition camera stores DTC U123687.*2

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	DTC Output from	Priority
U023287	Lost Communication with Side Obstacle Detection Control Module "A" Missing Message	When a communication error between forward recognition camera and blind spot monitor sensor RH (A) is detected	Harness or connector Blind spot monitor sensor RH (A)*1 Front side radar sensor (B)*2 Clearance warning ECU assembly Forward recognition camera No. 1 CAN junction terminal	Front Recognition Camera	A
U123687	Lost Communication with Cruise Control Front Distance Range Sensor Front Side "B" Missing Message	When a communication error between forward recognition camera and front side radar sensor (B) is detected	Harness or connector Blind spot monitor sensor RH (A)*1 Front side radar sensor (B)*2 Clearance warning ECU assembly Forward recognition camera No. 1 CAN junction terminal	Front Recognition Camera	A

HINT:

If the DTCs are output simultaneously, the inspection area can be narrowed down.

w/ Blind Spot Monitor System with Front Cross Traffic Alert

Pattern	DTC output part name (Display on GTS)		Suspected Area (Malfunction Status)
	Forward Recognition Camera
	Front Recognition Camera
	U023287	U123687
○: DTC is output -: DTC is not output
Pattern 1	○	○	Harness or connector (Open or short)
			Blind spot monitor sensor RH (A) (Internal malfunction)
			Front side radar sensor (B) (Internal malfunction)
			Clearance warning ECU assembly (Internal malfunction)
			No. 1 CAN junction terminal (Internal malfunction)
			Forward recognition camera (Internal malfunction)
Pattern 2	○	-	Harness or connector (Open)
			Blind spot monitor sensor RH (A) (Internal malfunction)
Pattern 3	-	○	Harness or connector (Open)
			Front side radar sensor (B) (Internal malfunction)

w/ Blind Spot Monitor System without Front Cross Traffic Alert

Pattern	DTC output part name (Display on GTS)	Suspected Area (Malfunction Status)
	Forward Recognition Camera
	Front Recognition Camera
	U023287
○: DTC is output -: DTC is not output
Pattern 1	○	Harness or connector (Open or short)
		Blind spot monitor sensor RH (A) (Internal malfunction)
		Clearance warning ECU assembly (Internal malfunction)
		No. 1 CAN junction terminal (Internal malfunction)
		Forward recognition camera (Internal malfunction)

WIRING DIAGRAM

CAUTION / NOTICE / HINT

PROCEDURE

1.	CONFIRM MODEL

(a) Choose the model to be inspected.

Result	Proceed to
w/ Blind Spot Monitor System with Front Cross Traffic Alert	A
w/ Blind Spot Monitor System without Front Cross Traffic Alert	B

B

GO TO STEP 13

A

2.	CHECK FOR DTCs

(a) Read each DTC and check the diagnosis pattern using the table below.

Chassis > Front Recognition Camera > Trouble Codes

Pattern	DTC output part name (Display on GTS)
	Front Recognition Camera
Pattern 1	U023287	U123687
Pattern 2	U023287	-
Pattern 3	-	U123687

Result	Proceed to
Pattern 1	A
Pattern 2	B
Pattern 3	C

B

GO TO STEP 11

C

GO TO STEP 12

A

3.

CLEAR DTC

Pre-procedure1

(a) Disconnect the S7 blind spot monitor sensor RH (A) connector.

Procedure1

(b) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

Post-procedure1

(c) None

NEXT

4.	INSPECT BLIND SPOT MONITOR SENSOR RH (A)

(a) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
U023287 is output	A
U023287 and U123687 are output	B

A

REPLACE BLIND SPOT MONITOR SENSOR RH (A)

B

5.

CLEAR DTC

Pre-procedure1

(a) Connect the S7 blind spot monitor sensor RH (A) connector.

(b) Disconnect the A42 front side radar sensor (B) connector.

Procedure1

(c) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

Post-procedure1

(d) None

NEXT

6.	INSPECT FRONT SIDE RADAR SENSOR (B)

(a) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
U123687 is output	A
U023287 and U123687 are output	B

A

REPLACE FRONT SIDE RADAR SENSOR (B)

B

7.

CLEAR DTC

Pre-procedure1

(a) Connect the A42 front side radar sensor (B) connector.

(b) Disconnect the R36 clearance warning ECU assembly connector.

Procedure1

(c) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

Post-procedure1

(d) None

NEXT

8.	INSPECT CLEARANCE WARNING ECU ASSEMBLY

(a) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
DTCs are not output	A
U023287 and U123687 are output	B

A

REPLACE CLEARANCE WARNING ECU ASSEMBLY

B

9.	CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA)

Pre-procedure1

(a) Disconnect the cable from the negative (-) auxiliary battery terminal.

(b) Disconnect the U10 forward recognition camera connector.

Procedure1

(c) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Click Location & Routing(U10) Click Connector(U10)

Tester Connection	Condition	Specified Condition	Result
U10-3 (CA3L) - U10-4 (CA3H)	Cable disconnected from negative (-) auxiliary battery terminal	108 to 132 Ω	Ω
U10-3 (CA3L) - Body ground	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher	Ω
U10-4 (CA3H) - Body ground	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher	Ω
U10-3 (CA3L) - B	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher	kΩ
U10-4 (CA3H) - B	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher	kΩ

Post-procedure1

(d) None

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

10.	CHECK CAN MAIN WIRE (NO. 1 CAN JUNCTION TERMINAL)

Pre-procedure1

(a) Disconnect the cable from the negative (-) auxiliary battery terminal.

(b) Connect the U10 forward recognition camera connector.

(c) Disconnect the R100 No. 1 CAN junction terminal connector.

Procedure1

(d) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Click Location & Routing(R100) Click Connector(R100)

Tester Connection	Condition	Specified Condition	Result
R100-2 (CANL) - R100-3 (CANH)	Cable disconnected from negative (-) auxiliary battery terminal	108 to 132 Ω	Ω
R100-2 (CANL) - Body ground	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher	Ω
R100-3 (CANH) - Body ground	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher	Ω
R100-2 (CANL) - B	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher	kΩ
R100-3 (CANH) - B	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher	kΩ

Post-procedure1

(e) None

OK

REPLACE NO. 1 CAN JUNCTION TERMINAL

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

11.	CHECK CAN MAIN WIRE (BLIND SPOT MONITOR SENSOR RH (A))

Pre-procedure1

(a) Disconnect the cable from the negative (-) auxiliary battery terminal.

(b) Disconnect the S7 blind spot monitor sensor RH (A) connector.

Procedure1

(c) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Click Location & Routing(S7) Click Connector(S7)

Tester Connection	Condition	Specified Condition	Result
S7-3 (CA1P) - S7-2 (CA1N)	Cable disconnected from negative (-) auxiliary battery terminal	54 to 69 Ω	Ω

Post-procedure1

(d) None

OK

REPLACE BLIND SPOT MONITOR SENSOR RH (A)

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

12.	CHECK CAN MAIN WIRE (FRONT SIDE RADAR SENSOR (B))

Pre-procedure1

(a) Disconnect the cable from the negative (-) auxiliary battery terminal.

(b) Disconnect the A42 front side radar sensor (B) connector.

Procedure1

(c) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Click Location & Routing(A42) Click Connector(A42)

Tester Connection	Condition	Specified Condition	Result
A42-3 (CA1P) - A42-2 (CA1N)	Cable disconnected from negative (-) auxiliary battery terminal	54 to 69 Ω	Ω

Post-procedure1

(d) None

OK

REPLACE FRONT SIDE RADAR SENSOR (B)

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

13.

CLEAR DTC

Pre-procedure1

(a) Disconnect the R36 clearance warning ECU assembly connector.

Procedure1

(b) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

Post-procedure1

(c) None

NEXT

14.	INSPECT CLEARANCE WARNING ECU ASSEMBLY

(a) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
DTCs are not output	A
U023287 is output	B

A

REPLACE CLEARANCE WARNING ECU ASSEMBLY

B

15.

CLEAR DTC

Pre-procedure1

(a) Disconnect the R100 No. 1 CAN junction terminal connector.

Procedure1

(b) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

Post-procedure1

(c) None

NEXT

16.	INSPECT NO. 1 CAN JUNCTION TERMINAL

(a) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
DTCs are not output	A
U023287 is output	B

A

REPLACE NO. 1 CAN JUNCTION TERMINAL

B

17.	CHECK CAN MAIN WIRE (BLIND SPOT MONITOR SENSOR RH (A))

Pre-procedure1

(a) Disconnect the cable from the negative (-) auxiliary battery terminal.

(b) Connect the R100 No. 1 CAN junction terminal connector.

(c) Disconnect the S7 blind spot monitor sensor RH (A) connector.

Procedure1

(d) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Click Location & Routing(S7) Click Connector(S7)

Tester Connection	Condition	Specified Condition	Result
S7-3 (CA1P) - S7-2 (CA1N)	Cable disconnected from negative (-) auxiliary battery terminal	54 to 69 Ω	Ω

Post-procedure1

(e) None

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

OK

18.	CHECK FORWARD RECOGNITION CAMERA

Pre-procedure1

(a) Disconnect the S7 blind spot monitor sensor RH (A) connector.

Procedure1

(b) Using an oscilloscope, check the waveform.

OK:

Click Location & Routing(S7) Click Connector(S7)

Tester Connection	Condition	Tool Setting	Specified Condition
S7-3 (CA1P) - S7-2 (CA1N)	Ignition switch ON	1V/DIV., 100μs./DIV.	Pulse generation

Post-procedure1

(c) None

OK

REPLACE BLIND SPOT MONITOR SENSOR RH (A)

NG

REPLACE FORWARD RECOGNITION CAMERA

Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message (U023587)

DESCRIPTION

The forward recognition camera communicates with the millimeter wave radar sensor assembly via CAN communication line. If communication with the millimeter wave radar sensor assembly stops, the forward recognition camera stores DTC U023587.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	DTC Output from	Priority
U023587	Lost Communication with Cruise Control Front Distance Range Sensor Single Sensor or Center Missing Message	When a communication error between forward recognition camera and millimeter wave radar sensor assembly is detected	Harness or connector Forward recognition camera Millimeter wave radar sensor assembly Clearance warning ECU assembly* Parking assist ECU*	Front Recognition Camera	A

HINT:

If the DTCs are output simultaneously, the inspection area can be narrowed down.

w/ Advanced Park

Pattern	DTC output part name (Display on GTS)				Suspected Area (Malfunction Status)
	Forward Recognition Camera	Millimeter Wave Radar Sensor Assembly	Clearance Warning ECU Assembly	Parking Assist ECU
	Front Recognition Camera	Front Radar Sensor	Clearance Warning	Circumference Monitoring Camera Control Module
	U023587	U010487	U117987	U11B687
○: DTC is output -: DTC is not output
Pattern 1	○	○	○	○	Harness or connector (Open or short)
					Millimeter wave radar sensor assembly (Internal malfunction)
					Clearance warning ECU assembly (Internal malfunction)
					Parking assist ECU (Internal malfunction)
					Forward recognition camera (Internal malfunction)
Pattern 2	○	-	-	-	Connector (Poor connector)
					Harness or connector (Open)
					Millimeter wave radar sensor assembly (Internal malfunction)
					Forward recognition camera (Internal malfunction)

w/o Advanced Park

Pattern	DTC output part name (Display on GTS)		Suspected Area (Malfunction Status)
	Forward Recognition Camera	Millimeter Wave Radar Sensor Assembly
	Front Recognition Camera	Front Radar Sensor
	U023587	U010487
○: DTC is output -: DTC is not output
Pattern 1	○	○	Harness or connector (Open or short)
			Millimeter wave radar sensor assembly (Internal malfunction)
			Forward recognition camera (Internal malfunction)
Pattern 2	○	-	Connector (Poor connector)
			Harness or connector (Open)
			Millimeter wave radar sensor assembly (Internal malfunction)
			Forward recognition camera (Internal malfunction)

WIRING DIAGRAM

w/ Advanced Park w/o Advanced Park

CAUTION / NOTICE / HINT

PROCEDURE

1.	CONFIRM MODEL

(a) Choose the model to be inspected.

Result	Proceed to
w/ Advanced Park	A
w/o Advanced Park	B

B

GO TO STEP 14

A

2.	CHECK FOR DTCs

(a) Read each DTC and check the diagnosis pattern using the table below.

Chassis > Front Recognition Camera > Trouble Codes Body Electrical > Front Radar Sensor > Trouble Codes Body Electrical > Clearance Warning > Trouble Codes Chassis > Circumference Monitoring Camera Control Module > Trouble Codes

Pattern	DTC output part name (Display on GTS)
	Front Recognition Camera	Front Radar Sensor	Clearance Warning	Circumference Monitoring Camera Control Module
Pattern 1	U023587	U010487	U117987	U11B687
Pattern 2	U023587	-	-	-

Result	Proceed to
Pattern 1	A
Pattern 2	B

B

GO TO STEP 9

A

3.

CLEAR DTC

Pre-procedure1

(a) Disconnect the R36 clearance warning ECU assembly connector.

Procedure1

(b) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

Post-procedure1

(c) None

NEXT

4.	INSPECT CLEARANCE WARNING ECU ASSEMBLY

(a) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
U023587 is not output	A
U023587 is output	B

A

REPLACE CLEARANCE WARNING ECU ASSEMBLY

B

5.

CLEAR DTC

Pre-procedure1

(a) Connect the R36 clearance warning ECU assembly connector.

(b) Disconnect the R34 parking assist ECU connector.

Procedure1

(c) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

Post-procedure1

(d) None

NEXT

6.	INSPECT PARKING ASSIST ECU

(a) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
U023587 is not output	A
U023587 is output	B

A

REPLACE PARKING ASSIST ECU

B

7.	CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA)

Pre-procedure1

(a) Disconnect the cable from the negative (-) auxiliary battery terminal.

(b) Connect the R34 parking assist ECU connector.

(c) Disconnect the U10 forward recognition camera connector.

Procedure1

(d) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Click Location & Routing(U10) Click Connector(U10)

Tester Connection	Condition	Specified Condition	Result
U10-12 (CANH) - U10-11 (CANL)	Cable disconnected from negative (-) auxiliary battery terminal	108 to 132 Ω	Ω
U10-12 (CANH) - Body ground	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher	Ω
U10-11 (CANL) - Body ground	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher	Ω
U10-12 (CANH) - B	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher	kΩ
U10-11 (CANL) - B	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher	kΩ

Post-procedure1

(e) None

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

8.	CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

Pre-procedure1

(a) Connect the U10 forward recognition camera connector.

(b) Disconnect the A21 millimeter wave radar sensor assembly connector.

Procedure1

(c) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Click Location & Routing(A21) Click Connector(A21)

Tester Connection	Condition	Specified Condition	Result
A21-8 (CA1P) - A21-7 (CA1N)	Cable disconnected from negative (-) auxiliary battery terminal	108 to 132 Ω	Ω
A21-8 (CA1P) - Body ground	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher	Ω
A21-7 (CA1N) - Body ground	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher	Ω
A21-8 (CA1P) - B	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher	kΩ
A21-7 (CA1N) - B	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher	kΩ

Post-procedure1

(d) None

OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here NOTICE: Before replacing the millimeter wave radar sensor assembly, make sure to turn the ignition switch from off to ON and check for DTCs.

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

9.	CHECK CONNECTION OF CONNECTORS

(a) Check that the connectors are properly connected to the forward recognition camera and millimeter wave radar sensor assembly.

OK:

The connectors are properly connected

NG

CONNECT CONNECTORS PROPERLY

OK

10.

CLEAR DTC

(a) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

NEXT

11.	CHECK FOR DTCs

Pre-procedure1

(a) Turn the ignition switch off.

(b) Turn the ignition switch to ON.

(c) Make sure that the DTC detection conditions are met.

HINT:

If the detection conditions are not met, the system cannot detect the malfunction.

Procedure1

(d) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
U023587 is not output	A
U023587 is output	B

Post-procedure1

(e) None

A

END

B

12.	CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA)

Pre-procedure1

(a) Disconnect the cable from the negative (-) auxiliary battery terminal.

(b) Disconnect the U10 forward recognition camera connector.

Procedure1

(c) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Click Location & Routing(U10) Click Connector(U10)

Tester Connection	Condition	Specified Condition	Result
U10-12 (CANH) - U10-11 (CANL)	Cable disconnected from negative (-) auxiliary battery terminal	108 to 132 Ω	Ω

Post-procedure1

(d) None

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

OK

13.	CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY

Pre-procedure1

(a) Disconnect the R36 clearance warning ECU assembly connector.

(b) Disconnect the R34 parking assist ECU connector.

(c) Disconnect the U10 forward recognition camera connector.

Procedure1

(d) Using an oscilloscope, check the waveform.

OK:

Click Location & Routing(U10) Click Connector(U10)

Tester Connection	Condition	Tool Setting	Specified Condition
U10-12 (CANH) - U10-11 (CANL)	Ignition switch ON	1V/DIV., 100μs./DIV.	Pulse generation

Post-procedure1

(e) None

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

14.	CHECK FOR DTCs

(a) Read each DTC and check the diagnosis pattern using the table below.

Chassis > Front Recognition Camera > Trouble Codes Body Electrical > Front Radar Sensor > Trouble Codes

Pattern	DTC output part name (Display on GTS)
	Front Recognition Camera	Front Radar Sensor
Pattern 1	U023587	U010487
Pattern 2	U023587	-

Result	Proceed to
Pattern 1	A
Pattern 2	B

B

GO TO STEP 17

A

15.	CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA)

Pre-procedure1

(a) Disconnect the cable from the negative (-) auxiliary battery terminal.

(b) Disconnect the U10 forward recognition camera connector.

Procedure1

(c) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Click Location & Routing(U10) Click Connector(U10)

Tester Connection	Condition	Specified Condition	Result
U10-12 (CANH) - U10-11 (CANL)	Cable disconnected from negative (-) auxiliary battery terminal	108 to 132 Ω	Ω
U10-12 (CANH) - Body ground	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher	Ω
U10-11 (CANL) - Body ground	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher	Ω
U10-12 (CANH) - B	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher	kΩ
U10-11 (CANL) - B	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher	kΩ

Post-procedure1

(d) None

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

16.	CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY)

Pre-procedure1

(a) Connect the U10 forward recognition camera connector.

(b) Disconnect the A21 millimeter wave radar sensor assembly connector.

Procedure1

(c) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Click Location & Routing(A21) Click Connector(A21)

Tester Connection	Condition	Specified Condition	Result
A21-8 (CA1P) - A21-7 (CA1N)	Cable disconnected from negative (-) auxiliary battery terminal	108 to 132 Ω	Ω
A21-8 (CA1P) - Body ground	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher	Ω
A21-7 (CA1N) - Body ground	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher	Ω
A21-8 (CA1P) - B	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher	kΩ
A21-7 (CA1N) - B	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher	kΩ

Post-procedure1

(d) None

OK

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY Click here NOTICE: Before replacing the millimeter wave radar sensor assembly, make sure to turn the ignition switch from off to ON and check for DTCs.

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

17.	CHECK CONNECTION OF CONNECTORS

(a) Check that the connectors are properly connected to the forward recognition camera and millimeter wave radar sensor assembly.

OK:

The connectors are properly connected

NG

CONNECT CONNECTORS PROPERLY

OK

18.

CLEAR DTC

(a) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

NEXT

19.	CHECK FOR DTCs

Pre-procedure1

(a) Turn the ignition switch off.

(b) Turn the ignition switch to ON.

(c) Make sure that the DTC detection conditions are met.

HINT:

If the detection conditions are not met, the system cannot detect the malfunction.

Procedure1

(d) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
U023587 is not output	A
U023587 is output	B

Post-procedure1

(e) None

A

END

B

20.	CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA)

Pre-procedure1

(a) Disconnect the cable from the negative (-) auxiliary battery terminal.

(b) Disconnect the U10 forward recognition camera connector.

Procedure1

(c) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Click Location & Routing(U10) Click Connector(U10)

Tester Connection	Condition	Specified Condition	Result
U10-12 (CANH) - U10-11 (CANL)	Cable disconnected from negative (-) auxiliary battery terminal	108 to 132 Ω	Ω

Post-procedure1

(d) None

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

OK

21.	CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY

Pre-procedure1

(a) Disconnect the U10 forward recognition camera connector.

Procedure1

(b) Using an oscilloscope, check the waveform.

OK:

Click Location & Routing(U10) Click Connector(U10)

Tester Connection	Condition	Tool Setting	Specified Condition
U10-12 (CANH) - U10-11 (CANL)	Ignition switch ON	1V/DIV., 100μs./DIV.	Pulse generation

Post-procedure1

(c) None

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

Internal Control Module Software Incompatibility Not Programmed (U030051,U030057,U030157)

DESCRIPTION

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	DTC Output from	Priority
U030051	Internal Control Module Software Incompatibility Not Programmed	When the forward recognition camera cannot confirm the Powertrain Information based on Powertrain Information sent from the hybrid Toyota Prius vehicle control ECU	Hybrid control system Forward recognition camera	Front Recognition Camera	B
U030057	Internal Control Module Software Incompatibility Invalid/Incompatible Software Component	When the Powertrain Information value sent from the hybrid Toyota Prius vehicle control ECU does not match the value stored in the forward recognition camera	Hybrid control system Forward recognition camera	Front Recognition Camera	B
U030157	Software Incompatibility with ECM/PCM Invalid/Incompatible Software Component	When the powertrain information sent from the hybrid Toyota Prius vehicle control ECU does not match the value stored in the forward recognition camera	Hybrid control system Forward recognition camera	Front Recognition Camera	B

CAUTION / NOTICE / HINT

PROCEDURE

1.	CHECK FOR DTCs (Hybrid Control)

(a) Check for DTCs.

Powertrain > Hybrid Control > Trouble Codes

HINT:

If DTC U030051, U030057 or U030157 is output, inspect the hybrid control system first as a hybrid control system DTC may be stored.

Result	Proceed to
Hybrid control system DTC is not output	A
Hybrid control system DTC is output	B

B

GO TO HYBRID CONTROL SYSTEM for 2ZR-FXE: Click here for M20A-FXS: Click here

A

2.	CHECK FOR DTCs (HEALTH CHECK)

(a) Using the GTS, perform a health check.

OK:

ECUs other than the forward recognition camera do not output specification information mismatch DTCs related to the hybrid Toyota Prius vehicle control ECU.

Result	Proceed to
DTC is not output	A
DTC is output	B

B

REPLACE HYBRID Toyota Prius Vehicle CONTROL ECU

A

3.	READ VALUE USING GTS (Powertrain Information)

(a) Using the GTS, read the Data List.

Chassis > Front Recognition Camera > Data List

Tester Display	Measurement Item	Range	Normal Condition	Diagnostic Note
Powertrain Information	Powertrain information	Conventional, SS, HV, PHV, EV, 1MHV, FCV or Default Value	Conventional: Conventional Toyota Prius vehicle SS: w/ Stop and start vehicle HV: HEV PHV: PHEV EV: BEV 1MHV: 1MHV FCV: FCEV Default Value: Vehicle information not confirmed	-

Chassis > Front Recognition Camera > Data List

Tester Display
Powertrain Information

Result	Proceed to
Vehicle information stored in the forward recognition camera and actual Toyota Prius vehicle specifications do not match Not confirmed is displayed	A
Vehicle specification information stored in forward recognition camera and actual vehicle specifications match	B

A

REPLACE FORWARD RECOGNITION CAMERA

B

REPLACE HYBRID Toyota Prius Vehicle CONTROL ECU

Software Incompatibility with Body Control Module Not Programmed (U032251)

DESCRIPTION

Forward recognition camera receives vehicle specification information from the main body ECU (multiplex network body ECU) via CAN communication line. If the forward recognition camera cannot confirm the vehicle specification information based on vehicle specification information sent from the main body ECU (multiplex network body ECU), the forward recognition camera stores DTC U032251.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	DTC Output from	Priority
U032251	Software Incompatibility with Body Control Module Not Programmed	When the forward recognition camera cannot confirm the Toyota Prius vehicle specification information based on vehicle specification information sent from the main body ECU (multiplex network body ECU)	Forward recognition camera	Front Recognition Camera	B

CAUTION / NOTICE / HINT

PROCEDURE

1.	CHECK FOR DTCs (HEALTH CHECK)

(a) Using the GTS, perform a health check.

OK:

DTCs are not output by any system other than the front camera system (Front Recognition Camera).

Result	Proceed to
DTC is not output	A
DTC is output	B

A

REPLACE FORWARD RECOGNITION CAMERA

B

GO TO DTC CHART

Software Incompatibility with Clearance Warning Control Module Invalid / Incompatible Software Component (U130957)

DESCRIPTION

Forward recognition camera receives the vehicle specification information value from the clearance warning ECU assembly via the CAN communication line. When the vehicle specification information value sent from the clearance warning ECU assembly does not match the value stored in the forward recognition camera, the forward recognition camera stores DTC U130957.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	DTC Output from	Priority
U130957	Software Incompatibility with Clearance Warning Control Module Invalid / Incompatible Software Component	When the Toyota Prius vehicle specification information value sent from the clearance warning ECU assembly does not match the value stored in the forward recognition camera	Intuitive parking assist system Forward recognition camera	Front Recognition Camera	B

CAUTION / NOTICE / HINT

PROCEDURE

1.

CLEAR DTC

(a) Clear the DTCs.

Chassis > Front Recognition Camera > Clear DTCs

NEXT

2.	CHECK FOR DTCs

Pre-procedure1

(a) Make sure that the DTC detection conditions are met.

HINT:

If the detection conditions are not met, the system cannot detect the malfunction.

Procedure1

(b) Check for DTCs.

Chassis > Front Recognition Camera > Trouble Codes

Result	Proceed to
U130957 is not output	A
U130957 is output	B

Post-procedure1

(c) None

A

USE SIMULATION METHOD TO CHECK

B

3.	CHECK INTUITIVE PARKING ASSIST SYSTEM

HINT:

Click here

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

GO TO INTUITIVE PARKING ASSIST SYSTEM

Software Incompatibility with Navigation Control Module Invalid / Incompatible Software Component (U131457)

DESCRIPTION

The forward recognition camera receives the AVN generation information from the navigation system via CAN communication. When the value of the AVN generation information sent from the navigation system does not match the value stored in the forward recognition camera, the forward recognition camera stores DTC U131457.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	DTC Output from	Priority
U131457	Software Incompatibility with Navigation Control Module Invalid / Incompatible Software Component	The AVN generation information sent from the navigation system does not match the AVN generation information stored in the forward recognition camera	Navigation system Forward recognition camera	Front Recognition Camera	B

CAUTION / NOTICE / HINT

PROCEDURE

1.	CHECK FOR DTCs (NAVIGATION SYSTEM)

(a) Check for DTCs.

Body Electrical > Navigation System > Trouble Codes

Result	Proceed to
DTCs are not output	A
DTCs are output	B

B

GO TO NAVIGATION SYSTEM

A

2.	CHECK FOR DTCs (HEALTH CHECK)

(a) Using the GTS, perform a health check.

OK:

ECUs other than the forward recognition camera do not output any navigation system DTCs.

Result	Proceed to
DTC is not output	A
DTC is output	B

A

REPLACE FORWARD RECOGNITION CAMERA

B

GO TO DTC CHART

Steering Pad Switch Circuit

DESCRIPTION

WIRING DIAGRAM

CAUTION / NOTICE / HINT

PROCEDURE

1.	CONFIRM PROBLEM SYMPTOMS

(a) Check the problem symptoms.

Result	Proceed to
All switches cannot be operated	A
Driving assist switch, RES switch, -Switch, CANCEL switch cannot be operated	B
Only driving assist switch cannot be operated	C
Only RES switch cannot be operated
Only -switch cannot be operated
Only CANCEL switch cannot be operated
Only driving assist mode select switch cannot be operated
Only Toyota Prius vehicle-to-vehicle distance switch cannot be operated
Only LTA switch cannot be operated
Driving assist mode select switch, vehicle-to-vehicle distance switch, and LTA switch cannot be operated	D

B

GO TO STEP 5

C

REPLACE STEERING PAD SWITCH ASSEMBLY

D

GO TO STEP 8

A

2.	INSPECT STEERING PAD SWITCH ASSEMBLY

Click here

NG

REPLACE STEERING PAD SWITCH ASSEMBLY

OK

3.	INSPECT SPIRAL CABLE SUB-ASSEMBLY

Click here

NG

REPLACE SPIRAL CABLE SUB-ASSEMBLY

OK

4.	CHECK HARNESS AND CONNECTOR (SPIRAL CABLE SUB-ASSEMBLY - HYBRID Toyota Prius Vehicle CONTROL ECU)

(a) Disconnect the K11 hybrid vehicle control ECU connector.

(b) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Click Location & Routing(K96,K11) Click Connector(K96) Click Connector(K11)

Tester Connection	Condition	Specified Condition
K96-2 (ECC) - K11-43 (CCSG)	Always	Below 1 Ω
K96-2 (ECC) or K11-43 (CCSG) - Body ground	Always	10 kΩ or higher

OK

PROCEED TO NEXT SUSPECTED AREA SHOWN IN PROBLEM SYMPTOMS TABLE

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

5.	INSPECT STEERING PAD SWITCH ASSEMBLY

Click here

NG

REPLACE STEERING PAD SWITCH ASSEMBLY

OK

6.	INSPECT SPIRAL CABLE SUB-ASSEMBLY

Click here

NG

REPLACE SPIRAL CABLE SUB-ASSEMBLY

OK

7.	CHECK HARNESS AND CONNECTOR (SPIRAL CABLE SUB-ASSEMBLY - HYBRID Toyota Prius Vehicle CONTROL ECU)

(a) Disconnect the K11 hybrid vehicle control ECU connector.

(b) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Click Location & Routing(K96,K11) Click Connector(K96) Click Connector(K11)

Tester Connection	Condition	Specified Condition
K96-13 (CCS) - K11-29 (CCS)	Always	Below 1 Ω
K96-13 (CCS) or K11-29 (CCS) - Body ground	Always	10 kΩ or higher

OK

REPLACE HYBRID Toyota Prius Vehicle CONTROL ECU

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR

8.	INSPECT STEERING PAD SWITCH ASSEMBLY

Click here

NG

REPLACE STEERING PAD SWITCH ASSEMBLY

OK

9.	INSPECT SPIRAL CABLE SUB-ASSEMBLY

Click here

NG

REPLACE SPIRAL CABLE SUB-ASSEMBLY

OK

10.	CHECK HARNESS AND CONNECTOR (SPIRAL CABLE SUB-ASSEMBLY - FORWARD RECOGNITION CAMERA)

(a) Disconnect the U10 forward recognition camera connector.

(b) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Click Location & Routing(K96,U10) Click Connector(K96) Click Connector(U10)

Tester Connection	Condition	Specified Condition
K96-6 (DIST) - U10-5 (LKSW)	Always	Below 1 Ω
K96-6 (DIST) or U10-5 (LKSW) - Body ground	Always	10 kΩ or higher

OK

REPLACE FORWARD RECOGNITION CAMERA

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR