Toyota Prius: Parking Support Brake System

Toyota Prius (XW60) 2023-2025 Service Manual / Audio/Visual/Telematics / Park Assist / Monitoring / Parking Support Brake System

Precaution
Parts Location
System Diagram
How To Proceed With Troubleshooting
Operation Check
Customize Parameters
Calibration
Utility
Problem Symptoms Table
Terminals Of Ecu
Diagnosis System
Fail-safe Chart
Data List / Active Test
Diagnostic Trouble Code Chart
VEHICLE CONTROL HISTORY (RoB)
Lost Communication With ECM/PCM "A" Missing Message (U010087,U012687,U012987,U015587,U023B87,U026587,U029387)
Lost Communication with Side Obstacle Detection Control Module "A" (ch2) Missing Message (U117787)

Precaution

PRECAUTION

PRECAUTIONS WHEN REPLACING CLEARANCE WARING ECU ASSEMBLY

NOTICE:

When the clearance warning ECU assembly is replaced, update the ECU security key.

Click here

PRECAUTION FOR DISCONNECTING CABLE FROM NEGATIVE AUXILIARY BATTERY TERMINAL

NOTICE:

After the ignition switch is turned off, there may be a waiting time before disconnecting the negative (-) auxiliary battery terminal.

Click here

HINT:

When disconnecting and reconnecting the auxiliary battery, there is an automatic learning function that completes learning when the respective system is used.

Click here

PRECAUTION FOR SERVICING Toyota Prius Vehicle

(a) After ECUs or parts are removed and installed, or replaced during inspection or servicing the vehicle, it is necessary to perform certain procedures (adjustment, calibration, initialization or registration).

Click here

PRECAUTION FOR TROUBLESHOOTING

(a) When a terminal contact is loose or damaged or a part is improperly installed, the system may only temporarily return to normal if the part is removed and installed without thorough diagnosis and repair.

(b) In order to assist with diagnosis, check and make a note of related information such as DTCs and Freeze Frame Data before disconnecting any connectors or removing and installing parts.

(c) Since the system may be influenced by malfunctions in systems other than the parking support brake system, be sure to check for any past and present DTCs in other systems.

HANDLING PRECAUTIONS FOR ECU OR SENSOR

(a) Unless specified by the inspection procedure, make sure that the ignition switch off when removing or installing each ECU or ultrasonic sensor.

(b) After removing and installing each ECU or ultrasonic sensor and all parts have been installed, check and ensure that no DTCs are output.

HANDLING PRECAUTIONS FOR PARKING SUPPORT BRAKE SYSTEM

(a) Make sure to observe the following points when using the parking support brake system.

(1) Do not rely solely upon the parking support brake system. Relying solely upon the parking support brake system may lead to an unexpected accident.

Driving safely is the sole responsibility of the driver. Pay careful attention to the surrounding conditions in order to ensure safe driving. The parking support brake function can provide support to lessen the severity of collisions. However, it may not operate depending on the situation.
The parking support brake system is not a system to stop the Toyota Prius vehicle completely. If the vehicle is stopped by the parking support brake system, brake control by the parking support brake system will be canceled after approximately 2 seconds. Depress the brake pedal immediately after the parking support brake system operates.
Do not drive toward static objects such as cars, walls, or pedestrians for the purpose of intentionally activating the system.

(2) For the parking support brake system to operate correctly, make sure to observe the following points for the ultrasonic sensors. If not, the ultrasonic sensors may not operate correctly, resulting a serious injury.

Do not modify, disassemble or paint an ultrasonic sensor.
When replacing an ultrasonic sensor, only use TOYOTA genuine parts.
Do not subject an ultrasonic sensor or the area around an ultrasonic sensor to any impact.
Do not damage an ultrasonic sensor. Always keep the ultrasonic sensors clean.

(3) Adhere to the following precautions for the blind spot monitor sensor to ensure that the system operates normally. If the blind spot monitor sensor does not operate normally, it may lead to an unforeseen accident, which is dangerous. (w/ Rear Cross Traffic Alert System)

Keep the blind spot monitor sensors and the surrounding areas on the rear bumper clean at all times.
Do not subject a blind spot monitor sensor or its surrounding area on the rear bumper to a strong impact. If a blind spot monitor sensor is moved even slightly off position, the system may malfunction and Toyota Prius vehicles may not be detected correctly. In the following situations, inspect the blind spot monitor sensor and surrounding area.
- A blind spot monitor sensor or its surrounding area is subject to a strong impact.
- If the surrounding area of a blind spot monitor sensor is scratched or dented, or part of them has become disconnected.
Do not disassemble the blind spot monitor sensor.
Do not install accessories in the blind spot monitor sensors and the rear bumper near the blind spot monitor sensors and apply any sticker (including a transparent one) and aluminum tape.
Do not modify the blind spot monitor sensor or surrounding area on the rear bumper.
Do not paint the rear bumper any color other than an official TOYOTA color.
Do not drop a blind spot monitor sensor or subject it to a strong impact, as it is a high-precision device.
Do not reuse a blind spot monitor sensor that has been dropped or subjected to a strong impact.

(4) Do not modify the suspension, as changes to the height or incline of the Toyota Prius vehicle may prevent the ultrasonic sensors from correctly detecting obstacles. This may cause the system to fail to operate or to operate incorrectly.

(5) If the area around an ultrasonic sensor is subjected to an impact, equipment may not operate properly due to an ultrasonic sensor malfunction.

(6) When washing the Toyota Prius vehicle with a high-pressure washer, do not spray water on the ultrasonic sensors or surrounding areas. High-pressure water can damage the ultrasonic sensors.

(7) When using steam to wash the vehicle, do not apply steam too close to the ultrasonic sensors. They may not function properly if subjected to steam.

PRECAUTIONS FOR PARKING SUPPORT BRAKE FUNCTION

(a) In the following situations, the parking support brake system may not operate correctly.

(1) Environmental influence

There is an object that prevents correct detection of an obstruction between the ultrasonic sensor and the obstruction.
An object such as a motorcycle, bicycle or pedestrian crosses in front of the Toyota Prius vehicle.

(2) Influence from the weather

When the vehicle is operated under the hot sun or in a freezing climate.
When foreign matter such as ice, snow or mud is attached to an ultrasonic sensor. If the ultrasonic sensor is cleaned, the system will return to normal.
It is raining heavily or the sensor is sprayed with water.
The wind is strong.
In severe weather such as fog, snow or a sandstorm.

(3) Influence from other ultrasonic waves

When ultrasonic waves are received from the horn or parking sonar system of another Toyota Prius vehicle, a motorcycle engine, or the air brakes of a large vehicle.
Electronic components such as a backlit license plate (especially fluorescent types), fog lights, a fender pole or a wireless antenna are installed near an ultrasonic sensor.

(4) Changes in the vehicle

The Toyota Prius vehicle is tilted at a steep angle.
The height of the vehicle has drastically changed due to loading (the nose tilts up or down).
When the ultrasonic sensors become misaligned due to removal and installation or a collision, etc.
When the tire diameter is not correct for the Toyota Prius vehicle, the suspension has been modified, etc.

(5) Regarding detection of stationary objects in the side area (w/ Advanced Park System)

Objects along the sides of the vehicle are not instantaneously detected. The location of objects in relation to the vehicle is estimated after they are first detected by the front or rear side sensors. Therefore, after turning the ignition switch to ON (IG), even if a stationary object is along the side of the Toyota Prius vehicle, it may not be detected until the vehicle has been driven a small amount and the side sensors completely scan the areas along the sides of the vehicle.
When the outer rear view mirror assemblies are retracted, objects cannot be detected.

(6) Other

When driving in shift position N

(b) The sensors cannot detect the following objects:

Objects that absorb ultrasonic waves such as people (especially people wearing certain types of clothing), cotton or snow.
Objects that are not perpendicular to the path of the Toyota Prius vehicle, or are angled away from the ultrasonic sensors, or objects with uneven surfaces.
Short objects
Thin objects such as wire, rope or a post.
Objects that are extremely close to a bumper.
Objects that are tall and protrude toward the vehicle above the detection range of the sensors.
Sharp objects.

PRECAUTIONS FOR REAR CROSS TRAFFIC AUTO BRAKE FUNCTION (w/ Rear Cross Traffic Alert System)

(a) The rear cross traffic auto brake function does not detect the following objects and Toyota Prius vehicles:

*: These objects may be detected depending on the situation.

(1) Stationary objects.

(2) Vehicles moving away from this vehicle

(3) Moving objects other than passenger vehicles such as pedestrians, motorcycles or bicycles

(4) Objects extremely close to the blind spot monitor sensors

(5) The speed of a Toyota Prius vehicle approaching the right or left at the rear of the vehicle is less than 8 km/h (5 mph).

(6) The speed of a vehicle approaching the right or left at the rear of the vehicle is more than 24 km/h (15 mph).

(7) The distance between the radar sensor and an approaching object is too close.

(b) The rear cross traffic auto brake function may not be able to detect objects in the following situations:

(1) When the Toyota Prius vehicle is parked in a very hot or cold environment.

(2) When foreign matter such as snow, ice or mud is attached to the rear bumper.

(3) During heavy rain or when water is splashing on the vehicle.

(4) When an approaching vehicle is blocked from a blind spot monitor sensor by an adjacent Toyota Prius vehicle.

(5) When the vehicle is significantly tilted.

(6) When the vehicle is being towed.

(7) When the vehicle is equipped with lowered suspension or tires with a diameter different to that of the original.

(8) When the height of the vehicle has drastically changed (the nose is tilted up or down).

(9) When electronic components such as a backlit license plate, fog lights, a fender pole, wireless antenna or stickers are installed near the sensors.

(10) When a blind spot monitor sensor is misaligned.

(11) When several Toyota Prius vehicles are approaching with little space between them.

(12) When a vehicle is approaching at high speed.

(1) When a vehicle is approaching from behind.

(2) When the Toyota Prius vehicle is parked at a shallow angle.

(3) When either of the blind spot monitor sensors is blocked such as by an adjacent vehicle.

(4) When the vehicle is parked on a steep hill with varying gradients.

(5) When a Toyota Prius vehicle turns in close proximity to the vehicle

PRECAUTIONS FOR PARKING SUPPORT BRAKE SYSTEM (REAR PEDESTRIANS) FUNCTION (w/ Rear Camera Detection Function)

(a) Situations in which pedestrians cannot be detected normally

Pedestrians who are stooping or squatting.
Pedestrians who are laying down.
Pedestrians who are running.
Pedestrians who suddenly appear from the shadow of the Toyota Prius vehicle or a building.
Pedestrians who are riding moving objects such as a bicycle, skateboard or Segway.
Pedestrians wearing a raincoat, long skirt, etc., making the outline of their body indistinct.
Pedestrians at night and pedestrians whose clothing resembles the color of their surroundings.
Pedestrians partially obscured by a cart, luggage, etc.
Pedestrians wearing abnormal clothing (such as a party costume).
When water droplets flow over the camera lens and make it difficult to see the screen (including when the camera cleaner system is operating).

(b) Parking support brake system (rear pedestrians) function may not be able to detect pedestrians in the following situations:

At night (after sunset).
During bad weather (rain, snow, fog, etc.).
Damaged or dirty lens (dirt, snow-melting agent, etc.).
Backlight (direct sunlight, sunlight reflected off the road surface, headlights of other Toyota Prius vehicles, etc.).
Difference in brightness (near open shutters in a garage or underground parking area).

SENSOR EXPRESSIONS (w/ Rear Cross Traffic Alert System)

(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
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/ Advanced Park	-	-
*1	BRAKE ACTUATOR ASSEMBLY - NO. 2 SKID CONTROL ECU	*2	FRONT CORNER ULTRASONIC SENSOR RH
*3	FRONT CENTER ULTRASONIC SENSOR RH	*4	FRONT CENTER ULTRASONIC SENSOR LH
*5	FRONT CORNER ULTRASONIC SENSOR LH	*6	FRONT SIDE ULTRASONIC SENSOR RH
*7	FRONT SIDE ULTRASONIC SENSOR LH	*8	OUTER REAR VIEW MIRROR ASSEMBLY LH - OUTER MIRROR RETRACTOR LH - SIDE TELEVISION CAMERA ASSEMBLY LH - PARKING ASSIST LIGHT LH
*9	OUTER REAR VIEW MIRROR ASSEMBLY RH - OUTER MIRROR RETRACTOR RH - SIDE TELEVISION CAMERA ASSEMBLY RH - PARKING ASSIST LIGHT RH	*10	HYBRID Toyota Prius Vehicle CONTROL ECU

ILLUSTRATION

*1	RADIO AND DISPLAY RECEIVER ASSEMBLY	*2	COMBINATION METER ASSEMBLY - MULTI-INFORMATION DISPLAY - DRIVING ASSIST INFORMATION INDICATOR - CLEARANCE SONAR OFF INDICATOR
*3	MAIN BODY ECU (MULTIPLEX NETWORK BODY ECU)	*4	STEERING SENSOR
*5	DLC3	*6	POWER DISTRIBUTION BOX ASSEMBLY - ECU-IGR NO.1 FUSE
*7	CLEARANCE WARNING ECU ASSEMBLY	-	-

ILLUSTRATION

*A	w/ Advanced Park	*B	w/ Panoramic View Monitor System
*C	w/ Rear Cross Traffic Alert System	-	-
*1	REAR CORNER ULTRASONIC SENSOR LH	*2	REAR CENTER ULTRASONIC SENSOR LH
*3	REAR CENTER ULTRASONIC SENSOR RH	*4	REAR CORNER ULTRASONIC SENSOR RH
*5	PARKING ASSIST ECU	*6	BLIND SPOT MONITOR SENSOR LH (B)
*7	BLIND SPOT MONITOR SENSOR RH (A)	*8	REAR SIDE ULTRASONIC SENSOR LH
*9	REAR SIDE ULTRASONIC SENSOR RH	*10	REAR TELEVISION CAMERA ASSEMBLY

System Diagram

SYSTEM DIAGRAM

How To Proceed With Troubleshooting

CAUTION / NOTICE / HINT

HINT:

Use the following procedure to troubleshoot the parking support brake system.
*: Use the GTS.

PROCEDURE

1.	Toyota Prius Vehicle BROUGHT TO WORKSHOP

2.	CUSTOMER PROBLEM ANALYSIS

3.	INSPECT AUXILIARY BATTERY VOLTAGE

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

Standard Voltage:

11 to 14 V

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

4.	CHECK CAN COMMUNICATION SYSTEM*

(a) Use the GTS to check if the CAN communication system is functioning normally.

Click here

Result	Proceed to
CAN communication system DTCs are not output (w/ Rear Cross Traffic Alert System)	A
CAN communication system DTCs are not output (w/o Rear Cross Traffic Alert System)	B
CAN communication system DTCs are output	C

Result

Proceed to

CAN communication system DTCs are not output

(w/ Rear Cross Traffic Alert System)

CAN communication system DTCs are not output

(w/o Rear Cross Traffic Alert System)

CAN communication system DTCs are output

GO TO STEP 7

GO TO CAN COMMUNICATION SYSTEM

5.	CHECK BLIND SPOT MONITOR SYSTEM*

(a) Use the GTS to check if the blind spot monitor system is functioning normally.

Click here

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

GO TO BLIND SPOT MONITOR SYSTEM

6.	PROBLEM SYMPTOM CONFIRMATION

7.	CHECK DTC*

(a) Check for DTCs.

Body Electrical > Clearance Warning > Trouble Codes

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

GO TO STEP 9

8.	DIAGNOSTIC TROUBLE CODE CHART (PARKING SUPPORT BRAKE SYSTEM)

(a) Refer to Diagnostic Trouble Code Chart.

Click here

NOTICE:

The clearance warning ECU assembly outputs DTCs for the following system. When DTCs other than those in Diagnostic Trouble Code Chart for the parking support brake system are output, refer to Diagnostic Trouble Code Chart for the relevant systems.

System	Proceed to
Intuitive Parking Assist System
Advanced Park

GO TO STEP 13

9.	CHECK FOR Toyota Prius Vehicle CONTROL HISTORY*

HINT:

Refer to Vehicle Control History.

Click here

(a) Check for vehicle control history and note any codes that are output.

Body Electrical > Clearance Warning > Utility

Tester Display
Toyota Prius Vehicle Control History (RoB)

Result	Proceed to
No vehicle control history is output (Problem symptom does not occur)	A
No Toyota Prius vehicle control history is output (Problem symptom occurs)	B
X20C0, X20C1, X20C2 or X20C3 is output	C
Any Toyota Prius vehicle control history other than X20C0, X20C1, X20C2 and X20C3 is output	D

GO TO STEP 11

GO TO CALIBRATION

GO TO Toyota Prius Vehicle CONTROL HISTORY

10.	SYMPTOM SIMULATION

(a) Refer to Symptom Simulation.

Click here

11.	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

GO TO STEP 13

12.	OVERALL ANALYSIS AND TROUBLESHOOTING

(a) Operation Check

Click here

(b) Terminals of ECU

Click here

13.	CIRCUIT INSPECTION

14.	IDENTIFICATION OF PROBLEM

15.	REPAIR OR REPLACE

16.	CONFIRMATION TEST

END

Operation Check

OPERATION CHECK

DRIVING ASSIST INFORMATION INDICATOR LIGHT OPERATION CHECK

(a) Turn the ignition switch to ON.

(b) Turn the parking support brake system off and confirm that the driving assist information indicator in the combination meter illuminates.

HINT:

If the parking support brake system is not set to off in the customize settings, the parking support brake system will operate when the ignition switch is turned ON.

DETECTION AREA

(a) Parking support brake system detection distance

The ultrasonic sensors (front/rear center sensor) can detect objects up to a distance of approximately 4.0 m (13.124 ft.). However, the detection distance varies depending on the shape of the object.
HINT:

The detection range shown in the illustration is for when detecting an object that is 2.0 m (6.562 ft.) wide, 1.0 m (3.281 ft.) tall and is perpendicular to the ground.
If the front/rear sensors and left/right sensors do not simultaneously detect an object, the parking support brake function does not operate.

NOTICE:

Even if the parking support brake system detects an object, the system may not operate depending on the Toyota Prius vehicle conditions.

Customize Parameters

CUSTOMIZE PARAMETERS

CUSTOMIZE PARKING SUPPORT BRAKE SYSTEM

(a) Customizing with the GTS.

NOTICE:

When the customer requests a change in a function, first make sure that the function can be customized.
Be sure to make a note of the current settings before customizing.
When troubleshooting a function, first make sure that the function is set to the default setting.

Clearance Warning

Tester Display	Description	Default	Setting	ECU
PKSB (O) Function	Parking support brake (static objects) function setting	ON	$00:ON,$01:OFF	Clearance warning ECU assembly
PKSB (O) Target Stopping Distance	Stop distance status of parking support brake (static objects) function	Far	$00:Close,$01:Far	Clearance warning ECU assembly
PKSB Switch State Stored	Setting of the parking support brake system main switch status memory	Stored	$00:Stored,$01:Not Stored	Clearance warning ECU assembly
PCS Cooperate Function	Setting of the pre-collision system cooperate function	ON	$00:ON,$01:OFF	Clearance warning ECU assembly
PKSB (V) Function	Parking support brake (rear crossing Toyota Prius vehicles) function setting	ON	$00:ON,$01:OFF	Clearance warning ECU assembly
PKSB (V) Operation Timing Setting	Displays the operation timing setting of the parking support brake (rear crossing Toyota Prius vehicles) function	Standard	$00:Late,$01:Standard	Clearance warning ECU assembly
PKSB (V) Sensitivity	Displays the sensitivity setting of the parking support brake (rear crossing Toyota Prius vehicles) function	Standard	$00:Standard,$01:Low	Clearance warning ECU assembly
PKSB (P) Function	Setting of the parking support brake (rear pedestrians) function	ON	$00:ON,$01:OFF	Clearance warning ECU assembly
PKSB (P) Target Stopping Distance	Parking support brake (rear pedestrians) function target stopping distance	Normal	$00:Close,$01:Normal	Clearance warning ECU assembly
PKSB (P) Width Adjustment (Y Axis)	Setting of the sensitivity of the parking support brake (rear pedestrians) function	Normal	$00:Narrow,$01:Normal	Clearance warning ECU assembly
Clearance Warning Buzzer Volume	Sets the volume of the clearance warning buzzer	Volume2	$01:Volume1,$02:Volume2,$03:Volume3	Clearance warning ECU assembly
PKSB (O) Main Switch	Switches the PKSB (O) function on and off.	ON	$00:OFF,$01:ON	Clearance warning ECU assembly

Driver 1

Tester Display	Description	Default	Setting	ECU
Clearance Warning Buzzer Volume	Sets the volume of the clearance warning buzzer	Volume2	$01:Volume1,$02:Volume2,$03:Volume3	Clearance warning ECU assembly
PKSA (O) Main Switch	Intuitive parking assist system main switch	ON	$00:OFF,$01:ON	Clearance warning ECU assembly
PKSB (O) Main Switch	Parking support brake system main switch	ON	$00:OFF,$01:ON	Clearance warning ECU assembly

Driver 2

Tester Display	Description	Default	Setting	ECU
Clearance Warning Buzzer Volume	Sets the volume of the clearance warning buzzer	Volume2	$01:Volume1,$02:Volume2,$03:Volume3	Clearance warning ECU assembly
PKSA (O) Main Switch	Intuitive parking assist system main switch	ON	$00:OFF,$01:ON	Clearance warning ECU assembly
PKSB (O) Main Switch	Parking support brake system main switch	ON	$00:OFF,$01:ON	Clearance warning ECU assembly

Driver 3

Tester Display	Description	Default	Setting	ECU
Clearance Warning Buzzer Volume	Sets the volume of the clearance warning buzzer	Volume2	$01:Volume1,$02:Volume2,$03:Volume3	Clearance warning ECU assembly
PKSA (O) Main Switch	Intuitive parking assist system main switch	ON	$00:OFF,$01:ON	Clearance warning ECU assembly
PKSB (O) Main Switch	Parking support brake system main switch	ON	$00:OFF,$01:ON	Clearance warning ECU assembly

Guest

Tester Display	Description	Default	Setting	ECU
Clearance Warning Buzzer Volume	Sets the volume of the clearance warning buzzer	Volume2	$01:Volume1,$02:Volume2,$03:Volume3	Clearance warning ECU assembly
PKSA (O) Main Switch	Intuitive parking assist system main switch	ON	$00:OFF,$01:ON	Clearance warning ECU assembly
PKSB (O) Main Switch	Parking support brake system main switch	ON	$00:OFF,$01:ON	Clearance warning ECU assembly

(b) Customizing with multi-information display

NOTICE:

When the customer requests a change in a function, first make sure that the function can be customized.
Be sure to make a note of the current settings before customizing.
When troubleshooting a function, first make sure that the function is set to the default setting.

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

Parking Support Brake

Display	Description	Default	Setting	ECU
Parking Support Brake function	Setting of ON/OFF of the parking support brake system	ON	ON/OFF	Clearance warning ECU assembly

Calibration

CALIBRATION

NOTICE:

When any of the following parts have been replaced, perform adjustment shown in the following table. If not, the parking support brake system may not operate correctly.

PRECAUTION (PROCEDURE 1)

(a) The necessary procedures (adjustment, calibration, initialization or registration) that must be performed after parts are removed and installed, or replaced during parking support brake system removal/installation are shown below.

For the installation location of the ultrasonic sensors, refer to Parts Location.

Click here

HINT:

When the bumper is removed and installed, or when the sensor is removed and installed, the registration is not required. However, if the body part is damaged or deformed due to an accident or contact, etc., and the body part is modified, measurement and registration are required.

Part Name	Operation	Adjustment Item	Proceed to
Front bumper assembly	When the front bumper and ultrasonic sensor is damaged or deformed due to an accident or contact with other objects, etc., or the bumper installation area on the body is repaired.	Measurement of ultrasonic sensor detection angle	Procedure 2, 3
Front bumper assembly		Ultrasonic sensor detection angle registration	Procedure 4
No. 1 lower radiator grille	When the radiator grille and ultrasonic sensor is damaged or deformed due to an accident or contact with other objects, etc., or the bumper installation area on the body is repaired.	Measurement of ultrasonic sensor detection angle	Procedure 2, 3
No. 1 lower radiator grille		Ultrasonic sensor detection angle registration	Procedure 4
Rear bumper assembly	When the rear bumper and ultrasonic sensor is damaged or deformed due to an accident or contact with other objects, etc., or the bumper installation area on the body is repaired.	Measurement of ultrasonic sensor detection angle	Procedure 2, 3
Rear bumper assembly		Ultrasonic sensor detection angle registration	Procedure 4
Clearance warning ECU assembly	Replacement	Update ECU security key
		Measurement of ultrasonic sensor detection angle	Procedure 2, 3
		Bumper type registration	Procedure 4
		Ultrasonic sensor detection angle registration	Procedure 4
Ultrasonic sensor	Replacement	Measurement of ultrasonic sensor detection angle	Procedure 2, 3
Ultrasonic sensor	Replacement	Ultrasonic sensor detection angle registration	Procedure 4
Blind spot monitor sensor*3	Replacement	Blind spot monitor beam axis confirmation	DRIVING ADJUSTMENT: ECU DATA SAVE/WRITE: TARGET ADJUSTMENT(TRIANGLE TARGET):
Parking Assist ECU*1	Replacement	Parking assist ECU initialization
Side television camera assembly LH2 Outer rear view mirror assembly LH2	Replacement Installation angle of the side television camera changes because of the removal and installation of the side television camera, etc.	Side television camera view adjustment
Side television camera assembly RH2 Outer rear view mirror assembly RH2	Replacement Installation angle of the side television camera changes because of the removal and installation of the side television camera, etc.	Side television camera view adjustment
Rear television camera assembly*4	Replacement Installation angle of the rear television camera changes because of the removal and installation of the rear television camera, etc.	Rear television camera view adjustment	w/ Parking Assist Monitor System: w/ Panoramic View Monitor System:

*1: w/ Panoramic View Monitor System
*2: w/ Advanced Park
*3: w/ Rear Cross Traffic Alert System
*4: w/ Rear Camera Detection Function

PREPARATION (PROCEDURE 2)

(a) Preparation

Digital angle gauge
Digital angle gauge attachment
Masking tape (To prevent damage)
A level

SST: 09989-00020

(b) Confirm levelness of floor surface.

(1) Place a bubble level on a level surface and confirm that the bubble is centered.

NOTICE:

Make sure that there is no gravel, sand, etc., and that the surface is not undulating.

HINT:

By adjusting the direction of the bubble level, it is possible to find a position where the bubble is centered.

(2) Turn on the digital angle gauge.

(3) Place the digital angle gauge in the same location and direction as that of the bubble level where the levelness of the surface was confirmed.

NOTICE:

Confirm that the location and direction of the digital angle gauge is exactly the same as that of the bubble level.

Digital Angle Gauge

Level

(4) Press the "ZERO" switch to memorize the zero point (perfectly level).

NOTICE:

Make sure that the digital angle gauge does not move when pressing the switch. If the digital angle gauge moves when the switch is pressed, an incorrect zero point may be memorized and it will not be possible to accurately check for levelness.

(5) Using the digital angle meter in which the zero point (perfectly level) has been memorized, measure the angle of the floor surface at the 4 positions at the front of the Toyota Prius vehicle and the 4 positions at the rear of the vehicle as shown in the illustration. Write the measured values into the following worksheet.

NOTICE:

Always position the digital angle gauge as shown in the illustration.
Make sure that there is no gravel, sand, etc., and that the floor surface is not undulating.
When measuring the angle of the floor surface, avoid uneven areas such as joints between tiles.

HINT:

If necessary, the digital angle gauge can be placed anywhere within the specific area when measuring the angle of the floor surface for positions A, C, F and H.

Confirmation Area

(6) Using the following worksheet, calculate the average of the measurements taken at the 4 positions in front of the Toyota Prius vehicle, and calculate the average of the measurements taken at the 4 positions behind the vehicle. Confirm that the front measurement average and the rear measurement average are not more than approximately 0.37 degrees. Also, confirm that the front measurement average and the rear measurement average is less than 0.2 degrees.

NOTICE:

If the front measurement average and the rear measurement average are more than approximately 0.37 degrees or the difference between the front measurement average and the rear measurement average is 0.2 degrees or more, choose another work area as it is not possible to accurately check the installation angle of the sensors.

Worksheet:

(7) Average the front measurement average and the rear measurement average, then round the answer to 1 decimal place (E.g. 0.0927 degrees is rounded to 0.1 degrees) to obtain the floor surface inclination value.

(8) Calibrate the digital angle gauge

Adjust the angle of the digital angle gauge until it reads the same value of the floor surface inclination, then press the "ZERO" switch to memorize the zero point (level with floor surface).

NOTICE:

Before pressing the "ZERO" switch, confirm that the digital angle gauge reading is positive if the floor angle inclination is positive, and negative if the floor angle inclination is negative.

(1) Attach the digital angle gauge attachment to the digital angle gauge.

SST: 09989-00020

(2) Attach masking tape to the digital angle gauge attachment.

(d) Remove all luggage from the Toyota Prius vehicle.

(e) Adjust the tire inflation pressure to the specified pressure.

Click here

(f) Check the height of the vehicle.

Click here

SENSOR HEIGHT AND ALIGNMENT INSPECTION (PROCEDURE 3)

HINT:

Check if the installation angle of each ultrasonic sensor is appropriate.

(a) Preparation

(1) Visually check that the bumper, grill and ultrasonic sensors are installed properly and are not damaged.

NOTICE:

If the bumper, grill or any ultrasonic sensor is not installed correctly, the calibration may not be able to be completed.

(2) Check the tire pressures and adjust them if necessary.

Click here

NOTICE:

Ensure that the Toyota Prius vehicle is level in an area with no wind.
Do not lean on the vehicle.
Do not do anything that may affect the level of the vehicle during the calibration, such as getting in or out of the vehicle, or adding or removing luggage.

(b) Sensor height and alignment inspection

*1	Front Side Ultrasonic Sensor RH (w/ Advanced Park)	*2	Front Corner Ultrasonic Sensor RH
*3	Front Center Ultrasonic Sensor RH	*4	Front Center Ultrasonic Sensor LH
*5	Front Corner Ultrasonic Sensor LH	*6	Front Side Ultrasonic Sensor LH (w/ Advanced Park)
*7	Rear Side Ultrasonic Sensor RH (w/ Advanced Park)	*8	Rear Corner Ultrasonic Sensor RH
*9	Rear Center Ultrasonic Sensor RH	*10	Rear Center Ultrasonic Sensor LH
*11	Rear Corner Ultrasonic Sensor LH	*12	Rear Side Ultrasonic Sensor LH (w/ Advanced Park)

*a	Center of Sensor
*b	Sensor Height

Standard Height (Front Bumper):

Sensor Location	Sensor Height
Front Center Ultrasonic Sensor	434.9 to 488.1 mm (17.1 to 19.2 in.)
Front Corner Ultrasonic Sensor	473.8 to 527.1 mm (18.7 to 20.8 in.)
Front Side Ultrasonic Sensor*	590.3 to 643.7 mm (23.2 to 25.3 in.)

Standard Height (Rear Bumper):

Sensor Location	Sensor Height
Rear Center Ultrasonic Sensor	511.0 to 637.8 mm (20.1 to 25.1 in.)
Rear Corner Ultrasonic Sensor	511.0 to 655.2 mm (20.1 to 25.8 in.)
Rear Side Ultrasonic Sensor*	553.7 to 647.0 mm (21.8 to 25.5 in.)

*: w/ Advanced Park

NOTICE:

If the installation height of a sensor is not as specified, it may not be possible to measure the sensor angles correctly. If so, unload the Toyota Prius vehicle and measure the installation height of the sensors again.

HINT:

Use the center of the sensor as the measuring point.

(d) Using the digital angle gauge, measure the angle of each sensor.

*a	Digital Angle Gauge Attachment
*b	Digital Angle Gauge
*c	Ultrasonic Sensor

(1) Measure the angle of the front sensors as shown in the illustration.

NOTICE:

Ensure that the digital angle gauge is flush with the face of the sensor.

(2) Measure the angle of the rear sensors.

NOTICE:

Ensure that the digital angle gauge is flush with the face of the sensor.

(3) Measure the angle of the side sensors. (w/ Advanced Park)

NOTICE:

Ensure that the digital angle gauge is flush with the face of the sensor.

(4) Confirm that the angles of the sensors are as specified.

NOTICE:

The sensor angle is the measured sensor angle subtracted from 90°.

HINT:

The digital angle gauge should indicate 90° when turned on its side.
If the face of the sensor is tilted upwards, the sensor angle will be positive.

Standard Angle (Front Bumper):

Sensor Location	Installation Angle
Front Center Ultrasonic Sensor	1.1 to 7.7°
Front Corner Ultrasonic Sensor	-2.7 to 4.0°
Front Side Ultrasonic Sensor*	0.0 to 4.7°

Standard Angle (Rear Bumper):

Sensor Location	Installation Angle
Rear Center Ultrasonic Sensor	-0.6 to 6.0°
Rear Corner Ultrasonic Sensor	4.7 to 11.4°
Rear Side Ultrasonic Sensor*	3.6 to 8.4°

*: w/ Advanced Park

(5) If the angle or height of the sensors is not as specified, confirm that the installation is correct and then perform the inspection again.

HINT:

Check the following.

Installation status of the front bumper assembly (rattling, uplifting)
Installation status of the radiator grille assembly (rattling, uplifting)
Installation status of the rear bumper assembly (rattling, uplifting)
Fitting status of ultrasonic sensor and retainer
Installation status of ultrasonic sensor cushion (uplifting, deformed)
Installation status of the ultrasonic sensor retainer (rattling, uplifting)

REGISTRATION (PROCEDURE 4)

(a) Preparation

(1) Confirm that the following DTCs are not output.

System	Proceed to
Intuitive Parking Assist System
Parking Support Brake System
Advanced Park*

NOTICE:

If DTC C1AE087*/C1AE187/C1AE287/C1AE387/C1AE487/C1AE587*/C1AE687/C1AE787/C1AE887/C1AE987/C1AF187* or C1AF287* are output at this point, it is not due to a malfunction. Proceed with the calibration.

*: w/ Advanced Park

(b) Enter the following menus: Body Electrical / Clearance Warning / Utility.

Body Electrical > Clearance Warning > Utility

Tester Display
ECU Calibration

HINT:

If "Battery or Steering Sensor" is selected, further calibration is not required. (Bumper type registration is not required.)

(d) Enter the bumper type using the GTS.

Bumper Type	Value
Standard	1

HINT:

If the clearance warning ECU assembly is replaced or removed and installed, it is necessary to perform bumper type registration.

(e) Using the GTS, enter the measured sensor values.

NOTICE:

The sensor angle is the measured sensor angle subtracted from 90°.

HINT:

The digital angle gauge should indicate 90° when turned on its side.

Utility

UTILITY

ALL READINESS

HINT:

With "All Readiness", you can check whether or not the DTC judgment has been completed by using the GTS.
You should check "All Readiness" after simulating malfunction symptoms or for validation after finishing repairs.

(a) Clear the DTCs even if no DTCs are stored.

Body Electrical > Clearance Warning > Clear DTCs

(b) Turn the ignition switch off and wait for 2 minutes or more.

(d) Perform the DTC judgment driving pattern to run the DTC judgment.

(e) Enter the following menus: Body Electrical / Clearance Warning / Utility / All Readiness.

Body Electrical > Clearance Warning > Utility

Tester Display
All Readiness

(f) Input the DTCs to be confirmed.

(g) Check the DTC judgment result.

GTS Display	Description
If the judgment result shows Incomplete, perform the DTC confirmation driving pattern again.
Normal	DTC judgment completed System normal
Abnormal	DTC judgment completed System abnormal
Incomplete	DTC judgment not completed Perform the driving pattern

(h) Turn the ignition switch off.

Problem Symptoms Table

PROBLEM SYMPTOMS TABLE

HINT:

Use the table below to help determine the cause of problem symptoms. If multiple suspected areas are listed, the potential causes of the symptoms are listed in order of probability in the "Suspected Area" column of the table. Check each symptom by checking the suspected areas in the order they are listed. Replace parts as necessary.
Inspect the fuses and relays related to this system before inspecting the suspected areas below.

General

Symptom	Suspected Area	Link
System does not operate at all	Check that the intuitive parking assist system is operating normally	-
	Check that the CAN communication system is operating normally
	Check that the meter/gauge system is operating normally	-
	Check that the blind spot monitor system is operating normally*3	-
	Check that the parking assist monitor system is operating normally*2	-
	Check that the panoramic view monitor system is operating normally*1	-
	Clearance warning ECU assembly
	Rear Television Camera Assembly*2
	Parking assist ECU*1

Sonar Function

Symptom	Suspected Area	Link
Detection function operates when the operating conditions are not met	Check that the hybrid control system is operating normally	-
	Check that the blind spot monitor system is operating normally*3	-
	Check that the parking assist monitor system is operating normally*2	-
	Check that the panoramic view monitor system is operating normally*1	-
	No. 2 skid control ECU (brake actuator assembly)
	Clearance warning ECU assembly
	Rear Television Camera Assembly*2
	Parking assist ECU*1
Detection function operates when Toyota Prius vehicle is not within the required speed range (speedometer not malfunctioning)	Check that the CAN communication system is operating normally
	Clearance warning ECU assembly

Buzzer Function

Symptom	Suspected Area	Link
Parking support brake system is normal but buzzer operation is intermittent	Check that the temporary mute function is not operating	-
	Check that the CAN communication system is operating normally
	Check that the meter/gauge system is operating normally	-
	Check that the blind spot monitor system is operating normally*3	-
	Clearance warning ECU assembly
	Combination meter assembly

Display Function

Symptom	Suspected Area	Link
While the parking support brake system is operating, no parking support brake notifications are displayed on the multi-information display.	Check that the CAN communication system is operating normally
	Check that the meter/gauge system is operating normally	-
	Clearance warning ECU assembly
	Combination meter assembly
While the parking support brake system is operating, no parking support brake notifications are displayed on the multi-display.	Check that the CAN communication system is operating normally
	Check that the audio and visual system is operating normally	-
	Clearance warning ECU assembly
	Rear Television Camera Assembly*2
	Parking assist ECU*1
	Radio and display receiver assembly
"[Parking Support Brake System icon] System Malfunction Visit Your Dealer" is displayed	Check that the CAN communication system is operating normally
	Check that the intuitive parking assist system is operating normally	-
	Toyota Prius Vehicle control history (Rob)
	Combination meter assembly
	Clearance warning ECU assembly
"[Parking Support Brake System icon] System Stopped See Owner's Manual" is displayed	Check that a door is not open or a mirror is not retracted.*4	-
	Check if the back door is open*4	-
	Check that the CAN communication system is operating normally
	Check that the intuitive parking assist system is operating normally	-
	Check that the blind spot monitor system is operating normally*3	-
	Check that the parking assist monitor system is operating normally*2	-
	Check that the panoramic view monitor system is operating normally*1	-
	Toyota Prius Vehicle control history (Rob)
	Combination meter assembly
	Clearance warning ECU assembly
	Rear Television Camera Assembly*2
	Parking assist ECU*1
"[Parking Support Brake System icon] Parking Assist Unavailable Low Visibility See Owner's Manual" is displayed*5	Check that the panoramic view monitor system is operating normally*1	-
	Check that the parking assist monitor system is operating normally*2	-
	Remove dirt from rear camera	-
	Rear Television Camera Assembly*2
	Parking assist ECU*1
"[Parking Support Brake System icon] Parking Assist Unavailable Sensor Blocked" is displayed	Check that no foreign matter is attached to the ultrasonic sensors.	-
	Check that the CAN communication system is operating normally
	Check that the intuitive parking assist system is operating normally	-
	Combination meter assembly
	Clearance warning ECU assembly
Parking support brake system does not operate when there is a possibility of a collision (Warning message "[Parking Support Brake System icon] System Malfunction Visit Your Dealer" not displayed)	Check the installation of the ultrasonic sensors (front)
	Check the installation of the ultrasonic sensors (rear)
	Adjust the installation of the ultrasonic sensors as necessary.
	Ultrasonic sensors (front)
	Ultrasonic sensors (rear)
	Clearance warning ECU assembly
Parking support brake system control operates when there is no possibility of a collision	Check the installation of the ultrasonic sensors (front)
	Check the installation of the ultrasonic sensors (rear)
	Adjust the installation of the ultrasonic sensors as necessary.
	Ultrasonic sensors (front)
	Ultrasonic sensors (rear)
	Clearance warning ECU assembly
Parking support brake system control cannot be turned off (Driving assist information indicator does not illuminate)	Combination meter assembly (LED): Perform Active Test (Indicat. Driving assist information indicator)
	Combination meter assembly
	Clearance warning ECU assembly
Driving assist information indicator illuminates	Check that no foreign matter is attached to the ultrasonic sensors.	-

*1: w/ Panoramic View Monitor System
*2: w/ Parking Assist Monitor System

*3: w/ Rear Cross Traffic Alert System

*4: w/ Advanced Park

*5: w/ Rear Camera Detection Function

Terminals Of Ecu

TERMINALS OF ECU

CLEARANCE WARNING ECU ASSEMBLY

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

(b) Measure the voltage and resistance on the wire harness side connector according to the value(s) in the table below.

Terminal No. (Symbol)	Terminal Description	Condition	Specified Condition
R36-1 (IG) - R36-31 (E)	IG source signal	Ignition switch off	Below 1 V
R36-1 (IG) - R36-31 (E)	IG source signal	Ignition switch ON	11 to 14 V
R36-31 (E) - Body ground	Ground	Always	Below 1 Ω

(d) Measure the voltage and resistance and check for pulses according to the value(s) in the table below.

Terminal No. (Symbol)	Terminal Description	Condition	Specified Condition
R36-2 (BOF) - R36-31 (E)	Power source for front sensor circuit	Ignition switch off	Below 1 V
R36-2 (BOF) - R36-31 (E)	Power source for front sensor circuit	Ignition switch ON Parking support brake system on	11 to 14 V
R36-3 (E5) - R36-31 (E)	Ground for front clearance sonar	Always	Below 1 Ω
R36-4 (SOF) - R36-31 (E)	Front sensor communication signal (Front clearance sonar sensor)	Ignition switch ON Parking support brake system on Shift lever in any position other than P Toyota Prius Vehicle speed is less than approximately 10 km/h (6 mph)	Pulse generation (Refer to waveform 1)
R36-5 (LIN1) - R36-31 (E)*1	Front side sensor communication signal (Front side clearance sonar sensor)	Ignition switch ON Parking support brake system on Shift lever in any position other than P Toyota Prius Vehicle speed is less than approximately 10 km/h (6 mph)	Pulse generation (Refer to waveform 1)
R36-6 (CSG1) - R36-31 (E)*1	Ground for front side clearance sonar	Always	Below 1 Ω
R36-7 (CSB1) - R36-31 (E)*1	Power source for front side sensor circuit	Ignition switch off	Below 1 V
R36-7 (CSB1) - R36-31 (E)*1	Power source for front side sensor circuit	Ignition switch ON Parking support brake system on	11 to 14 V
R36-17 (R1)	CAN communication signal	-	-
R36-18 (R2)	CAN communication signal	-	-
R36-19 (BOR) - R36-31 (E)	Power source for rear sensor circuit	Ignition switch off	Below 1 V
R36-19 (BOR) - R36-31 (E)	Power source for rear sensor circuit	Ignition switch ON Parking support brake system on	11 to 14 V
R36-20 (E1) - R36-31 (E)	Ground for rear clearance sonar	Always	Below 1 Ω
R36-21 (SOR) - R36-31 (E)	Rear sensor communication signal (Rear clearance sonar sensor)	Ignition switch ON Parking support brake system on Shift lever in R Toyota Prius Vehicle speed is less than approximately 10 km/h (6 mph)	Pulse generation (Refer to waveform 2)
R36-22 (LIN2) - R36-31 (E)*1	Rear side sensor communication signal (Rear side clearance sonar sensor)	Ignition switch ON Parking support brake system on Shift lever in R	Pulse generation (Refer to waveform 2)
R36-23 (CSG2) - R36-31 (E)*1	Ground for rear side clearance sonar	Always	Below 1 Ω
R36-24 (CSB2) - R36-31 (E)*1	Power source for rear side sensor circuit	Ignition switch off	Below 1 Ω
R36-24 (CSB2) - R36-31 (E)*1	Power source for rear side sensor circuit	Ignition switch ON Parking support brake system on	11 to 14 V
R36-35 (CAPH)*1	CAN communication signal	-	-
R36-36 (CAPL)*1	CAN communication signal	-	-
R36-37 (CANH)*2	CAN communication signal	-	-
R36-38 (CANL)*2	CAN communication signal	-	-

*1: w/ Advanced Park
*2: w/ Rear Cross Traffic Alert System

(e) Using an oscilloscope, check waveform 1.

(1) Waveform 1 (Reference)

Item	Content
Measurement terminal	R36-4 (SOF) - R36-31 (E) R36-5 (LIN1) - R36-31 (E)*
Measurement setting	1 V/DIV., 100 μs./DIV.
Condition	Ignition switch ON Parking support brake system on Shift lever in any position other than P Toyota Prius Vehicle speed is less than approximately 10 km/h (6 mph)

*: w/ Advanced Park

(f) Using an oscilloscope, check waveform 3.

(1) Waveform 3 (Reference)

Item	Content
Measurement terminal	R36-21 (SOR) - R36-31 (E) R36-22 (LIN2) - R36-31 (E)*
Measurement setting	1 V/DIV., 100 μs./DIV.
Condition	Ignition switch ON Parking support brake system on Shift lever in R Toyota Prius Vehicle speed is less than approximately 10 km/h (6 mph)

*: w/ Advanced Park

BLIND SPOT MONITOR SENSOR RH (A) (w/ Rear Cross Traffic Alert System)

Click here

BLIND SPOT MONITOR SENSOR LH (B) (w/ Rear Cross Traffic Alert System)

Click here

PARKING ASSIST ECU (w/ Panoramic View Monitor System)

Click here

REAR TELEVISION CAMERA ASSEMBLY (w/ Parking Assist Monitor System)

Click here

Diagnosis System

DIAGNOSIS SYSTEM

DESCRIPTION

(a) Parking support brake system data and Diagnostic Trouble Codes (DTCs) can be read from the Data Link Connector 3 (DLC3) of the vehicle. When the system seems to be malfunctioning, use the GTS to check for malfunctions and to repair them.

CHECK DLC3

(a) Check the DLC3.

Click here

DESCRIPTION

(a) When the parking support brake system is unavailable either temporarily or due to a malfunction, a warning message is displayed on the multi-information display.

Multi-information Display Warning Message

Warning Message	Proceed to
*: w/ Rear Camera Detection Function
"[Parking Support Brake System icon] System Malfunction Visit Your Dealer" is displayed
"[Parking Support Brake System icon] System Stopped See Owner's Manual" is displayed
"[Parking Support Brake System icon] Parking Assist Unavailable Low Visibility See Owner's Manual" is displayed*	Remove foreign matter from the rear television camera assembly.

Fail-safe Chart

FAIL-SAFE CHART

FAIL-SAFE FUNCTION

(a) If a malfunction is detected in the parking support brake system, the warning message "[Parking Support Brake System icon] System Malfunction Visit Your Dealer" or "[Parking Support Brake System icon] System Stopped See Owner's Manual" is displayed on the multi-information display, the driving assist information indicator illuminates and the parking support brake system control is prohibited as necessary

(b) If the clearance warning ECU assembly judges that there is foreign matter on an ultrasonic sensor or detection of objects is not possible in severe weather such as snow, the warning message "[Parking Support Brake System icon]"Parking Assist Unavailable Sensor Blocked" or "[Parking Support Brake System icon] Parking Assist Unavailable Low Visibility See Owner's Manual" is displayed, the driving assist information indicator illuminates and control is canceled. The warning message "[Parking Support Brake System icon]"Parking Assist Unavailable Sensor Blocked" or "[Parking Support Brake System icon] Parking Assist Unavailable Low Visibility See Owner's Manual" is temporarily displayed and turns off. The driving assist information indicator illuminates to inform the driver of the malfunction. When detection of an obstacle is possible, the driving assist information indicator turns off and the parking support brake system control returns to normal.

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) Refer to Intuitive Parking Assist-sensor System.

Click here

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

Chassis > Brake/EPB > Data List

Tester Display

Measurement Item

Range

Normal Condition

Diagnostic Note

Stop Light SW

Stop light switch assembly (STP terminal input)

OFF/ON

OFF: Brake pedal released

ON: Brake pedal depressed

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) Enter the following menus: Chassis / Brake/EPB / Active Test.

Chassis > Brake/EPB > Active Test

Tester Display	Measurement Item	Control Range	Diagnostic Note
Stop Lamp Relay	Stop lights	ON / OFF	Test possible at Toyota Prius vehicle speed of 0 km/h (0 mph)

Diagnostic Trouble Code Chart

DIAGNOSTIC TROUBLE CODE CHART

Parking Support Brake System

DTC No.	Detection Item	DTC Output from	Priority
U010087	Lost Communication With ECM/PCM "A" Missing Message	Clearance Warning	B
U012687	Lost Communication with Steering Angle Sensor Module Missing Message	Clearance Warning	B
U012987	Lost Communication With Brake System Control Module Missing Message	Clearance Warning	B
U015587	Lost Communication with Instrument Panel Cluster (IPC) Control Module	Clearance Warning	B
U023B87	Lost Communication with Image Processing Module "B" Missing Message	Clearance Warning	B
U026587	Lost Communication with Image Processing Sensor A Missing Message	Clearance Warning	B
U029387	Lost Communication with Hybrid/EV Powertrain Control Module Missing Message	Clearance Warning	B
U117787	Lost Communication with Side Obstacle Detection Control Module "A" (ch2) Missing Message	Clearance Warning	B

VEHICLE CONTROL HISTORY (RoB)

VEHICLE CONTROL HISTORY (RoB)

VEHICLE CONTROL HISTORY (RoB) (CLEARANCE WARNING)

HINT:

Part of the control history can be confirmed using the vehicle control history (RoB).

Click here

Toyota Prius Vehicle CONTROL HISTORY (SRS AIRBAG)

HINT:

Part of the control history can be confirmed using the vehicle control history.

Click here

Lost Communication With ECM/PCM "A" Missing Message (U010087,U012687,U012987,U015587,U023B87,U026587,U029387)

DESCRIPTION

These DTCs are stored if there is a malfunction in the CAN communication system connected to the clearance warning ECU assembly.

HINT:

If CAN communication system DTCs are stored, they may also be stored in other systems.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	DTC Output from	Priority
U010087	Lost Communication With ECM/PCM "A" Missing Message	Lost communication with ECM	CAN communication system	Clearance Warning	B
U012687	Lost Communication with Steering Angle Sensor Module Missing Message	Lost communication with steering sensor	CAN communication system	Clearance Warning	B
U012987	Lost Communication With Brake System Control Module Missing Message	Lost communication with No. 2 skid control ECU (brake actuator assembly)	CAN communication system	Clearance Warning	B
U015587	Lost Communication with Instrument Panel Cluster (IPC) Control Module	Lost communication with combination meter assembly	CAN communication system	Clearance Warning	B
U023B87	Lost Communication with Image Processing Module "B" Missing Message	Lost communication with parking assist ECU	CAN communication system	Clearance Warning	B
U026587	Lost Communication with Image Processing Sensor A Missing Message	Lost communication with rear television camera assembly	CAN communication system	Clearance Warning	B
U029387	Lost Communication with Hybrid/EV Powertrain Control Module Missing Message	Lost communication with hybrid Toyota Prius vehicle control ECU	CAN communication system	Clearance Warning	B

PROCEDURE

CLEAR DTC

(a) Clear the DTCs.

Body Electrical > Clearance Warning > Clear DTCs

2.	CHECK DTC OUTPUT

(a) Check for DTCs.

Body Electrical > Clearance Warning > Trouble Codes

HINT:

If CAN communication system DTCs are stored, they may also be stored in other systems.
If the CAN communication system has been inspected and repaired in other systems, the DTCs will not be output when rechecking for DTCs.
If these DTCs are output frequently, duplicate the conditions that caused the problem symptoms and perform troubleshooting again, even though DTCs were not output when rechecking for DTCs.

Result	Proceed to
U010087, U012687, U012987, U015587, U023B87, U026587 or U029387 is output	A
DTCs are not output	B
None of the above conditions are met	C

GO TO CAN COMMUNICATION SYSTEM

USE SIMULATION METHOD TO CHECK

GO TO DTC CHART

Lost Communication with Side Obstacle Detection Control Module "A" (ch2) Missing Message (U117787)

DESCRIPTION

This DTC is output when the clearance warning ECU assembly detects lost communication with the blind spot monitor sensor RH (A).

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	DTC Output from	Priority
U117787	Lost Communication with Side Obstacle Detection Control Module "A" (ch2) Missing Message	The clearance warning ECU assembly is unable to receive communication from the blind spot monitor sensor RH (A)	Front camera system Clearance warning ECU assembly Harness or connector	Clearance Warning	B

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

Before measuring the resistance of the CAN bus, turn the ignition switch off and leave the Toyota Prius vehicle for 1 minute or more without operating the key or any switches, or opening or closing the doors. After that, disconnect the cable from the negative (-) auxiliary battery terminal and leave the vehicle for 1 minute or more before measuring the resistance.
After turning the ignition switch off, waiting time may be required before disconnecting the cable from the negative (-) auxiliary battery terminal. Therefore, make sure to read the disconnecting the cable from the negative (-) auxiliary battery terminal notices before proceeding with work.
Click here

HINT:

Operating the ignition switch, any other switches or a door triggers related ECU and sensor communication on the CAN. This communication will cause the resistance value to change.
Even after DTCs are cleared, if a DTC is stored again after driving the Toyota Prius vehicle for a while, the malfunction may be occurring due to vibration of the vehicle. In such a case, wiggling the ECUs or wire harness while performing the inspection below may help determine the cause of the malfunction.

PROCEDURE