Pre-Crash Safety System Precaution

If a terminal contact 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.

Before disconnecting connectors or removing/installing parts, determine the malfunctioning area by checking and writing down the vehicle conditions (output DTCs, etc.) at the time the malfunction occurred.

Be sure to check for DTCs related to other systems. The pre-crash safety system may be influenced by malfunctions in other systems.

When removing and installing ECUs, sensors, switches or other pre-crash safety system related parts, perform the following:

1. Make sure that the engine switch is off unless otherwise specified in the procedure.
   
2. After removal/installation, check for DTCs and confirm that a normal system code is output.
   

Make sure to turn the pre-crash safety system off in the following situations, as it may operate unexpectedly or may not operate when necessary.

1. When the vehicle is being towed
   
2. When your vehicle is towing another vehicle
   
3. When transporting the vehicle via truck, boat, train or similar means of transportation
   
4. When the vehicle is raised on a lift with the engine running and the tires are allowed to rotate freely
   
5. When inspecting the vehicle using a drum tester such as a chassis dynamometer or speedometer tester, or when using an on vehicle wheel balancer
   
6. When a strong impact is applied to the front bumper or front grille, due to an accident or other reasons
   
7. If the vehicle cannot be driven in a stable manner, such as when the vehicle has been in an accident or is malfunctioning
   
8. When the vehicle is driven in a sporty manner or off-road
   
9. When the tires are not properly inflated
   
10. When a compact spare tire or an emergency tire puncture repair kit is used
    
11. If the suspension is modified
    
12. If the front of the vehicle is raised or lowered, such as when loaded with heavy luggage
    

Driving support ECU assembly:

1. When replacing the driving support ECU assembly, always replace it with a new one. If a driving support ECU assembly which was installed to another vehicle is used, the information stored in it will not match the information from the vehicle and a DTC may be stored.
   

Millimeter wave radar sensor assembly:

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

2. When the millimeter wave radar sensor assembly is replaced with a new one, adjustment of the radar sensor beam axis must be performed (Click here).
   

Forward recognition camera:

1. When replacing the forward recognition camera, replace it with a new one. If a forward recognition camera which was installed to another 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. If the forward recognition camera has been replaced with a new one or the windshield glass has been removed and installed, it is necessary to perform Recognition Camera/Target Position Memory and Recognition Camera Axis Adjust (Click here). If the system is turned on without performing Recognition Camera/Target Position Memory and Recognition Camera Axis Adjust, DTC C1AA9 will be stored.
   

Master cylinder solenoid (Skid control ECU):

1. After the master cylinder solenoid (skid control ECU) is replaced, perform the yaw rate sensor and G sensor zero point calibration and store the system information.
   

   1. for LHD: Click here
      
   2. for RHD: Click here
      

Windshield glass:

1. When replacing the windshield glass of a 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 the dynamic radar cruise control system may not operate properly due to a difference in the transmissivity or black ceramic border.
   





2. Do not attach such as stickers (including transparent stickers) or an antenna items to the outer side of the windshield glass within the area shown in the illustration in front of the forward recognition camera.