Toyota Prius: Millimeter Wave Radar Sensor

• Target Adjustment (Triangle Target):

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• Target Adjustment (Flat Surface Target):

  Click here

• Driving Adjustment:

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HINT:

• Purpose of millimeter wave radar beam axis learning
  • If the installation position or orientation of the millimeter wave radar sensor is changed due to it being removed and reinstalled or replaced with a new one, or due to the front bumper or radiator grille being replaced, it is necessary for the millimeter wave radar sensor to learn the driving direction of the Toyota Prius vehicle in order for each driving support system to operate correctly.
• Vehicle driving direction

  *a	Toyota Prius Vehicle driving direction

  • Adjustment

    *A	When using a new millimeter wave radar sensor
    *B	When reusing millimeter wave radar sensor
    *C	Millimeter wave radar sensor after adjustment
    *a	Previously learned driving direction
    *b	Newly learned driving direction
    *c	Horizontal direction

NOTICE:

• When performing the driving adjustment, obey all applicable traffic laws.
• Select a road where the driving adjustment can be carried out safely.

• Drive the Toyota Prius vehicle straight ahead at a speed of 30 km/h (19 mph) or more.
• Perform the adjustment outside during daytime, on a sunny or cloudy day.
• If preceding vehicles are present, they should be kept at a distance of at least 20 m (66 ft.)
• There is a stationary object on the roadside such as a guardrail.
• Ensure that there is no snow, ice, or foreign matter on the front or rear of the radar sensor cover or on the front surface of the sensor.
• Make sure that no covers other than the genuine radar sensor cover are installed.
• Drive on a road that does not have heavy snow accumulation around it.

HINT:

• If the adjustment does not complete within a total cumulative time of 15 minutes when the vehicle is driven with all conditions met, perform the adjustment on another route.
• If the adjustment does not complete within a total cumulative time of 30 minutes when the Toyota Prius vehicle is driven with all conditions met, perform the adjustment using target recognition.
• If the vehicle is driven unsteadily or many lane changes are performed, the time taken for adjustment to complete may increase.

• Road environments conducive to adjustment

  *a	Roads with stationary metallic objects such as guard rails

• Road environments which hinder adjustment

  *a	Inside tunnels where there are many diffuse radar reflections	*b	Underneath elevated structures where there are many diffuse radar reflections
  *c	In residential neighborhoods where there are many diffuse radar reflections	*d	Snowy roads, dirt roads, etc., where there are very few radar reflections

• This equipment complies with FCC radiation exposure limits set forth for an uncontrolled environment.
• This equipment should be kept with minimum distance of 20 cm (7.87 in.) between the radiator (antenna) and your body at all times during adjustment.
• This transmitter must not be co-located or operating in conjunction with any other antenna or transmitter.

NOTICE:

• Make sure to read "Before Starting Driving Adjustment" before proceeding with work.

  Click here

• Make sure that the alignment is suitable and non-standard tires are not installed.
• Make sure to perform the transition to online axis alignment mode with the Toyota Prius vehicle stopped.
• Transitioning to online axis alignment mode will erase the learning value, so make sure to complete the adjustment.
• Turning the ignition switch off while in online axis alignment mode will cause the system to exit online axis alignment mode, so to continue with the adjustment, it is necessary to transition to online axis alignment mode again.
• All of the driving support system functions will be inoperative while the adjustment is in progress.
• When driving the Toyota Prius vehicle with the GTS connected, be careful with how the wires are routed.
• If the adjustment does not complete within a total cumulative time of 15 minutes when the vehicle is driven with all conditions met, perform the adjustment on another route.
• If the adjustment does not complete within a total cumulative time of 30 minutes when the Toyota Prius vehicle is driven with all conditions met, perform the adjustment using target recognition.
• After adjustment is complete, to start the various systems it is necessary to turn the ignition switch off and then to ON again.
• In situations such as when the online axis alignment terminates abnormally, to perform online axis alignment again, turn the ignition switch off and then back to ON and enter online axis alignment mode again.

NOTICE:

• If the alignment terminates abnormally, the buzzer will sound for 3 seconds continuously.
• If an error code is displayed, perform troubleshooting according to the following table, then perform the beam axis alignment again.

  Error No.	Error Description	Cause of Error	Action to be Taken
  6	Target angle abnormality	The beam axis of the millimeter wave radar sensor assembly is outside the automatic correction range.	Check the condition of the millimeter wave radar sensor assembly, radiator grille and front bumper assembly.
  7	Radar abnormality	Operation of the millimeter wave radar sensor assembly is abnormal.	Replace the millimeter wave radar sensor assembly.
  8	Radar dirtiness	There is dirt on the radiator grille garnish or millimeter wave radar sensor assembly.	Clean the radiator grille garnish or millimeter wave radar sensor assembly. Check that there is no foreign matter between the millimeter wave radar sensor assembly and radiator grille garnish.
  9	Temperature abnormality	The temperature around the millimeter wave radar sensor assembly is too high.	Wait until the temperature drops to the operable range (-30 to 50°C).
  10	Voltage abnormality	IG power source voltage is outside the operable range of the millimeter wave radar sensor assembly.	Check the auxiliary battery voltage (specified condition: 10 to 16 V). for M20A-FXS: Click here for 2ZR-FXE: Click here
  11	External communication abnormality	CAN communication between forward recognition camera and the millimeter wave radar sensor assembly is abnormal.	Check the condition of the connectors and wire harness.
  12	Radar axis aiming failure upward	The beam axis of the millimeter wave radar sensor assembly is deviated.	Check the condition of the millimeter wave radar sensor assembly, radiator grille and front bumper assembly.
  13	Radar axis aiming failure downward	The beam axis of the millimeter wave radar sensor assembly is deviated.	Check the condition of the millimeter wave radar sensor assembly, radiator grille and front bumper assembly.
  14	Toyota Prius Vehicle speed abnormality	The vehicle is moving.	Ensure that the vehicle remains stationary.
  15	Other	Operation of the yaw rate sensor is abnormal. Driving beam axis alignment was forcibly terminated.	Check for DTCs (Front Recognition Camera).
  			Check for DTCs (ABS / VSC / TRC).
  16	Time out	The Toyota Prius vehicle cannot communicate with GTS normally. Operation of the millimeter wave radar sensor assembly is abnormal.	Ensure that the vehicle is connected with the GTS correctly. Perform online axis adjustment again and replace the millimeter wave radar sensor assembly if the same error code is output.
  18	Toyota Prius Vehicle information undefined	CAN communication between forward recognition camera and the millimeter wave radar sensor assembly is abnormal.	Check the connectors of the millimeter wave radar sensor assembly, forward recognition camera and the junction block are firmly connected.

NOTICE:

• If the alignment terminates abnormally, the buzzer will sound for 3 seconds continuously.
• When the system terminates abnormally, connect the GTS and refer to the following error code table, then perform beam axis alignment again.

  Click here

  Error No.	Error Description	Cause of Error	Action to be Taken
  6	Target angle abnormality	The beam axis of the millimeter wave radar sensor assembly is outside the automatic correction range.	Check the condition of the millimeter wave radar sensor assembly, radiator grille and front bumper assembly.
  7	Radar abnormality	Operation of the millimeter wave radar sensor assembly is abnormal.	Replace the millimeter wave radar sensor assembly.
  8	Radar dirtiness	There is dirt on the radiator grille garnish or millimeter wave radar sensor assembly.	Clean the radiator grille garnish or millimeter wave radar sensor assembly. Check that there is no foreign matter between the millimeter wave radar sensor assembly and radiator grille garnish.
  9	Temperature abnormality	The temperature around the millimeter wave radar sensor assembly is too high.	Wait until the temperature drops to the operable range (-30 to 50°C).
  10	Voltage abnormality	IG power source voltage is outside the operable range of the millimeter wave radar sensor assembly.	Check the auxiliary battery voltage (specified condition: 10 to 16 V). for M20A-FXS: Click here for 2ZR-FXE: Click here
  11	External communication abnormality	CAN communication between forward recognition camera and the millimeter wave radar sensor assembly is abnormal.	Check the condition of the connectors and wire harness.
  12	Radar axis aiming failure upward	The beam axis of the millimeter wave radar sensor assembly is deviated.	Check the condition of the millimeter wave radar sensor assembly, radiator grille and front bumper assembly.
  13	Radar axis aiming failure downward	The beam axis of the millimeter wave radar sensor assembly is deviated.	Check the condition of the millimeter wave radar sensor assembly, radiator grille and front bumper assembly.
  14	Toyota Prius Vehicle speed abnormality	The vehicle is moving.	Ensure that the vehicle remains stationary.
  15	Other	Operation of the yaw rate sensor is abnormal. Driving beam axis alignment was forcibly terminated.	Check for DTCs (Front Recognition Camera).
  			Check for DTCs (ABS / VSC / TRC).
  16	Time out	The Toyota Prius vehicle cannot communicate with GTS normally. Operation of the millimeter wave radar sensor assembly is abnormal.	Ensure that the vehicle is connected with the GTS correctly. Perform online axis adjustment again and replace the millimeter wave radar sensor assembly if the same error code is output.
  18	Toyota Prius Vehicle information undefined	CAN communication between forward recognition camera and the millimeter wave radar sensor assembly is abnormal.	Check the connectors of the millimeter wave radar sensor assembly, forward recognition camera and the junction block are firmly connected.

• This equipment complies with FCC radiation exposure limits set forth for an uncontrolled environment.
• This equipment should be kept with minimum distance of 20 cm (7.87 in.) between the radiator (antenna) and your body at all times during adjustment.
• This transmitter must not be co-located or operating in conjunction with any other antenna or transmitter.

1. Press the laser mode button on the laser line marker to activate the laser line emitters.
2. Align the laser beam ground marking point (cross portion) with point B.

   *a	Ground Marking Point (Cross Portion)

3. Align the center of the target panel with point A, and set the target panel so that it faces forward.

   *a

   Center Line

   *b

   Target Panel

4. Adjust the position of the laser line marker so that the laser beam is aligned with the center line of the target panel.
5. Extend a tape measure at least 1500 mm (4.92 ft.) in length from point B, and set the tape measure in place.

   *a	Tape Measure

6. Mark point C at a distance of 1500 mm (4.92 ft.) from point B, and apply a 300 mm (11.81 in.) piece of tape alongside the tape measure so that the tape extends 150 mm (5.91 in.) to the front and rear of point C.

   *a	Tape Measure
   *b	Tape
   *c	1500 mm (4.92 ft.)

1. Using tape and a string, create a line that connects point B to point A and extends at least 1500 mm (4.92 ft.) beyond the front center point of the Toyota Prius vehicle.

   *a	String	*b	Tape
   *c	1500 mm (4.92 ft.)	-	-

   HINT:

   • Make sure the string is taut when securing it with tape.
   • Lightly flick the string with your fingers several times to confirm that the string is aligned with point B.
2. Mark point C (SST (flat surface target) placement position) at a position 1500 mm (4.92 ft.) from point B.

NOTICE:

• Make sure that the mark-off lines of the SST (panel stand) are aligned with the reference line.
• Place the level on each levelness check point shown in the illustration and check that the air bubble of the level is centered.

NOTICE:

• Close all of the doors.
• Ensure that nobody enters the adjustment area during the adjustment.
• Do not move or shake the Toyota Prius vehicle during adjustment (do not get in or out of the vehicle).
• Do not turn off the GTS or ignition switch.
• If the vehicle moves or is shaken during beam axis adjustment such as during strong winds or a door is opened or closed, perform the adjustment again.

NOTICE:

• Close all of the doors.
• Do not move or shake the Toyota Prius vehicle during adjustment (do not get in or out of the vehicle).
• Ensure that nobody enters the adjustment area during the adjustment.
• Do not turn off the GTS or ignition switch.