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Vehicle Control History [10/2022 - 11/2023]

NOTE:

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

  1. CHECK VEHICLE CONTROL HISTORY (ROAD SIGN ASSIST SYSTEM) 
    1. Connect the GTS to the DLC3.
    2. Turn the ignition switch to ON.
    3. Turn the GTS on.
    4. Enter the following menus: Body Electrical / Road Sign Assist / Utility / Vehicle Control History (RoB).

      Body Electrical > Road Sign Assist > Utility 

      Tester Display
      Vehicle Control History (RoB)
    5. Read the Vehicle Control History (RoB) according to the display on the GTS.
      VEHICLE CONTROL HISTORY (ROB)

      Multi-information Display Code Tester Display Description Diagnostic Note
      RSA Malfunction Visit Your Dealer X2000 Yaw Rate Sensor Malfunction The forward recognition camera received a yaw rate sensor malfunction signal from the No. 2 skid control ECU (brake actuator assembly)*1 or skid control ECU (brake actuator assembly)*2. Perform troubleshooting for the electronically controlled brake system.
      For HV Model: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - 11/2023]
      For Gasoline Model: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - 11/2023]
      RSA Malfunction Visit Your Dealer X2004 Speed Sensor Malfunction The forward recognition camera received a vehicle speed sensor malfunction signal from the No. 2 skid control ECU (brake actuator assembly)*1 or skid control ECU (brake actuator assembly)*2. Perform troubleshooting for the electronically controlled brake system.
      For HV Model: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - 11/2023]
      For Gasoline Model: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - 11/2023]
      - X2011 Front Recognition Camera System Software Not Programmed The forward recognition camera cannot store the vehicle information. Perform troubleshooting for the front camera system.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - ]
      RSA Malfunction Visit Your Dealer X2012 Front Recognition Camera Malfunction The forward recognition camera detected an internal malfunction. Perform troubleshooting for the front camera system.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - ]
      RSA Malfunction Visit Your Dealer X2013 Front Recognition Camera Optical Axis Misalignment Malfunction The forward recognition camera detected optical axis misalignment. Refer to DTC C1AA8-00 in Front Camera System
      Refer to DTC C1AA8-00: Front Recognition Camera Optical Axis Misalignment Malfunction [09/2020 - ]
      RSA Malfunction Visit Your Dealer X2014 Front Recognition Camera Optical Axis Not Adjusted Forward recognition camera optical axis adjustment has not been performed. If this Vehicle Control History code is output, perform forward recognition camera optical axis adjustment, clear the Vehicle Control History and then check that this code is not stored again.
      HINT: 
      Forward recognition camera axis alignment can be performed by using either One Time Recognition, Sequential Recognition or Driving Adjustment.
      One Time Recognition: Refer to TARGET ADJUSTMENT (ONE TIME RECOGNITION) [09/2020 - ]
      Sequential Recognition: Refer to TARGET ADJUSTMENT (SEQUENTIAL RECOGNITION) [09/2020 - ]
      Driving Adjustment: Refer to DRIVING ADJUSTMENT [09/2020 - ]
      - X2015 Front Recognition Camera Dirt System operation was temporarily suspended due to the forward recognition camera not being able to detect objects. Refer to Vehicle Control History code X2015 of Front Camera System.
      Refer to VEHICLE CONTROL HISTORY [09/2020 - 11/2023]
      - X2016 Front Recognition Camera Outside Guaranteed Operating Temperature System operation was temporarily suspended due to the forward recognition camera being excessively hot or cold. Refer to Vehicle Control History code X2016 of Front Camera System.
      Refer to VEHICLE CONTROL HISTORY [09/2020 - 11/2023]
      - X2017 Front Recognition Camera Outside Guaranteed Operating Voltage System operation was temporarily suspended due to forward recognition camera power source voltage being excessively high or low. Refer to Vehicle Control History code X2017 of Front Camera System.
      Refer to VEHICLE CONTROL HISTORY [09/2020 - 11/2023]
      RSA Malfunction Visit Your Dealer X201D Front Recognition Camera System Software Malfunction The forward recognition camera detected destination information malfunction. Perform troubleshooting for the front camera system.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - ]
      - X2020 Front Radar Sensor Destination Malfunction The forward recognition camera received a destination information malfunction signal from the millimeter wave radar sensor assembly. Perform troubleshooting for the front radar sensor system.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - ]
      - X2021 Front Radar Sensor Malfunction The forward recognition camera received a malfunction signal from the millimeter wave radar sensor assembly. Perform troubleshooting for the front radar sensor system.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - ]
      - X2022 Front Radar Sensor Optical Axis Misalignment Malfunction The forward recognition camera received a beam axis misalignment malfunction signal from the millimeter wave radar sensor assembly. Perform millimeter wave radar sensor assembly beam axis 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: Refer to TARGET ADJUSTMENT (TRIANGLE TARGET) [10/2022 - ]
      Flat Surface Target: Refer to TARGET ADJUSTMENT (FLAT SURFACE TARGET) [10/2022 - ]
      Driving Adjustment: Refer to DRIVING ADJUSTMENT [10/2022 - ]
      - X2023 Front Radar Sensor Optical Axis Not Adjusted The forward recognition camera received a beam axis not adjusted signal from the millimeter wave radar sensor assembly. If this Vehicle Control History code is output, perform millimeter wave radar sensor assembly beam axis adjustment, clear the Vehicle Control History and then check that this code is not stored 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: Refer to TARGET ADJUSTMENT (TRIANGLE TARGET) [10/2022 - ]
      Flat Surface Target: Refer to TARGET ADJUSTMENT (FLAT SURFACE TARGET) [10/2022 - ]
      Driving Adjustment: Refer to DRIVING ADJUSTMENT [10/2022 - ]
      - X2026 Front Radar Sensor Dirt The forward recognition camera received a dirty signal from the millimeter wave radar sensor assembly. Perform troubleshooting for the front radar sensor system.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - ]
      - X2027 Front Radar Sensor Outside Guaranteed Operating Temperature The forward recognition camera received a temperature malfunction signal from the millimeter wave radar sensor assembly. Perform troubleshooting for the front radar sensor system.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - ]
      - X2028 Front Radar Sensor Outside Guaranteed Operating Voltage The forward recognition camera received a voltage malfunction signal from the millimeter wave radar sensor assembly. Perform troubleshooting for the front radar sensor system.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - ]
      - X2076 Wiper Malfunction The forward recognition camera received a wiper system malfunction signal from the main body ECU (multiplex network body ECU). Perform troubleshooting for the wiper and washer system.
      Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - 11/2023]
      - X2077 Ambient Temperature Sensor Circuit The forward recognition camera received an ambient temperature sensor malfunction signal from the air conditioning amplifier assembly. Perform troubleshooting for the air conditioning system.
      For HV Model: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [10/2021 - 11/2023]
      For Gasoline Model: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [10/2022 - 11/2023]
      RSA Malfunction Visit Your Dealer X2084 Meter Speed Tolerance Malfunction The forward recognition camera received a vehicle speed tolerance malfunction signal from the combination meter assembly. Perform troubleshooting for the meter / gauge system.
      except 12.3 Inch Display: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - ]
      For 12.3 Inch Display: Refer to HOW TO PROCEED WITH TROUBLESHOOTING [10/2022 - ]
      1. *1: for HV Model
      2. *2: for Gasoline Model
  2. CLEAR VEHICLE CONTROL HISTORY (ROAD SIGN ASSIST SYSTEM) 
    NOTE:

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

    1. Connect the GTS to the DLC3.
    2. Turn the ignition switch to ON.
    3. Turn the GTS on.
    4. Enter the following menus: Body Electrical / Road Sign Assist / Utility / Vehicle Control History (RoB).

      Body Electrical > Road Sign Assist > Utility 

      Tester Display
      Vehicle Control History (RoB)
    5. Clear the Vehicle Control History (RoB) according to the display on the GTS.
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