Cruise Control System: Section

CRUISE CONTROL & DRIVER ASSISTANCE
CCS
A
B
SECTION
CRUISE CONTROL SYSTEM C
E
CONTENTS
ICC HANDLING PRECAUTION ............................... 21 F
Precautions for Intelligent Cruise Control ................21
PRECAUTION ............................................... 4
DIAGNOSIS SYSTEM (ADAS CONTROL G
PRECAUTIONS ................................................... 4 UNIT) ................................................................. 24
Precaution for Supplemental Restraint System CONSULT Function (ICC/ADAS) ............................24
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN-
SIONER" ................................................................... 4 DIAGNOSIS SYSTEM (ICC SENSOR) ............. 29 H
Precautions For Harness Repair ............................... 4 CONSULT Function (LASER/RADAR) ....................29
ICC System Service .................................................. 5
ECU DIAGNOSIS INFORMATION .............. 33 I
PREPARATION ............................................ 6
ADAS CONTROL UNIT .................................... 33
PREPARATION ................................................... 6 Reference Value ......................................................33
Special Service Tools ................................................ 6 Fail-safe (ADAS Control Unit) ..................................36 J
DTC Inspection Priority Chart ..................................36
SYSTEM DESCRIPTION .............................. 7 DTC Index ...............................................................37
K
COMPONENT PARTS ........................................ 7 ICC SENSOR .................................................... 39
Component Parts Location ........................................ 7 Reference Value ......................................................39
ICC Sensor ................................................................ 8 Fail-safe ...................................................................42
ADAS Control Unit .................................................... 9 DTC Inspection Priority Chart ..................................42 L
Brake Pedal Position Switch/Stop Lamp Switch ...... 9 DTC Index ...............................................................43
ICC Steering Switch .................................................. 9
ICC Brake Hold Relay ............................................. 10 WIRING DIAGRAM ...................................... 45 M
Combination Meter .................................................. 10
INTELLIGENT CRUISE CONTROL .................. 45
SYSTEM .............................................................11 Wiring Diagram ........................................................45
System Description ................................................. 11 N
Fail-safe (ADAS Control Unit) ................................. 13 BASIC INSPECTION ................................... 54
Fail-safe (ICC Sensor) ............................................ 13
DIAGNOSIS AND REPAIR WORK FLOW ....... 54
CCS
INTELLIGENT CRUISE CONTROL .......................... 13 Work Flow ................................................................54
INTELLIGENT CRUISE CONTROL : System De-
scription ................................................................... 14
ADDITIONAL SERVICE WHEN REPLACING
ICC SENSOR .................................................... 56 P
OPERATION .......................................................17 Description ...............................................................56
Work Procedure .......................................................56
INTELLIGENT CRUISE CONTROL .......................... 17
INTELLIGENT CRUISE CONTROL : Switch ICC SENSOR INITIAL VERTICAL ALIGN-
Name and Function ................................................. 17 MENT ................................................................. 57
INTELLIGENT CRUISE CONTROL : Menu Dis- Description ...............................................................57
played by Pressing Each Switch ............................. 17 Required Tools ........................................................57
Revision: December 2015 CCS-1 2016 Sentra NAM

Preparation ............................................................. 57 C1A17 ICC SENSOR ......................................... 89
ICC Sensor Initial Vertical Alignment ...................... 58 DTC Description ...................................................... 89
Diagnosis Procedure ............................................... 89
ICC SENSOR ALIGNMENT ............................... 59
Description .............................................................. 59 C1A18 RADAR AIMING INCMP ....................... 90
Required Tools ....................................................... 59 DTC Description ...................................................... 90
Preparation ............................................................. 60 Diagnosis Procedure ............................................... 90
Vehicle Set Up ........................................................ 61
Setting The ICC Target Board ................................ 63 C1A21 UNIT HIGH TEMP .................................. 91
ICC Sensor Adjustment .......................................... 64 DTC Description ...................................................... 91
ACTION TEST ................................................... 66
Description .............................................................. 66 C1A24 NP RANGE ............................................ 92
Work Procedure ...................................................... 66 DTC Description ...................................................... 92
DTC/CIRCUIT DIAGNOSIS ......................... 70
C1A26 ECD MODE MALFUNCTION ................ 94
C1A00 CONTROL UNIT .................................... 70 DTC Description ...................................................... 94
DTC Description ..................................................... 70 Diagnosis Procedure ............................................... 94
Diagnosis Procedure .............................................. 70
C1A27 ECD POWER SUPPLY CIRCUIT .......... 96
C1A01 POWER SUPPLY CIRCUIT 1, C1A02 DTC Description ...................................................... 96
POWER SUPPLY CIRCUIT 2 ............................ 71 Diagnosis Procedure ............................................... 96
DTC Description ..................................................... 71
Diagnosis Procedure .............................................. 71 C1A39 STEERING ANGLE SENSOR ............... 98
DTC Description ...................................................... 98
C1A03 VEHICLE SPEED SENSOR .................. 72 Diagnosis Procedure ............................................... 98
DTC Description ..................................................... 72
Diagnosis Procedure .............................................. 73 C1B5D FEB OPE COUNT LIMIT ...................... 99
DTC Description ...................................................... 99
C1A04 ABS/TCS/VDC SYSTEM ....................... 74 Diagnosis Procedure ............................................... 99
DTC Description ..................................................... 74
Diagnosis Procedure .............................................. 74 C1A50 ADAS CONTROL UNIT ........................ 100
DTC Description .................................................... 100
C1A05 BRAKE SW/STOP LAMP SW ............... 75 Diagnosis Procedure ............................................. 100
DTC Description ..................................................... 75
Diagnosis Procedure .............................................. 75 C10B7 YAW RATE SENSOR ........................... 101
Component Inspection (Stop Lamp Switch) ........... 78 DTC Description .................................................... 101
Component Inspection (Brake Pedal Position Diagnosis Procedure ............................................. 101
Switch) .................................................................... 78 U0121 VDC CAN 2 ........................................... 102
C1A06 OPERATION SW ................................... 79 DTC Description .................................................... 102
DTC Description ..................................................... 79 Diagnosis Procedure ............................................. 102
Diagnosis Procedure .............................................. 79 U0126 STRG SEN CAN 1 ................................ 104
Component Inspection ............................................ 80
DTC Description .................................................... 104
C1A12 LASER BEAM OFF CENTER ............... 82 Diagnosis Procedure ............................................. 104
DTC Description ..................................................... 82 U0401 ECM CAN 1 ........................................... 105
DTC Description .................................................... 105
C1A14 ECM ....................................................... 83 Diagnosis Procedure ............................................. 105
DTC Description ..................................................... 83 U0415 VDC CAN 1 ........................................... 106
DTC Description .................................................... 106
C1A15 GEAR POSITION ................................... 85 Diagnosis Procedure ............................................. 106
DTC Description ..................................................... 85 U0428 STRG SEN CAN 2 ................................ 107
DTC Logic ............................................................... 85 DTC Description .................................................... 107
Diagnosis Procedure .............................................. 86 Diagnosis Procedure ............................................. 107
C1A16 RADAR BLOCKED OR STAINED ........ 87 U1000 CAN COMM CIRCUIT ........................... 108
DTC Description ..................................................... 87 DTC Description .................................................... 108

DTC Logic ............................................................. 108 Description ............................................................. 121
Diagnosis Procedure ............................................. 108 Diagnosis Procedure ............................................. 121 A
U1010 CONTROL UNIT (CAN) ........................ 109 ICC SYSTEM DOES NOT CANCEL WHEN
DTC Description .................................................... 109 CVT SELECTOR LEVER SETS ON "N" ........ 122
DTC Logic ............................................................. 109 B
Description ............................................................. 122
Diagnosis Procedure ............................................. 109 Diagnosis Procedure ............................................. 122
POWER SUPPLY AND GROUND CIRCUIT .... 110 CHIME DOES NOT SOUND ........................... 123 C
Description ............................................................. 123
ICC SENSOR ........................................................... 110
Diagnosis Procedure ............................................. 123
ICC SENSOR : Diagnosis Procedure ................... 110
DRIVING FORCE IS HUNTING ...................... 125 D
C1A07 CVT ....................................................... 111 Description ............................................................. 125
DTC Description .................................................... 111
Diagnosis Procedure ............................................. 111 E
FREQUENTLY CANNOT DETECT THE VEHI-
U153A CVT MESSAGE COUNTER FAILURE.. 112
CLE AHEAD / DETECTION ZONE IS SHORT. 126
DTC Description .................................................... 112
Description ............................................................. 126
Diagnosis Procedure ............................................. 112 F
U153B CVT CHECK SUM FAILURE ............... 113
THE SYSTEM DOES NOT DETECT THE VE-
DTC Description .................................................... 113
HICLE AHEAD AT ALL .................................. 128 G
Description ............................................................. 128
C1A0C ADAS MESSAGE COUNTER FAIL- Diagnosis Procedure ............................................. 128
URE .................................................................. 114 H
NORMAL OPERATING CONDITION ............. 130
DTC Description .................................................... 114
Description ............................................................. 130
C1A0D MRR CAN FAILURE ............................ 115 REMOVAL AND INSTALLATION ............. 133 I
DTC Description .................................................... 115 ICC SENSOR .................................................. 133
Diagnosis Procedure ............................................. 115 Exploded View ....................................................... 133
J
Removal and Installation ....................................... 133
SYMPTOM DIAGNOSIS ............................ 116
ICC STEERING SWITCH ................................ 135
INTELLIGENT CRUISE CONTROL SYSTEM
Removal and Installation ....................................... 135 K
SYMPTOMS ..................................................... 116
Symptom Table ..................................................... 116
ASCD
MAIN SWITCH DOES NOT TURN ON, MAIN PRECAUTION ............................................ 136 L
SWITCH DOES NOT TURN OFF ..................... 117 PRECAUTIONS ............................................... 136
Description ............................................................ 117 Precaution for Supplemental Restraint System
Diagnosis Procedure ............................................. 117 (SRS) "AIR BAG" and "SEAT BELT PRE-TEN- M
ICC SYSTEM CANNOT BE SET (MAIN SIONER" ............................................................... 136
SWITCH TURNS ON/OFF) ............................... 119 SYSTEM DESCRIPTION ........................... 137
Description ............................................................ 119 N
Diagnosis Procedure ............................................. 119 AUTOMATIC SPEED CONTROL DEVICE
(ASCD) ............................................................ 137
ICC STEERING SWITCH (OTHER THAN Information ............................................................. 137 CCS
MAIN SWITCH) DOES NOT FUNCTION ......... 121

PRECAUTIONS
< PRECAUTION > [ICC]
PRECAUTION
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
PRE-TENSIONER" INFOID:0000000013379692
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. Information necessary to service the system safely is included in the SR and SB section of
this Service Manual.
WARNING:
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision which would result in air bag inflation, it is recommended that all mainte-
nance and repair be performed by an authorized NISSAN/INFINITI dealer.
• Improper repair, including incorrect removal and installation of the SRS, can lead to personal injury
caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag Module,
see the SR section.
• Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this
Service Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or har-
ness connectors.
PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS
WARNING:
• When working near the Air Bag Diagnosis Sensor Unit or other Air Bag System sensors with the
Ignition ON or engine running, DO NOT use air or electric power tools or strike near the sensor(s)
with a hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly
causing serious injury.
• When using air or electric power tools or hammers, always switch the Ignition OFF, disconnect the
battery or batteries, and wait at least three minutes before performing any service.
Precautions For Harness Repair INFOID:0000000013301615
ITS communication uses a twisted pair line. Be careful when repairing it.
• Solder the repaired area and wrap tape around the soldered area.
NOTE:
A fray of twisted lines must be within 110 mm (4.33 in).
SKIB8766E
• Bypass connection is never allowed at the repaired area.

NOTE:
Bypass connection may cause ITS communication error. The
spliced wire becomes separated and the characteristics of twisted
line are lost.
SKIB8767E

PRECAUTIONS
< PRECAUTION > [ICC]
ICC System Service INFOID:0000000013301616
A
CAUTION:
• Turn the MAIN switch OFF in conditions similar to driving, such as free rollers or a chassis dyna-
mometer. B
• Never use the ICC sensor removed from vehicle. Never disassemble or remodel.
• Erase DTC when replacing parts of ICC system, then check the operation of ICC system after adjust-
ing radar alignment if necessary.
C
CCS

PREPARATION
< PREPARATION > [ICC]
PREPARATION
PREPARATION
Special Service Tools INFOID:0000000013301617
The actual shape of the tools may differ from those illustrated here.
Tool number Description
(TechMate No.)
Tool name
— Adjusting ICC sensor
(1-20-2851-1)
ICC alignment kit
AWOIA0016ZZ
— Adjusting ICC sensor

(1-20-2722-1-IF)
Wheel adaptor
AWOIA0017ZZ

COMPONENT PARTS
< SYSTEM DESCRIPTION > [ICC]
SYSTEM DESCRIPTION A
COMPONENT PARTS
Component Parts Location INFOID:0000000013296131
B
N
ALOIA0372ZZ
A. Engine room RH B. Engine room RH C. Front bumper LH

CCS
D. Brake pedal area E. Instrument panel LH

COMPONENT PARTS
No. Component Function

• TCM transmits the signal related to CVT control to ADAS control unit via CAN com-
munication.
1. TCM • Refer to TM-73, "CVT CONTROL SYSTEM : Component Parts Location" for detailed
installation location.
• ECM transmits the accelerator pedal position signal, brake pedal position switch sig-
nal, stop lamp switch signal, ICC steering switch signal, etc., to ADAS control unit via
CAN communication.
2. ECM • ECM controls the electric throttle control actuator based on the engine torque demand
received from the ADAS control unit via CAN communication.
• Refer to EC-15, "ENGINE CONTROL SYSTEM : Component Parts Location" for de-
tailed installation location.
Combination meter • Description: Refer to CCS-10, "Combination Meter".
3. (Information display, FEB indicator • System display and warning: Refer to CCS-17, "INTELLIGENT CRUISE CONTROL :
lamp, buzzer) Menu Displayed by Pressing Each Switch".
• ABS actuator and electric unit (control unit) transmits the vehicle speed signal (wheel
speed), stop lamp signal and VDC/TCS/ABS system operation condition to ADAS
ABS actuator and electric unit (control control unit via CAN communication.
4.
unit) • ABS actuator and electric unit (control unit) controls the brake based on a brake fluid
pressure control signal received from the ADAS control unit via CAN communication.
Refer to BRC-170, "Component Parts Location" for detailed installation location.
5. ICC brake hold relay Refer to CCS-10, "ICC Brake Hold Relay".
• Refer to CCS-8, "ICC Sensor".
6. ICC sensor
7. Brake pedal position switch

Refer to CCS-9, "Brake Pedal Position Switch/Stop Lamp Switch".
8. Stop lamp switch
• Refer to CCS-9, "ADAS Control Unit".
• Refer to DAS-6, "Component Parts Location" for detailed installation location.
9. ADAS control unit
ICC Sensor INFOID:0000000013296132
JSOIA1619ZZ
• ICC sensor is installed on the front of the bumper and detects a vehicle ahead using millimeter waves.
• ICC sensor detects radar reflected from a vehicle ahead by irradiating radar forward and calculates a dis-
tance from the vehicle ahead and relative speed, based on the detected signal.
• ICC sensor transmits information for ICC from the vehicle to ADAS control unit via ITS communication.

COMPONENT PARTS
ADAS Control Unit INFOID:0000000013296133
D
AWOIA0101ZZ
• ADAS control unit is installed.

• ADAS control unit calculates and transmits an engine torque command value to ECM and a brake fluid pres-
sure control signal to ABS actuator and electric unit (control unit) via CAN communication. E
• ADAS control unit transmits buzzer output signal and meter display signal to combination meter via CAN
communication.
Brake Pedal Position Switch/Stop Lamp Switch INFOID:0000000013296134 F
BRAKE PEDAL POSITION SWITCH

G
JSOIA0438ZZ
• Brake pedal position switch is installed at the upper part of the brake pedal and detects a brake operation J
performed by the driver.
• Brake pedal position switch is turned OFF when depressing the brake pedal.
• Brake pedal position switch signal is input to ECM. Brake pedal position switch signal is transmitted from K
ECM to ADAS control unit via CAN communication.
STOP LAMP SWITCH
L
JSOIA0439ZZ
• Stop lamp switch is installed at the upper part of the brake pedal and detects a brake operation performed by CCS
the driver.
• Stop lamp switch is turned ON when depressing the brake pedal.
• Stop lamp switch signal is inputted to ECM and ABS actuator and electric unit (control unit). Stop lamp
switch signals are transmitted from ECM and ABS actuator and electric unit (control unit) to ADAS control P
unit via CAN communication.
ICC Steering Switch INFOID:0000000013296135
• ICC steering switch is installed to the steering wheel and allows the driver to operate the ICC system by
using this switch.

COMPONENT PARTS
• ICC steering switch controls the ON/OFF operation of the Intelligent Cruise Control and the settings of vehi-
cle speed and distance between vehicles.
• ICC steering switch signal is transmitted to ECM. ECM transmits the signal to the ICC sensor unit via CAN
communication.
ICC Brake Hold Relay INFOID:0000000013296136
JSOIA0565ZZ
• ICC brake hold relay is installed in the engine room (LH).

• When the brake is activated by the ICC system, the ICC brake hold relay turns ON the stop lamp by bypass-
ing the circuit of the stop lamp according to a signal transmitted from the ADAS control unit.
Combination Meter INFOID:0000000013296137
• Performs the following operations using the signals received from the ADAS control unit via the CAN com-
munication:
- Displays the ICC system operation status using the meter display signal.
- Illuminates the ICC system warning lamp using the ICC warning lamp signal.
- Illuminates the FEB indicator lamp using the FEB indicator lamp signal.
- Operates the buzzer (ICC warning chime) using the buzzer output signal.
• Combination meter turns ON/OFF the FEB system and transmits a system selection signal to the ICC sen-
sor.

SYSTEM
SYSTEM
A
System Description INFOID:0000000013296138
SYSTEM DIAGRAM B
CCS
ALOIA0352GB
ADAS CONTROL UNIT INPUT/OUTPUT SIGNAL ITEM

Input Signal Item

SYSTEM
Transmit unit Signal name Description

Closed throttle position signal Receives idle position state (ON/OFF)
Accelerator pedal position signal Receives accelerator pedal position (angle)
Receives an operable/inoperable state of the ICC sys-
ICC prohibition signal
tem
Main switch signal
SET/COAST switch
signal
CANCEL switch sig-
CAN com- ICC steering switch Receives the operational state of the ICC steering
nal
ECM munica- signal switch
tion RESUME/ACCEL-
ERATE switch signal
DISTANCE switch
signal
Engine speed signal Receives engine speed
Stop lamp switch signal Receives an operational state of the brake pedal
Brake pedal position switch signal Receives an operational state of the brake pedal
Receives an operational state of the ICC brake hold re-
ICC brake hold relay signal
lay signal
Input speed signal Receives the number of revolutions of input shaft
CAN com- Current gear position signal Receives a current gear position
TCM munica-
tion Shift position signal Receives a selector lever position
Output shaft revolution signal Receives the number of revolutions of output shaft
ABS malfunction signal Receives a malfunction state of ABS
ABS operation signal Receives an operational state of ABS
ABS warning lamp signal Receives an ON/OFF state of ABS warning lamp
TCS malfunction signal Receives a malfunction state of TCS
TCS operation signal Receives an operational state of TCS
ABS actuator CAN com-
and electric unit munica- VDC OFF switch signal Receives an ON/OFF state of VDC
(control unit) tion
VDC malfunction signal Receives a malfunction state of VDC
VDC operation signal Receives an operational state of VDC
Vehicle speed signal (ABS) Receives wheel speeds of four wheels
Stop lamp switch signal Receives an operational state of the brake pedal
Yaw rate signal Receives yaw rate acting on the vehicle
CAN com- Parking brake switch signal Receives an operational state of the parking brake
Combination
munica-
meter System selection signal Receives a selection state of FEB system
tion
Steering angle sensor malfunction signal Receives a malfunction state of steering angle sensor
CAN com-
Steering angle Receives the number of revolutions and turning direc-
munica- Steering angle sensor signal
sensor tion of the steering wheel
tion
Steering angle speed signal Receives the turning angle speed of the steering wheel
Output Signal Item
Reception unit Signal name Description
CAN commu- Engine speed signal Receives engine speed

ECM
nication Accelerator pedal position signal Receives accelerator pedal position (angle)
TCM CAN commu- Input speed signal Receives the number of revolutions of input shaft
nication Output shaft revolution signal Receives the number of revolutions of output shaft

SYSTEM
Reception unit Signal name Description
A
ICC brake hold Activated the brake hold relay and turns ON the stop
ICC brake hold relay drive signal
relay lamp
ICC warning lamp sig-
nal B
Vehicle ahead detec-
tion indicator signal
Set vehicle speed indi- C
Meter display cator signal Transmits a signal to display a state of the system on
signal the information display
Set distance indicator
signal D
Combination CAN commu- SET switch indicator
meter nication
MAIN switch indicator
signal E
• Transmits a signal to turn ON the FEB indicator
FEB indicator lamp signal lamp
• Transmits an ON/OFF state of the FEB system F
Transmits a buzzer output signal to turn ON the buzz-
er of the following systems:
Buzzer output signal
• Intelligent Cruise Control (ICC)
G
• Forward Emergency Braking (FEB)
DESCRIPTION
H
Intelligent Cruise Control
The Intelligent Cruise Control (ICC) system maintains a selected distance from the vehicle in front of own vehi-
cle within the speed range of 0 to 144 km/h (0 to 90 MPH) up to the set speed.
The set speed can be selected by the driver between 32 to 144 km/h (20 to 90 MPH). I
The vehicle travels at a set speed when the road ahead is clear.
CAUTION:
Never set the cruise speed to exceed the posted speed limit. J
WARNING:
Always drive carefully and attentively when using either cruise control mode. To avoid serious injury K
or death, do not rely on the system to prevent accidents or to control the vehicle's speed in emer-
gency situations. Do not use cruise control except in appropriate road and traffic conditions.
Forward Collision Warning (FCW) System L
FCW shares the systems and components with ICC system. Refer to CCS-11, "System Description".
Forward Emergency Braking (FEB) System
FEB system shares the systems and components with ICC system. Refer to CCS-11, "System Description". M
Fail-safe (ADAS Control Unit) INFOID:0000000013296139
N
If a malfunction occurs in each system, ADAS control unit cancels each control, sounds a beep, and turns ON
the warning lamp or indicator lamp.
System Buzzer Warning lamp/Indicator lamp Description CCS

High-pitched
Intelligent Cruise Control System ICC system warning lamp Cancel
tone
P
Fail-safe (ICC Sensor) INFOID:0000000013296140
If a malfunction occurs in the ICC sensor, ADAS control unit cancels control, sounds a beep, and turns ON the
ICC system warning lamp in the combination meter.
INTELLIGENT CRUISE CONTROL

SYSTEM
INTELLIGENT CRUISE CONTROL : System Description INFOID:0000000013296141
SYSTEM DIAGRAM
ALOIA0352GB
FUNCTION DESCRIPTION
The Intelligent Cruise Control (ICC) system automatically maintains a selected distance from the vehicle trav-
eling in front of own vehicle according to that vehicle's speed (up to the set speed) or at the set speed when
the road ahead is clear.

SYSTEM
With ICC system, the driver can maintain the same speed as other vehicles without the constant need to
adjust the set speed as the driver would with a normal cruise control system. A
The following items are controlled in the ICC system:
• When there are no vehicles traveling ahead, the ICC system maintains the speed set by the driver. The set
speed range is between approximately 32 and 144 km/h (20 and 90 MPH).
B
• When there is a vehicle traveling ahead, the ICC system adjusts the speed to maintain the distance,
selected by driver, from a vehicle ahead. The adjusting speed range is up to the set speed.
• When the vehicle traveling ahead has moved from its lane of travel, the ICC system accelerates and main-
tains vehicle speed up to the set speed. C
CAUTION:
If the vehicle ahead comes to a stop, the vehicle decelerates to a standstill within the limitations of the
system. The system will cancel once it judges that the vehicle has come to a standstill and sound a D
warning chime.
To prevent the vehicle from moving, the driver must depress the brake pedal.
NOTE:
When the accelerator pedal is depressed, the brake operation and the warning are not performed by the ICC E
system.
OPERATION DESCRIPTION
Push and release the MAIN switch ON. F
The MAIN switch indicator, set distance indicator and set vehicle speed indicator come on and ICC system is
set to a standby state.
ADAS control unit performs the control as per the following: G
Constant Comparing the set vehicle speed with the current vehicle speed, it transmits the command to ECM via CAN communica-
speed tion to reach the set vehicle speed and controls the electric throttle control actuator.
H
When a vehicle ahead (slower than driver set vehicle speed) appears or when a vehicle ahead slows down, the system
Decelera- controls the electric throttle control actuator into the close direction and decelerates the vehicle. If greater deceleration
tion is necessary, the system transmits the brake fluid pressure control signal to the ABS actuator and electric unit (control
unit) via CAN communication and operates the brake. I
The system controls the electric throttle control actuator and the brake fluid pressure to keep the proper distance between
Following
the vehicles according to the vehicle speed change of the vehicle ahead.
When a vehicle ahead is not detected because it changes lanes or own vehicle changes lanes during the following driv- J
Accelera-
ing, the system controls the electric throttle control actuator to the open direction and accelerates the vehicle to the set
tion
vehicle speed slowly.
Set Condition K
Under a standby state, pushing down the SET/COAST switch will start system control.
• When vehicle speed is between approximately 32 km/h and 144 km/h (20 MPH and 90 MPH).
• When vehicle speed is below approximately 32 km/h (20 MPH) if a vehicle ahead is detected. The set vehi- L
cle speed becomes 32 km/h (20 MPH).
If the system is canceled by conditions 1-6 below, the system will resume control at the last set cruising speed
by pushing up the RESUME/ACCELERATE switch. M
NOTE:
• When the SET/COAST switch is pushed under the following conditions, the system cannot be set and the
set vehicle speed indicator will blink for approximately 2 seconds:
- When traveling below 32 km/h (20 MPH) and the vehicle ahead is not detected. N
- When the selector lever is not in the “D” position or manual mode.
- When the parking brake is applied.
- When the brakes are operated by the driver. CCS
• When the SET/COAST switch is pushed under the following conditions, the system cannot be set and a
warning chime will sound and display causes in combination meter (information display):
- When the VDC is OFF. (To use the ICC system, turn ON the VDC system, push the MAIN switch to turn OFF
the ICC system and reset the ICC system by pushing the MAIN switch again.) P
- When ABS or VDC (including the TCS) operates.
- When the wheel is slipping. (To use the ICC system, make sure the wheels are no longer spinning, push the
MAIN switch to turn OFF the ICC system and reset the ICC system by pushing the MAIN switch again.)
Cancel Conditions
1. When CANCEL switch is pressed.
2. When brake pedal is depressed.
3. When the vehicle ahead is not detected below the speed of 24 km/h (15 MPH).
SYSTEM
4. When the selector lever is not in the “D” position or manual mode.
5. When the parking brake is applied.
6. When the system judges the vehicle is at a standstill.
7. When ABS or VDC (including the TCS) operates.
8. When the MAIN switch is turned OFF.
9. When a wheel slips.
10. When the VDC is turned OFF.
11. When a system malfunction occurs.

OPERATION
OPERATION
A
INTELLIGENT CRUISE CONTROL : Switch Name and Function INFOID:0000000013296142
B
F
ALOIA0363ZZ
No. Switch name Description G

1. CANCEL switch Deactivates the system without erasing the set speed
Sets desired cruise speed or reduces speed incrementally
• Push and hold the switch to decrease the set speed by 8 km/h (5 MPH). H
• Push then quickly release the switch to decrease the set speed by 1.6 km/h (1 MPH).
NOTE:
2. RES/+ SET/- switch
The minimum set speed is 32 km/h (20 MPH).
Resumes set speed or increases speed incrementally I
• Push and hold the switch to increase the set speed by 8 km/h (5 MPH).
• Push then quickly release the switch to increase the set speed by 1.6 km/h (1 MPH).
3. DISTANCE switch Changes the following distance from: Long, Middle, Short J
4. MAIN switch Master switch to activate the system (Press for less than 1.5 seconds.)
INTELLIGENT CRUISE CONTROL : Menu Displayed by Pressing Each Switch K

INFOID:0000000013296143
ICC SYSTEM DISPLAY (ON THE INFORMATION DISPLAY) L
ALOIA0267ZZ CCS
No. Display item Description

1. Vehicle ahead detection indicator Indicates whether it detects a vehicle ahead P
2. Set distance indicator Indicates the selected distance between vehicles set with the DISTANCE switch
Main switch indicator (white) White: Indicates the main switch is ON (ICC system ON)
3.
ICC system warning lamp (orange) Orange: Indicates that a malfunction occurred in the ICC system
• Indicates the set vehicle speed
4. Set vehicle speed indicator
• Indicates 32 km/h (20 MPH) when setting is less than 32 km/h (20 MPH)

OPERATION
SYSTEM CONTROL CONDITION DISPLAY
Push and hold the ICC MAIN switch for longer than approximately 1.5 seconds. This mode will be in a standby
state for setting.
Condition Display on ICC system display
Standby mode
ALOIA0269ZZ
Set vehicle distance (Long)
ALOIA0268ZZ
Set vehicle distance (Middle)
Without a vehicle ALOIA0364ZZ

Control mode
ahead
Set vehicle distance (Short)
ALOIA0365ZZ
When the vehicle speed exceeds the set speed
ALOIA0273ZZ

OPERATION
A
B
Set vehicle distance (Long)
C
ALOIA0274ZZ
Set vehicle distance (Middle)
With a vehicle ALOIA0366ZZ

Control mode
ahead
F
Set vehicle distance (Short) G
ALOIA0367ZZ
H
I
When the vehicle speed exceeds the set speed
J
ALOIA0272ZZ
APPROACH WARNING DISPLAY

K
If own vehicle comes closer to a vehicle ahead due to rapid deceleration of that vehicle or if another vehicle
cuts in, the system warns the driver with the chime and ICC system display. Decelerate by depressing the
brake pedal to maintain a safe vehicle distance if:
• The chime sounds. L
• The vehicle ahead detection indicator blinks in orange.
The warning chime may not sound in some cases when there is a short distance between vehicles. Some
examples are: M
• When the vehicles are traveling at the same speed and the distance between vehicles is not changing.
• When the vehicle ahead is traveling faster and the distance between vehicles is increasing.
• When a vehicle cuts in near own vehicle.
The warning chime will not sound when own vehicle approaches vehicles that are parked or moving slowly. N
The warning chime will not sound when the accelerator pedal is depressed, overriding the system.
The approach warning chime may sound and the system display may blink when the ICC sensor detects some
reflectors which are fitted on vehicles in other lanes or on the side of the road. CCS
This may cause the ICC system to decelerate or accelerate the vehicle.
The ICC sensor may detect these objects when the vehicle is driven on winding roads, hilly roads or when
entering or exiting a curve.
The ICC sensor may also detect reflectors on narrow roads or in road construction zones. P
In these cases, driver will have to manually control the proper distance ahead of own vehicle.
Also, the sensor sensitivity can be affected by vehicle operation (steering maneuver or driving position in the
lane) or traffic or vehicle conditions (for example, if a vehicle is being driven with some damage).

OPERATION
When own vehicle comes closer to the vehicle ahead and it is judged that the distance be-
tween the vehicles is not sufficient
ALOIA0277ZZ
WARNING LAMP AND AUTOMATIC CANCELLATION DISPLAY
Condition Description Display on ICC system display

• When brake pedal is de-
pressed
• When CANCEL switch is
pressed A chime sounds and the control is automatically
• When a vehicle ahead is not canceled.
detected below the speed of NOTE:
Automatic
24 km/h (15 MPH) • The system will be in a standby state after the
cancella-
• When the system judges the control is automatically canceled.
tion display
vehicle is at a standstill • A chime sounds when the control is automati-
• When the selector lever is not cally canceled except when brake pedal is de-
in "D" position or manual pressed or when CANCEL switch is pressed. ALOIA0269ZZ
mode
• When the parking brake is
applied
• When the VDC is turned OFF
A chime sounds and the control is automatically
• When the VDC or ABS (in- Example: When the front bumper
canceled.
cluding the TCS) operates near the ICC sensor is blocked or
NOTE:
• When a wheel slips dirty, making it impossible to de-
When the conditions listed are no longer present,
• When the driver mode selec- tect a vehicle ahead
turn the system OFF using the MAIN switch.
tor (DMS) switch is in SNOW
Turn the ICC system back on to use the system.
mode
canceled.
When the front bumper near the
NOTE:
Warning ICC sensor is blocked or dirty,
Park the vehicle in a safe place and turn the en-
display making it impossible to detect a
gine OFF.
vehicle ahead
Clean the front bumper near the ICC sensor and ALOIA0278ZZ
then perform the settings again.

canceled.
When the ICC system is mal-
NOTE:
functioning
Turn the engine OFF and restart engine. If there
is no malfunction, it is possible to set the system.
ALOIA0279ZZ
NOTE:
When the ICC system is automatically canceled, the cancellation condition can be displayed in “Work support”
of CONSULT (ICC/ADAS).

HANDLING PRECAUTION
HANDLING PRECAUTION
A
Precautions for Intelligent Cruise Control INFOID:0000000013296144
• ICC system is only an aid to assist the driver and is not a collision warning or avoidance system. It is the B
driver's responsibility to stay alert, drive safely and be in control of the vehicle at all times.
• The system is primarily intended for use on straight, dry, open roads with light traffic. It is not advisable to
use the system in city traffic or congested areas.
• This system will not adapt automatically to road conditions. This system should be used in evenly flowing C
traffic. Never use the system on roads with sharp curves or on icy roads, in heavy rain or in fog.
• The ICC sensor will not detect the following objects:
- Stationary and slow-moving vehicles. D
- Pedestrians or objects in the roadway.
- Oncoming vehicles in the same lane.
- Motorcycles traveling offset in the travel lane.
• As there is a performance limit to the distance control function, never rely solely on the ICC system. This E
system does not correct careless, inattentive or absent-minded driving or overcome poor visibility in rain,
fog, or other bad weather. Decelerate the vehicle speed by depressing the brake pedal, depending on the
distance to the vehicle ahead and the surrounding circumstances in order to maintain a safe distance F
between vehicles.
• If the vehicle ahead comes to a stop, the vehicle decelerates to a standstill within the limitations of the sys-
tem. The system will cancel once it judges that the vehicle has come to a standstill and sound a warning
chime. To prevent the vehicle from moving, the driver must depress the brake pedal. G
• The system may not detect the vehicle ahead of the driver in certain road or weather conditions. To avoid
accidents, never use the ICC system under the following conditions:
- On roads where the traffic is heavy or there are sharp curves. H
- On slippery road surfaces such as on ice or snow, etc.
- During bad weather (rain, fog, snow, etc.).
- When rain, snow or dirt adheres to the ICC sensor.
I
- On steep downhill roads (the vehicle may go beyond the set vehicle speed and frequent braking may result
in overheating the brakes).
- On repeated uphill and downhill roads.
- When traffic conditions make it difficult to keep a proper distance between vehicles because of frequent J
acceleration or deceleration.
- Never use the ICC system if own vehicle is towing a trailer. The system may not detect a vehicle ahead.
- Interference by other radar sources. K
• In some road or traffic conditions, a vehicle or object can unexpectedly come into the sensor detection zone
and cause automatic braking. The driver may need to control the distance from other vehicles using the
accelerator pedal. Always stay alert and avoid using the ICC system when it is not recommended in this sec-
tion. L
• The Intelligent Cruise Control uses a sensor located on the front of the vehicle to detect vehicles traveling
ahead. The sensor generally detects the signals returned from the vehicle ahead. Therefore, if the sensor
cannot detect the reflection from the vehicle ahead, the ICC system may not maintain the selected distance. M
• The following are some conditions in which the sensor cannot detect the signals:
- When snow or road spray from traveling vehicles reduces the sensor's visibility.
- When excessively heavy baggage is loaded in the rear seat or the luggage room of own vehicle.
• The ICC system is designed to automatically check the sensor's operation within the limitations of the sys- N
tem. When the sensor area around the ICC sensor is covered with dirt or is obstructed, the system will auto-
matically cancel. If the sensor area around the ICC sensor is covered with ice, a transparent or translucent
vinyl bag, etc., the ICC system may not detect it. In these instances, the Intelligent Cruise Control may not CCS
cancel and may not be able to maintain the selected following distance from the vehicle ahead. Be sure to
check and clean the sensor area around the ICC sensor regularly.
• The ICC system does not control vehicle speed or warn the driver when own vehicle approaches stationary
or slow-moving vehicles. The driver must pay attention to vehicle operation to maintain proper distance from P
vehicles ahead when approaching toll gates or traffic congestion.

HANDLING PRECAUTION
• The detection zone of the ICC sensor is limited. A vehicle ahead
must be in the detection zone for the Intelligent Cruise Control to
maintain the selected distance from the vehicle ahead. A vehicle
ahead may move outside of the detection zone due to its position
within the same lane of travel. Motorcycles may not be detected in
the same lane ahead if they are traveling offset from the center line
of the lane. A vehicle that is entering the lane ahead may not be
detected until the vehicle has completely moved into the lane. If
this occurs, the ICC system may warn the driver by blinking the
system indicator and sounding the chime. The driver may have to
manually control the proper distance from vehicle traveling ahead.
JPOIA0221ZZ
• When driving on some roads, such as winding, hilly, curved, nar-

row roads or roads which are under construction, the ICC sensor
may detect vehicles in a different lane or may temporarily not
detect a vehicle traveling ahead. This may cause the ICC system
to decelerate or accelerate the vehicle. The detection of vehicles
may also be affected by vehicle operation (steering maneuver or
traveling position in the lane, etc.) or vehicle condition. If this
occurs, the ICC system may warn the driver by blinking the system
indicator and sounding the chime unexpectedly. The driver will
have to manually control the proper distance away from the vehicle
traveling ahead.
JPOIA0220ZZ
• When driving on the freeway at a set speed and approaching a

slower traveling vehicle ahead, the ICC will adjust the speed to
maintain the distance, selected by the driver, from the vehicle
ahead. If the vehicle ahead changes lanes or exits the freeway, the
ICC system will accelerate and maintain the speed up to the set
speed. Pay attention to the driving operation to maintain control of
the vehicle as it accelerates to the set speed. The vehicle may not
maintain the set speed on winding or hilly roads. If this occurs, the
driver will have to manually control the vehicle speed.
JPOIA0219ZZ

HANDLING PRECAUTION
• Normally when controlling the distance to a vehicle ahead, this system automatically accelerates or deceler- A
ates own vehicle according to the speed of the vehicle ahead. Depress the accelerator to properly acceler-
ate own vehicle when acceleration is required for a lane change. Depress the brake pedal when
deceleration is required to maintain a safe distance to the vehicle ahead due to its sudden braking or if a
vehicle cuts in. Always stay alert when using the ICC system. B
• The sensor sensitivity can be affected by vehicle operation (steering maneuver or driving position in the
lane) or traffic or vehicle conditions (for example, if a vehicle is being driven with some damage).
C
CCS

DIAGNOSIS SYSTEM (ADAS CONTROL UNIT)
CONSULT Function (ICC/ADAS) INFOID:0000000013337282
APPLICATION ITEMS
CONSULT performs the following functions via CAN communication using ADAS control unit:
Diagnosis mode Description

• The vehicle specification that is written in ADAS control unit can be displayed or stored.
Configuration
• The vehicle specification can be written when ADAS control unit is replaced.
Work support Displays causes of automatic system cancellation that occurred during system control.
Self Diagnostic Result Displays the name of a malfunctioning system stored in the ADAS control unit.
Data Monitor Displays ADAS control unit input/output data in real time.
Enables an operational check of a load by transmitting a driving signal from the ADAS control unit to the
Active Test
load.
ECU Identification Displays ADAS control unit part number.
CAN Diag Support Monitor Displays a reception/transmission state of CAN communication and ITS communication.
CONFIGURATION
Configuration includes functions as follows:
Function Description
Allows the reading of vehicle specification written in ADAS control
Before Replace ECU
unit to store the specification in CONSULT.
Read/Write Configuration
Allows the writing of the vehicle information stored in CONSULT
After Replace ECU
into the ADAS control unit.
Allows the writing of the vehicle specification into the ADAS control
Manual Configuration
unit by hand.
WORK SUPPORT
Work support items Description

Displays causes of automatic system cancellation that occurred during control of the Intelligent
CAUSE OF AUTO-CANCEL 5
Cruise Control (ICC).
NOTE:
• Causes of the maximum five cancellations (system cancel) are displayed.
• The displayed cancellation causes display the number of the ignition switch ON/OFF up to 254. It is fixed to
254 if it is over 254. It returns to 0 when the same cancellation cause is detected again.
Display Items for the Cause of Automatic Cancellation 1
Intelligent Cruise Control (ICC)
Cause of cancellation Description
CAN COMM ERROR × ADAS control unit received an abnormal signal with CAN communication.
NO RECORD × —
SELF DIAGNOSTIC RESULT

Refer to DAS-20, "DTC Index".

NOTE:
• The details of time display are as per the following: A
- CRNT: A malfunction is detected now.
- PAST: A malfunction was detected in the past.
• ODO/TRIP METER (Mileage) and VOLTAGE (IGN voltage) are displayed on FFD (Freeze Frame Data).
B
DATA MONITOR
MAIN SIG
MAIN SIG
C
ALL SIG
(BSW)
(ICC)
(ICC)
Monitored item
Description
[Unit]
D
MAIN SW
× × × Indicates [ON/OFF] status as judged from ICC steering switch.
[On/Off]
SET/COAST SW
× × Indicates [ON/OFF] status as judged from ICC steering switch. E
[On/Off]
CANCEL SW
× × Indicates [ON/OFF] status as judged from ICC steering switch.
[On/Off]
RESUME/ACC SW F
× × Indicates [ON/OFF] status as judged from ICC steering switch.
[On/Off]
DISTANCE SW
× Indicates [ON/OFF] status as judged from ICC steering switch.
[On/Off] G
CRUISE OPE
× × Indicates whether controlling or not (ON means “controlling”).
[On/Off]
BRAKE SW Indicates [ON/OFF] status as judged from ICC brake switch signal (ECM trans- H
× × ×
[On/Off] mits ICC brake switch signal through CAN communication).
STOP LAMP SW Indicates [ON/OFF] status as judged from stop lamp switch signal (ECM trans-
× × ×
[On/Off] mits stop lamp switch signal through CAN communication). I
Indicates [ON/OFF] status of idle switch read from ADAS control unit through
IDLE SW
× CAN communication (ECM transmits ON/OFF status through CAN communica-
[On/Off]
tion).
J
SET DISTANCE
× × Indicates set distance memorized in ADAS control unit.
[Short/Mid/Long]
CRUISE LAMP K
× × Indicates [ON/OFF] status of MAIN switch indicator output.
[On/Off]
VHCL AHEAD
× Indicates [ON/OFF] status of vehicle ahead detection indicator output.
[On/Off]
L
ICC WARNING
× Indicates [ON/OFF] status of ICC system warning lamp output.
[On/Off]
Indicates vehicle speed calculated from ADAS control unit through CAN com- M
VHCL SPEED SE
× × × munication [ABS actuator and electric unit (control unit) transmits vehicle speed
[km/h] or [mph]
signal (wheel speed) through CAN communication].
SET VHCL SPD
× × Indicates set vehicle speed memorized in ADAS control unit. N
[km/h] or [mph]
BUZZER O/P
× Indicates [ON/OFF] status of warning buzzer output.
[On/Off]
ENGINE RPM Indicates engine speed read from ADAS control unit through CAN communica-
CCS
×
[rpm] tion (ECM transmits engine speed signal through CAN communication).
WIPER SW Indicates wiper [OFF/LOW/HIGH] status (BCM transmits front wiper request sig-
× P
[OFF/LOW/HIGH] nal through CAN communication).
BA WARNING
× Indicates [ON/OFF] status of FEB indicator lamp output.
[On/Off]
STP LMP DRIVE
× × Indicates [ON/OFF] status of ICC brake hold relay drive output.
[On/Off]

MAIN SIG
MAIN SIG
ALL SIG
(BSW)
(ICC)
(ICC)
Monitored item
Description
[Unit]
Indicates [ON/OFF] status of “D” or “M” positions read from ADAS control unit
D POSITION SW
× through CAN communication; ON when position “D” or “M” (TCM transmits shift
[On/Off]
selector position signal through CAN communication).
Indicates shift selector position signal read from ADAS control unit through CAN
NP RANGE SW
× communication (TCM transmits shift selector position signal through CAN com-
[On/Off]
munication).
Parking brake switch status [ON/OFF] judged from the parking brake switch sig-
PKB SW nal that ADAS control unit receives via CAN communication is displayed (com-
×
[On/Off] bination meter transmits the parking brake switch signal via CAN
communication).
PWR SUP MONI
× × Indicates ignition voltage input monitored by ADAS control unit.
[V]
Indicates vehicle speed calculated from CVT vehicle speed sensor read from
VHCL SPD AT
× ADAS control unit through CAN communication (TCM transmits CVT vehicle
[km/h] or [mph]
speed sensor signal through CAN communication).
Indicates throttle position read from ADAS control unit through CAN communi-
THRTL OPENING
× × cation (ECM transmits accelerator pedal position signal through CAN communi-
[%]
cation).
Indicates CVT gear position read from ADAS control unit through CAN commu-
GEAR
× nication (TCM transmits current gear position signal through CAN communica-
[1, 2, 3, 4, 5, 6, 7]
tion).
Indicates [ON/OFF] status as judged from park/neutral position switch signal
NP SW SIG
× (ECM transmits park/neutral position switch signal through CAN communica-
[On/Off]
tion).
MODE SIG Indicates the active mode from ICC or ASCD [conventional (fixed speed) cruise
×
[OFF, ICC, ASCD] control mode].
SET DISP IND
× Indicates [ON/OFF] status of SET switch indicator output.
[On/Off]
DISTANCE
× Indicates the distance from the vehicle ahead.
[m]
RELATIVE SPD
× Indicates the relative speed of the vehicle ahead.
[m/s]
Indicates lateral G acting on the vehicle. This lateral G is judged from a side G
SIDE G sensor signal read by ADAS control unit via CAN communication.
×
[G] (The ABS actuator and electric unit (control unit) transmits a side G sensor sig-
nal via CAN communication).
Indicates system which can be set to ON/OFF by selecting “Driver Assistance”
FUNC ITEM (FCW)
× × × ⇒“Emergency Brake” of the integral switch:
[On/Off]
Forward Emergency Braking.
Indicates system which can be set to ON/OFF by selecting “Driver Assistance”
FUNC ITEM (BSW)
× × × ⇒“Blind Spot” of the integral switch:
[On/Off]
Blind Spot Warning.
Indicates an ON/OFF state of the FEB system. The FEB system can be set to
FCW SELECT
× × × ON/OFF by selecting “Driver Assistance”⇒“Emergency Brake” of the integral
[On/Off]
switch.
BSW SELECT Indicates an ON/OFF state of the BSW system. The BSW system can be set to
× × ×
[On/Off] ON/OFF by selecting “Driver Assistance”⇒“Blind Spot” of the integral switch.
BSW/BSI WARN LMP
× Indicates [ON/OFF] status of Blind Spot warning malfunction.
[On/Off]
BSW SYSTEM ON
× Indicates [ON/OFF] status of BSW system.
[On/Off]
FCW SYSTEM ON
× × Indicates [ON/OFF] status of FEB system.
[On/Off]

MAIN SIG
MAIN SIG
ALL SIG
(BSW)
A
(ICC)
(ICC)
Monitored item
Description
[Unit]
SYSTEM CANCEL B
MESSAGE
× × × Indicates [ON/OFF] status of system cancel display output.
[NOREQ/SLIP/VDC
OFF]
BSW ON INDICATOR
C
× Indicates [ON/OFF] status of BSW system ON display output.
[On/Off]
SIDE RADAR BLOCK
COND × Indicates [ON/OFF] status of side radar with dirt or foreign materials. D
[On/Off]
BSW IND BRIGHT-
NESS E
× Indicates status of brightness of Blind Spot Warning indicator.
[Nothing/Bright/Normal/
Dark]
ACTIVE TEST F
CAUTION:
• Never perform “Active Test” while driving the vehicle.
• The “Active Test” cannot be performed when the following systems malfunction is displayed. G
- ICC system
- Blind Spot Warning/RCTA
- FEB
• The “Active Test” cannot be performed when the FEB warning lamp is illuminated. H
• The “Active Test” cannot be performed when the ICC System is ON.
Test item Description I

METER LAMP The FEB warning lamp can be illuminated by ON/OFF operation as necessary.
The ICC brake hold relay can be operated by ON/OFF operation as necessary, and the stop lamp can be
STOP LAMP J
illuminated.
ADAS Buzzer 2 Sounds a buzzer used for BSW, RCTA, ICC and FEB by arbitrarily operating ON/OFF.
BRAKE ACTUATOR 1
K
BRAKE ACTUATOR 2 Activates the brake by an arbitrary operation.
BRAKE ACTUATOR 3
METER LAMP L
NOTE:
The test can be performed only when the engine is running.
M
Test item Operation Description FEB warning lamp
Off Stops sending the FEB warning lamp signal to exit from the test. OFF
METER LAMP Transmits the FEB warning lamp signal to the combination meter via CAN communi- N
On ON
cation.
STOP LAMP
CCS
Test item Operation Description Stop lamp
Off Stops transmitting the ICC brake hold relay drive signal to end the test. OFF
STOP LAMP P
On Transmits the ICC brake hold relay drive signal. ON
ADAS BUZZER 2
Test item Operation Description Operation sound

On Starts buzzer output. OFF
ADAS buzzer 2
Off Stops buzzer output. ON

BRAKE ACTUATOR
NOTE:
The test can be performed only when the engine is running.
Test item Operation Description “PRESS ORDER” value

Stops transmitting the brake fluid pressure control signal
Off —
to end the test.
BRAKE ACTUATOR 1
Starts transmitting the brake fluid pressure control signal
On 10 bar
to start the test.
Off —
to end the test.
BRAKE ACTUATOR 2
On 20 bar
to start the test.
Off —
to end the test.
BRAKE ACTUATOR 3
On 30 bar
to start the test.
NOTE:
The test is finished 10 seconds after starting.
AWOIA0119GB
ECU IDENTIFICATION
Displays ADAS control unit part number.

DIAGNOSIS SYSTEM (ICC SENSOR)
A
CONSULT Function (LASER/RADAR) INFOID:0000000013296146
APPLICATION ITEMS B
CONSULT performs the following functions via CAN communication with ADAS control unit and the communi-
cation with ICC sensor.
C
Diagnosis mode Description
Self Diagnostic Result Displays malfunctioning system memorized in ICC sensor
Data Monitor Displays real-time input/output data of ICC sensor D
It can monitor the adjustment direction indication in order to perform the radar adjustment operation
Work support
smoothly
ECU Identification Displays ICC sensor part number E
CAN Diag Support Monitor The results of transmit/receive diagnosis of ITS communication can be read.
SELF DIAGNOSTIC RESULT F

Refer to CCS-43, "DTC Index".
DATA MONITOR
G
Monitored item
Description
[Unit]
Vehicle speed judged from a vehicle speed signal read by the ICC sensor via ITS communica- H
VHCL SPEED SE tion is displayed [ADAS control unit receives a vehicle speed signal from ABS actuator and
[km/h] or [mph] electric unit (control unit) via CAN communication and transmits the calculated vehicle speed
to ICC sensor via ITS communication].
I
Indicates yaw rate read from ADAS control unit through ITS communication [ADAS control unit
receives yaw rate signal from ABS actuator and electric unit (control unit) via CAN communi-
cation and transmits yaw rate calculated by the ADAS control unit]
YAW RATE J
Yaw rate judged from a yaw rate signal read by ICC sensor via ITS communication is displayed
[deg/s]
[ADAS control unit receives a yaw rate signal from ABS actuator and electric unit (control unit)
via CAN communication and transmits the calculated yaw rate to ICC sensor via ITS commu-
nication].
K
PWR SUP MONI
Indicates IGN voltage input by ICC sensor
[V]
DISTANCE
Indicates the distance from the vehicle ahead L
[m]
RELATIVE SPD
Indicates the relative speed of the vehicle ahead
[m/s]
M
LASER OFFSET NOTE:
[m] The item is indicated but not used.
LASER HEIGHT NOTE:
[m] The item is indicated but not used. N
STEERING ANGLE
The steering angle is displayed.
[deg]
CCS
STRG ANGLE SPEED
The steering angle speed is displayed.
[deg/s]
L/R ADJUST
Indicates a horizontal correction value of the radar P
[deg]
U/D ADJUST
Indicates a vertical correction value of the radar
[deg]
NOTE:
FCW SYSTEM ON
The item is indicated, but not used.
NOTE:
FCW SELECT

Monitored item
Description
[Unit]
NOTE:
PFCW SELECT
NOTE:
PFCW SYSTEM ON
NOTE:
FEB SW
FEB SELECT Indicates [ON/OFF] state of the PFCW system.
MAIN SW Indicates [ON/OFF] status as judged from ICC steering switch.
NOTE:
ICC/ASCD MODE
SET/COAST SW Indicates [ON/OFF] status as judged from ICC steering switch.
CANCEL SW Indicates [ON/OFF] status as judged from ICC steering switch.
RESUME/ACC SW Indicates [ON/OFF] status as judged from ICC steering switch.
DISTANCE SW Indicates [ON/OFF] status as judged from ICC steering switch.
Indicates [ON/OFF] status as judged from brake pedal position switch signal [ECM transmits
BRAKE SW
brake pedal position switch signal through CAN communication].
Indicates [ON/OFF] status as judged from stop lamp switch signal [ABS actuator and electric
STOP LAMP SW
unit (control unit) transmits stop lamp switch signal through CAN communication].
Indicates [ON/OFF] status of idle switch read from ICC sensor through CAN communication
IDLE SW
(ECM transmits ON/OFF status through CAN communication.
CRUISE LAMP Indicates [ON/OFF] status of MAIN switch indicator output.
NOTE:
OWN VHCL
VHCL AHEAD Indicates [ON/OFF] status of vehicle ahead detection indicator output.
SET DISTANCE Indicates set distance memorized in ADAS control unit.
SET VHCL SPD NOTE:
[km/h] or [mph] The item is indicated, but not used.
THRTL SENSOR Indicates throttle position read from ISS sensor through CAN communication
[%] (ECM transmits accelerator pedal position signal through CAN communication).
VEHICLE AHEAD DETECT Indicates [ON/OFF] status of vehicle ahead detection indicator output.
STATIC OBSTACLE DETECT Indicates [ON/OFF] status of static obstacle detection.
[ON/OFF]
BUZZER O/P
Indicates [On/Off] status of warning chime output.
NOTE:
FUNC ITEM (FCW)
FUNC ITEM (PFCW) Indicates systems status
FUNC ITEM (FEB) Indicates systems status
FUNC ITEM (ICC) Indicates systems status
PRESS_ORDER Indicates status as judged from brake fluid pressure signal [ABS actuator and electric unit (con-
[bar] trol unit) transmits brake fluid pressure signal through CAN communication].
Indicates [ON/OFF] status as judged from D position switch signal (TCM transmits shift position
D RANGE SW
signal through CAN communication).
Indicates [ON/OFF] status as judged from N/P position switch signal (TCM transmits shift po-
NP RANGE SW
sition signal through CAN communication).
Parking brake switch status [ON/OFF] judges from the parking brake switch signal that ADAS
PKB SW control unit readout via CAN communication is displayed (combination meter transmits the
parking brake switch signal via CAN communication)
NOTE:
VHCL SPD AT

Monitored item
Description
[Unit] A
Indicates shift position read from ADAS control unit though CAN communication
Shift position
(TCM transmits shift position signal through CAN communication).
NOTE: B
Turn signal
SYSTEM CANCEL MESSAGE Indicates [ON/OFF] status of system cancel display output.
DISP VHCL SPD NOTE: C
[km/h] or [mph] The item is indicated, but not used.
Indicates vehicle speed unit read from ICC sensor through CAN communication
VHCL SPD UNIT
(combination meter transmits vehicle speed unit through CAN communications). D
NOTE:
ADAS AVAILABLE COND
NOTE: E
ICC SET STATUS
NOTE:
ICC MALF
The item is indicated, but not used. F
ADAS MALF Indicates [ON/OFF] status of ADAS malfunction.
STOP LAMP RELAY ON Indicates [ON/OFF] status of stop lamp relay fixed on.
G
STOP LAMP RELAY OFF Indicates [ON/OFF] status of stop lamp relay fixed off.
ICC CANCEL Idicates cancel status of ICC system.
ACCEL COM VALUE 1 H
Indicates accel command calculated from set speed and information of ahead vehicle.
[m/s2]
ICC STATUS Indicates ICC status.
ACCEL COM VALUE 2

NOTE: I
NOTE:
MILEAGE
The item is indicated, but not used. J
WORK SUPPORT
Work support items Description K

Outputs millimeter waves, calculates the displacement in radar direction, and indicates an ad-
MILLIWAVE RADAR ADJUST
justment direction
L
CAUSE OF AUTO-CANCEL Displays causes of automatic cancellation occurred during Intelligent Cruise Control system.
ICC sensor Adjust

Refer to CCS-59, "Description". M
ECU IDENTIFICATION
ICC sensor part number is displayed.
N
CAUSE OF AUTO CANCEL

CCS
OPERATING ABS ABS function was operated.
OPERATING TCS TCS function was operated.
OPERATING VDC VDC function was operated. P
ECM CIRCUIT ECM did not permit ICC operation.
CVT CIRCUIT CVT did not permit ICC operation.
RADAR BLOCKED Stain or foriegn matter on sensor body.
LASER TEMP ICC sensor temperature too high.
OP SW VOLT CIRC The ICC steering switch input voltage is not within standard range.

OP SW DOUBLE TOUCH The ICC steering switches were pressed at the same time.
VHCL SPD DOWN Vehicle speed is lower than 24 km/h (15 mph).
WHL SPD ELEC NOISE Wheel speed sensor signal caught electromagnetic noise.
VDC/TCS OFF SW VDC OFF switch was pressed.
VHCL SPD UNMATCH Wheel speed became different from A/T vehicle speed.
TIRE SLIP Wheel slipped.
IGN LOW VOLT Decrease in ICC sensor ignition voltage.
PARKING BRAKE ON The parking brake is operating.
WHEEL SPD UNMATCH The wheel speed of all four wheels are out of the specified values.
a vehicle ahead is not detected during the following driving when the vehicle speed is approxi-
INCHING LOST
mately 24 km/h (15mph) or less.
CAN COMM ERROR ICC sensor received an abnormal signal with CAN communication.
ABS/TCS/VDC CIRC An abnormal condition occurs in VDC/TCS/ABS system.
ECD CIRCUIT An abnormal condition occurs in ECD system.
BCU CIRCUIT An abnormal condition occurs in BCU system.
ASCD VHCL SPD DTAC Vehicle speed is detached from the set vehicle speed.
ASCD DOUBLE COMD Cancel switch and operation switch are detected simultaneously.
FEB OPERATED FEB activated.
VHL AHAD LOST (CLSE
A vehicle ahead lost close range.
RANGE)
ABS LAMP ABS lamp ON.
NO RECORD —

ADAS CONTROL UNIT
< ECU DIAGNOSIS INFORMATION > [ICC]
ECU DIAGNOSIS INFORMATION A

ADAS CONTROL UNIT
Reference Value INFOID:0000000013413541
B
VALUES ON THE DIAGNOSIS TOOL

C
Monitor item Condition Value/Status
When MAIN (ON/OFF) switch is pressed. On
MAIN SW Ignition switch ON
When MAIN (ON/OFF) switch is not pressed. Off D
When SET/COAST switch is pressed. On
SET/COAST SW Ignition switch ON
When SET/COAST switch is not pressed. Off
E
When CANCEL switch is pressed. On
CANCEL SW Ignition switch ON
When CANCEL switch is not pressed. Off
When RESUME/ACCELERATE switch is pressed. On F
RESUME/ACC SW Ignition switch ON
When RESUME/ACCELERATE switch is not pressed. Off
When DISTANCE switch is pressed. On
DISTANCE SW Ignition switch ON G
When DISTANCE switch is not pressed. Off
Drive the vehicle and activate When ICC system is controlling. On

CRUISE OPE
the ICC system When ICC system is not controlling. Off H
When brake pedal is depressed. Off
BRAKE SW Ignition switch ON
When brake pedal is not depressed. On
When brake pedal is depressed. On I
STOP LAMP SW Ignition switch ON
When brake pedal is not depressed. Off
Idling On
IDLE SW Engine running J
Except idling (depress accelerator pedal) Off
• Start the engine and turn the When set to “long” Long
ICC system ON K
When set to “middle” Mid
SET DISTANCE • Press the DISTANCE
switch to change the ICC
When set to “short” Short
system
ICC system ON L
On
Start the engine and press (MAIN switch indicator ON).
CRUISE LAMP
MAIN switch ICC system OFF
Off
(MAIN switch indicator OFF). M
When a vehicle ahead is detected (vehicle ahead de-
On
Drive the vehicle and activate tection indicator ON).
VHCL AHEAD
the ICC system When a vehicle ahead is not detected (vehicle ahead N
Off
detection indicator OFF).
When ICC system is malfunctioning
On
Start the engine and press (ICC system malfunction ON). CCS
ICC WARNING
MAIN switch When ICC system is normal
Off
(ICC system malfunction OFF).
Displays the ve- P
hicle speed cal-
VHCL SPEED SE While driving culated by
ADAS control
unit
Displays the set
SET VHCL SPD While driving When vehicle speed is set.
vehicle speed

ADAS CONTROL UNIT
When the buzzer of the following system operates:
• ICC system
On
• BSW/RCTA system
• FEB system
BUZZER O/P Engine running When the buzzer of the following system does not oper-
ate:
• ICC system Off
• BSW/RCTA system
• FEB system
Equivalent to ta-
ENGINE RPM Engine running chometer read-
ing
Wiper not operating. Off
WIPER SW Ignition switch ON Wiper LO operation. Low
Wiper HI operation. High
FEB OFF indicator lamp ON.
• When FEB system is malfunctioning. On
• When FEB system is turned to OFF.
BA WARNING Engine running
FEB OFF indicator lamp OFF.
• When FEB system is normal. Off
• When FEB system is turned to ON.
Drive the vehicle and activate When ICC brake hold relay is activated. On
STP LMP DRIVE
the ICC system When ICC brake hold relay is not activated. Off
When the shift selector is in “D” position or manual
On
mode.
D POSITION SW Engine running
When the shift selector is in any position other than “D”
Off
or manual mode.
When the shift selector is in “N” or “P” position. On
NP RANGE SW Engine running When the shift selector is in any position other than “N”
Off
or “P”.
When the parking brake is applied. On
PKB SW Ignition switch ON
When the parking brake is released. Off
Power supply
voltage value of
PWR SUP MONI Engine running
ADAS control
unit
Value of CVT ve-
VHCL SPD AT While driving hicle speed sen-
sor signal
Displays the
THRTL OPENING Engine running Depress accelerator pedal.
throttle position
Displays the
GEAR While driving
gear position
When the shift selector is in neutral position. On
NP SW SIG Ignition switch ON When the shift selector is in any position other than neu-
Off
tral.
Start the engine and press When ICC system is deactivated. Off
MODE SIG
MAIN switch When ICC system is activated. ICC
SET switch indicator ON. On
SET DISP IND Press SET/COAST switch
SET switch indicator OFF. Off

ADAS CONTROL UNIT
A
Displays the dis-
tance from the
Drive the vehicle and activate When a vehicle ahead is detected.
DISTANCE preceding vehi-
the ICC system cle B
When a vehicle ahead is not detected. 0.0
Displays the rel-
Drive the vehicle and activate When a vehicle ahead is detected.
RELATIVE SPD ative speed. C
the ICC system
When a vehicle ahead is not detected. 0.0
When the FEB system is ON. On
FCW SYSTEM ON Ignition switch ON D
When the FEB system is OFF. Off
Vehicle turning right. Negative value
SIDE G While driving
Vehicle turning left. Positive value E
FUNC ITEM (FCW) Engine running On
FUNC ITEM (BSW) Engine running On
“Forward Emergency Braking” set when the integral F
On
switch is ON.
FCW SELECT Ignition switch ON
“Forward Emergency Braking” set when the integral
Off
switch is OFF. G
“Blind Spot Warning” set when the integral switch is ON. On
BSW SELECT Ignition switch ON “Blind Spot Warning” set when the integral switch is
Off H
OFF.
When the BSW system is malfunctioning. On
BSW WARN LMP Engine running
When the BSW system is normal. Off
I
When the BSW system is ON. On
BSW SYSTEM ON Ignition switch ON
When the BSW system is OFF. Off
When the FEB system is ON. On J
FCW SYSTEM ON Engine running
When the FEB system is OFF. Off
SYSTEM CANCEL System cancel display ON. On

MESSAGE
Engine running K
System cancel display OFF. Off
BSW system display ON. On
BSW ON INDICATOR Engine running
BSW system display OFF. Off L
SIDE RADAR BLOCK Front bumper or side radar is dirty. On
Engine running
COND Front bumper and side radar are clean. Off
M
BSW system OFF. Nothing
BSW IND BRIGHT- Blind Spot Warning indicator brightness bright. Bright
Ignition switch ON
NESS Blind Spot Warning indicator brightness normal. Normal N
Blind Spot Warning indicator brightness dark. Dark
TERMINAL LAYOUT
CCS
PHYSICAL VALUES
JSOIA0705ZZ

ADAS CONTROL UNIT
Terminal No.
Description
(Wire color) Value
Condition
Input/ (Approx.)
+ − Signal name
Output
1
Ground Input 0V
(B) —
2
ITS communication high — —
(L) —
3
Ignition power supply Input Ignition switch ON Battery voltage
(GR)
5
ITS communication low — — —
(Y)
6
CAN Low — — —
(Y)
9
CAN high — — —
(L)
Ground
10
CAN low — — —
(P)
Ignition Warning buzzer operation Battery voltage
12
Warning buzzer signal Output switch
(BR) Warning buzzer not operating 0V
ON
Ignition
14
ICC brake hold relay drive signal Output switch — Battery voltage
(V)
ON
18
CAN High — — — 0V
(L)
24
Warning buzzer ground — — —
(W)
Fail-safe (ADAS Control Unit) INFOID:0000000013413542
If a malfunction occurs in each system, ADAS control unit cancels each control, sounds a beep, and turns ON
the warning or indicator lamp.
Warning lamp/Warning dis-

System Buzzer Description
play
Intelligent Cruise Control (ICC) High-pitched tone ICC system warning Cancel
FEB warning lamp
Forward Emergency Braking (FEB) High-pitched tone Cancel
(Yellow)
Blind Spot Warning (BSW) Low-pitched tone BSW system warning Cancel
Rear Cross Traffic Alert (RCTA) — BSW system warning Cancel
DTC Inspection Priority Chart INFOID:0000000013413543
If multiple DTCs are detected simultaneously, check them one by one depending on the following DTC inspec-
tion priority chart.
Priority Detected items (DTC)

• U1507: LOST COMM (SIDE RDR R)
1
• U1508: LOST COMM (SIDE RDR L)
• U1000: CAN COMM CIRCUIT
2
• U1321: CONFIGURATION
• C1A17: ICC SENSOR MALF
3 • C1B53: SIDE RDR R MALF
• C1B54: SIDE RDR L MALF

ADAS CONTROL UNIT
A
• C1A01: POWER SUPPLY CIR
• C1A02: POWER SUPPLY CIR 2
• C1A13: STOP LAMP RLY FIX
• C1A14: ECM CIRCUIT B
• C1A34: COMMAND ERROR
• U0121: VDC CAN CIR 2
• U0235: ICC SENSOR CAN CIRC 1
4 • U0401: ECM CAN CIR 1 C
• U0402: TCM CAN CIR 1
• U0415: VDC CAN CIR 1
• U0433: ICC SENSOR CAN CIRC 2
• U1503: SIDE RDR L CAN CIR 2 D
• U1504: SIDE RDR L CAN CIR 1
• U1505: SIDE RDR R CAN CIR 2
• U1506: SIDE RDR R CAN CIR 1
E
5 • C1A03: VHCL SPEED SE CIRC
6 • C1A00: CONTROL UNIT
F
DTC Index INFOID:0000000013413544
Systems for fail-safe G

• A: Intelligent Cruise Control (ICC)
• B: Forward Emergency Braking (FEB)
• C: Blind Spot Warning (BSW)
H
• D: Rear Cross Traffic Alert (RCTA)
DTC Fail-safe
CONSULT display Reference
CONSULT System I
NO DTC IS DE-
TECTED. FUR-
NO DTC IS DETECTED. FURTHER TESTING MAY
THER TESTING — —
MAY BE RE-
BE REQUIRED J
QUIRED
U1507 LOST COMM (SIDE RDR R) C, D DAS-64
K
U1508 LOST COMM (SIDE RDR L) C, D DAS-65
U1000NOTE CAN COMM CIRCUIT A, B, C, D DAS-57

U1321 CONFIGURATION A, B, C, D DAS-59 L
C1A17 ICC SENSOR MALF A, B DAS-47
C1B53 SIDE RDR R MALF C, D DAS-49
M
C1B54 SIDE RDR L MALF C, D DAS-50
C1A01 POWER SUPPLY CIR A, B, C, D DAS-37
C1A02 POWER SUPPLY CIR 2 A, B, C, D DAS-37 N
C1A13 STOP LAMP RLY FIX A, B DAS-40
C1A14 ECM CIRCUIT A, B DAS-45
C1A34 COMMAND ERROR A, B DAS-48
CCS
U0121 VDC CAN CIR 2 A, B, C, D DAS-51

U0235 ICC SENSOR CAN CIRC 1 A, B DAS-52
P
U0401 ECM CAN CIR 1 A, B, C, D DAS-53
U0402 TCM CAN CIR 1 A, B, C, D DAS-54
U0415 VDC CAN CIR 1 A, B, C, D DAS-55
U0433 ICC SENSOR CAN CIRC 2 A, B DAS-56
U1503 SIDE RDR L CAN CIR 2 C, D DAS-60

ADAS CONTROL UNIT
Systems for fail-safe
• A: Intelligent Cruise Control (ICC)
• B: Forward Emergency Braking (FEB)
• C: Blind Spot Warning (BSW)
• D: Rear Cross Traffic Alert (RCTA)
DTC Fail-safe
CONSULT System
U1504 SIDE RDR L CAN CIR 1 C, D DAS-61
U1505 SIDE RDR R CAN CIR 2 C, D DAS-62
U1506 SIDE RDR R CAN CIR 1 C, D DAS-63
C1A03 VHCL SPEED SE CIRC C, D DAS-38
C1A00 CONTROL UNIT A, B, C, D DAS-36
NOTE:
With the detection of “U1000” some systems do not perform the fail-safe operation.
A system controlling based on a signal received from the control unit performs fail-safe operation when the
communication with the ADAS control unit becomes inoperable.

ICC SENSOR
ICC SENSOR
A
Reference Value INFOID:0000000013296151
VALUES ON THE DIAGNOSIS TOOL B

Value of vehicle C
VHCL SPEED SE While driving speed signal
(wheel speed)
Vehicle stopped 0.0 D
YAW RATE While driving Vehicle turning right Positive value
Vehicle turning left Negative value
E
Power supply
PWR SUP MONI Ignition switch ON voltage value of
ICC sensor
Displays the F
distance from
Drive the vehicle and activate the When a vehicle ahead is detected
DISTANCE the preceding
ICC system. vehicle
G
When a vehicle ahead is not detected 0.0
Displays the rel-
Drive the vehicle and activate the When a vehicle ahead is detected
RELATIVE SPD ative speed
ICC system. H
When a vehicle ahead is not detected 0.0
NOTE:
LASER OFFSET —
The item is indicated but not used. I
NOTE:
LASER HEIGHT —
The item is indicated but not used.
When setting the steering wheel in straight-ahead po-
0.0 J
sition
STEERING ANGLE Ignition switch ON
When turning the steering wheel 90° rightward +90
When turning the steering wheel 90° leftward -90 K
Steering wheel
STRG ANGLE SPEED Ignition switch ON At the time of turning the steering wheel turning speed is
displayed L
Horizontal cor-
L/R ADJUST Ignition switch ON At the completion of radar alignment adjustment rection value is
displayed
M
Vertical correc-
U/D ADJUST Ignition switch ON At the completion of radar alignment adjustment tion value is dis-
played
N
FCW system set with the information display is ON ON
FEB SELECT Engine running
FCW system set with the information display is OFF OFF
When MAIN switch is pressed On CCS
MAIN SW Ignition switch ON
When MAIN switch is not pressed Off
On
ICC/ASCD MODE Engine running Intelligent Cruise Control System MAIN switch status P
Off
When SET/COAST switch is pressed On
SET/COAST SW Ignition switch ON
When SET/COAST switch is not pressed Off
When CANCEL switch is pressed On
CANCEL SW Ignition switch ON
When CANCEL switch is not pressed Off

ICC SENSOR
When RESUME/ACC SW switch is pressed On
RESUME/ACC SW Ignition switch ON
When RESUME/ACC SW switch is not pressed Off
When DISTANCE switch is pressed On
DISTANCE SW Ignition switch ON
When DISTANCE switch is not pressed Off
When brake pedal is depressed On
BRAKE SW Ignition switch ON
When brake pedal is not depressed Off
When brake pedal is depressed On
STOP LAMP SW Ignition switch ON
When brake pedal is not depressed Off
Idling On
IDLE SW Engine running
Except idling (depress accelerator pedal) Off
ICC system ON
On
Start the engine and press MAIN (MAIN switch indicator ON)
CRUISE LAMP
switch ICC system OFF
Off
(MAIN switch indicator OFF)
When a vehicle ahead is detected (vehicle ahead de-
On
Drive the vehicle and activate the tection indicator ON)
VHCL AHEAD
Intelligent Cruise Control System When a vehicle ahead is detected (vehicle ahead de-
Off
tection indicator OFF)
• Start the engine and turn the ICC When set to “long” LONG
system ON
SET DISTANCE When set to “middle” MID
• Press the DISTANCE switch to
change the distance setting When set to “short” SHORT
THRT SENSOR Displays the
Engine running Depress accelerator pedal
[%] throttle position
VEHICLE AHEAD DE-
Engine running
TECT —
—
STATIC OBSTACLE Indicates [ON/Off] status of static
DETECT obstacle detection
When the buzzer of the following system operates:
• Intelligent Cruise Control System
On
• BSW/RCTA system
• FEB system
BUZZER O/P Engine running When the buzzer of the following system does not op-
erate:
• Intelligent Cruise Control System Off
• BSW/RCTA system
• FEB system
FUNC ITEM (FCW) —
FUNC ITEM (PFCW)
Ignition switch ON —
FUNC ITEM (FEB) On
FUNC ITEM (ICC)
PRESS_ORDER Engine running —
When the selector lever is in “D” position or manual
On
mode
D RANGE SW Engine running
When the selector lever is in any other than “D” or
Off
manual mode
Engine running When the selector lever is in “N”“P” On

NP RANGE SW
When the selector lever is in any other than “N”“P” Off
When the parking brake is applied On
PKB SW Ignition switch ON
When the parking brake is released Off

ICC SENSOR
A
Value of A/T ve-
VHCL SPD AT While driving — hicle speed
sensor signal
• Engine running B
Displays the
Shift position • While driving —
shift position
System cancel display OFF NO REQ C

SYSTEM CANCEL
Engine running System cancel reason is slippery road SLIP
MESSAGE
System cancel reason is VDC OFF VDC OFF
D
Meter indicates km/h km/h
DISP VHCL SPD UNIT Engine running
Meter indicates mph mph
Meter indicates km/h km/h E
VHCL SPD UNIT Engine running
Meter indicates mph mph
ADAS is malfunction On
ADAS MALF Engine running
ADAS is not malfunction Off F
STOP LAMP RELAY Stop lamp relay is fixed on On

Engine running
ON Stop lamp relay is not fixed on Off
G
STOP LAMP RELAY Stop lamp relay is fixed off On
Engine running
OFF Stop lamp relay is not fixed off Off
NOTE: H
ICC CANCEL — —
The item is indicated, but not used
ICC sensor re-
ACCEL COM VALUE 1 quest accel I
Engine running —
[m/s2] command to
ADAS controller
Intelligent Cruise Control System Off Off
J
Intelligent Cruise Control System On ICC
ICC STATUS Engine running Intelligent Cruise Control System On and vehicle is
STOP1
stopped K
Intelligent Cruise Control System On and Driver de-
ACCEL
pressed accelerator pedal
Displays the L
speed at which
MILEAGE While driving When an FEB event occurs
an FEB event
ooccured
M
TERMINAL LAYOUT
CCS
P
JSOIA1678ZZ
PHYSICAL VALUES

ICC SENSOR
Terminal No.
Description
(Wire color) Reference value
Condition Standard value
Input/ (Approx.)
+ – Signal name
Output
1
— Ground — Ignition switch ON 0 - 0.1 V 0V
(B/Y)
2
ITS communication-H — — — —
(L)
—
3
ITS communication-L — — — —
(Y)
8
— Ignition power supply Input Ignition switch ON 9.5 - 16 V Battery voltage
(GR)
Fail-safe INFOID:0000000013296152
If a malfunction occurs in the ICC sensor, ADAS control unit cancels control, sounds a beep, and turns ON the
ICC system warning lamp in the combination meter.
DTC Inspection Priority Chart INFOID:0000000013296153
If multiple DTCs are detected simultaneously, check them one by one depending on the following DTC inspec-
tion priority chart.

• U1000: CAN COMM CIRCUIT
1
• U1010: CONTROL UNIT (CAN)
• C1A50: ADAS MALFUNCTION
2 • C1A0C: ADAS MSG COUNTER
• C1A0C: ADAS CRC ERROR
• C1A01: POWER SUPPLY CIR
• C1A02: POWER SUPPLY CIR 2
• C1A04: ABS/TCS/VDC CIRC
• C1A05: BRAKE SW/STOP L SW
• C1A06: OPERATION SW CIRC
• C1A07: CVT CIRCUIT
• C1A12: LASER BEAM OFFCNTR
• C1A13: STOP_LAMP_RLY_FIX
• C1A14: ECM_CIRCUIT
• C1A16: RADAR STAIN
• C1A18: LASER AIMING INCMP
• C1A21: UNIT HIGH TEMP
• C1A24: NP RANGE
3
• C1A26: ECD MODE MALF
• C1A27: ECD POWER SUPPLY CIRC
• C1A39: STRG SEN CIR
• C1B5D: FEB OPE COUNT LIMIT
• C10B7: YAW RATE SENSOR
• U0121: VDC CAN CIR2
• U153A: TCM CAN CIR 1
• U153B: TCM CAN CIR 2
• U153D: ECM CAN CIR 2
• U0126: STRG SEN CAN CIR1
• U0401: ECM CAN CIR 1
• U0415: VDC CAN CIR1
• U0428: STRG SEN CAN CIR2
4 • C1A03: VEHC_SPEED_SE_CIRC
5 • C1A15: GEAR POSITION
• C1A00: CONTROL UNIT
6 • C1A17: ICC SENSOR MALF
• C1A0D: RADAR CAN CIR

ICC SENSOR
DTC Index INFOID:0000000013296154
A
NOTE:
• The details of time display are as per the following.
- 0: The malfunctions that are detected now B
CAN communication system (U1000, U1010)
- 1 - 39: It increases like 0 → 1 → 2 ··· 38 → 39 after returning to the normal condition whenever the ignition is
switched OFF → ON. It returns to 0 when a malfunction is detected again in the process.
- If it is over 39, it is fixed to 39 until the self-diagnosis results are erased. C
Other than CAN communication system (Other than U1000, U1010)
- 1 - 49: It increases like 0 → 1 → 2 ··· 48 → 49 after returning to the normal condition whenever the ignition is
switched OFF → ON. It returns to 0 when a malfunction is detected again in the process. D
- If it is over 49, it is fixed to 49 until the self-diagnosis results are erased.
×: Applicable
DTC Fail-safe function
E
Forward Emergency Brake (FEB)

ICC system warning lamp

F

CONSULT
G
CCS-70, "DTC De-

C1A00 CONTROL UNIT ON × ×
scription"
I
CCS-114, "DTC
C1A0C ADAS CAN CIR 1 ON × ×
Description"
CCS-115, "DTC J
C1A0D RADAR CAN CIR ON × ×
Description"
CCS-71, "DTC De-
C1A01 POWER SUPPLY CIR ON × ×
scription"
K
CCS-71, "DTC De-
C1A02 POWER SUPPLY CIR2 ON × ×
scription"
CCS-72, "DTC De-
C1A03 VHCL SPEED SE CIRC ON × × L
scription"
CCS-74, "DTC De-
C1A04 ABS/TCS/VDC CIRC ON × ×
scription"
M
CCS-75, "DTC De-
C1A05 BRAKE SW/STOP L SW ON × ×
scription"
CCS-79, "DTC De-
C1A06 OPERATION SW CIRC ON × N
scription"
CCS-111, "DTC
C1A07 CVT CIRCUIT ON × ×
Description"
CCS
CCS-82, "DTC De-
C1A12 LASER BEAM OFFCNTR ON × ×
scription"
DAS-40, "DTC
C1A13 STOP LAMP RLY FIX ON × × P
Logic"
CCS-83, "DTC De-
C1A14 ECM CIRCUIT ON × ×
scription"
CCS-101, "DTC
C10B7 YAW RATE SENSOR ON × ×
Description"
CCS-85, "DTC
C1A15 GEAR POSITION ON × ×
Logic"

ICC SENSOR
DTC Fail-safe function
Forward Emergency Brake (FEB)

ICC system warning lamp

CONSULT
CCS-87, "DTC De-

C1A16 RADAR BLOCKED ON × ×
scription"
CCS-89, "DTC De-
C1A17 ICC SENSOR MALF ON × ×
scription"
CCS-90, "DTC De-
C1A18 LASER ALIGNMENT INCMPT ON × ×
scription"
CCS-91, "DTC De-
C1A21 UNIT HIGH TEMP ON × ×
scription"
CCS-92, "DTC De-
C1A24 NP RANGE ON × ×
scription"
CCS-94, "DTC De-
C1A26 ECD MODE MALF ON × ×
scription"
CCS-96, "DTC De-
C1A27 ECD POWER SUPPLY CIRCUIT ON × ×
scription"
CCS-98, "DTC De-
C1A39 STRG SENS CIR ON × ×
scription"
CCS-100, "DTC
C1A50 ADAS MALFUNCTION ON × ×
Description"
CCS-99, "DTC De-
C1B5D FEB OPE COUNT LIMIT ON × ×
scription"
CCS-101, "DTC
C10B7 YAW RATE SENSOR ON × ×
Description"
CCS-112, "DTC
U153A TCM CAN CIR 1 ON × ×
Description"
CCS-113, "DTC
U153B TCM CAN CIR 2 ON × ×
Description"
CCS-113, "DTC
U153D ECM CAN CIR 2 ON × ×
Description"
CCS-102, "DTC
U0121 VDC CAN CIR2 ON × ×
Description"
CCS-104, "DTC
U0126 STRG SEN CAN CIR1 ON × ×
Description"
CCS-105, "DTC
U0401 ECM CAN CIR1 ON × ×
Description"
CCS-106, "DTC
U0415 VDC CAN CIR1 ON × ×
Description"
CCS-107, "DTC
U0428 STRG SEN CAN CIR2 ON × ×
Description"
CCS-108, "DTC
U1000 CAN COMM CIRCUIT ON × ×
Logic"
CCS-109, "DTC
U1010 CONTROL UNIT (CAN) ON × ×
Logic"

< WIRING DIAGRAM > [ICC]
WIRING DIAGRAM A
Wiring Diagram INFOID:0000000013296155
B
CCS
AAOWA0139GB

AAOWA0140GB

CCS
AAOWA0141GB

AAOIA0455GB

CCS
AAOIA0456GB

AAOIA0457GB

CCS
AAOIA0458GB

AAOIA0459GB

CCS
AAOIA0460GB

DIAGNOSIS AND REPAIR WORK FLOW
< BASIC INSPECTION > [ICC]
BASIC INSPECTION
Work Flow INFOID:0000000013296156
OVERALL SEQUENCE
ALOIA0227GB
DETAILED FLOW
1.INTERVIEW FOR MALFUNCTION

It is important to clarify the customer’s concerns before starting the inspection. Interview the customer about
the concerns carefully and understand the symptoms fully.
NOTE:
The customers are not professionals. Never assume that “maybe the customer means...” or “maybe the cus- A
tomer mentioned this symptom”.
>> GO TO 2. B
2.SELF DIAGNOSTIC RESULT WITH CONSULT
CONSULT C
1. Select “Self Diagnostic Result” mode of “LASER/RADAR”.
2. Check if the DTC is detected in the “Self Diagnostic Result” mode of “LASER/RADAR”.
Is any DTC detected?
D
YES >> GO TO 5.
NO >> GO TO 3.
3.ACTION TEST E
Perform the FEB system action test to check the system operation. Check if any other malfunctions occur.
>> GO TO 4. F
4.SYMPTOM DIAGNOSIS
Perform the applicable diagnosis according to the diagnosis chart by symptom. Refer to CCS-116, "Symptom G
Table".
>> GO TO 6. H
5.TROUBLE DIAGNOSIS BY DTC
1. Check the DTC in the “Self Diagnostic Result”.
I
2. Perform trouble diagnosis for the detected DTC. Refer to CCS-43, "DTC Index".
>> GO TO 6. J
6.MALFUNCTIONING PART REPAIR
Repair or replace the identified malfunctioning parts.
K
>> GO TO 7.
7.REPAIR CHECK (SELF DIAGNOSTIC RESULT WITH CONSULT) L
CONSULT
1. Erase “Self Diagnostic Result”.
2. Select “Self Diagnostic Result” again after repairing or replacing the specific items. M
3. Check if any DTC is detected in “Self Diagnostic Result” mode of “LASER/RADAR”.
YES >> GO TO 5. N
NO >> GO TO 8.
8.REPAIR CHECK (ACTION TEST)
Perform the FEB system action test. Check that the malfunction symptom is solved or no other symptoms CCS
occur.
Is there a malfunction symptom?
P
YES >> GO TO 4.
NO >> Inspection End.

ADDITIONAL SERVICE WHEN REPLACING ICC SENSOR
ADDITIONAL SERVICE WHEN REPLACING ICC SENSOR
Description INFOID:0000000013296157
• Always perform the radar alignment aiming adjustment after removing and installing or replacing the ICC
sensor.
CAUTION:
The system does not operate normally unless the ICC sensor is aligned properly.
• Perform the ICC system action test to check that the ICC system operates normally.
Work Procedure INFOID:0000000013296158
1.ICC SENSOR ALIGNMENT ADJUSTMENT

Adjust the ICC sensor alignment. Refer to CCS-59, "Description".
>> GO TO 2.
2.ICC SYSTEM ACTION TEST
1. Perform the ICC system action test. Refer to CCS-66, "Description".
2. Check that the ICC system operates normally.
>> Inspection End.

ICC SENSOR INITIAL VERTICAL ALIGNMENT
A
WARNING: B
Radio waves could adversely affect electric medical equipment. Those who use a pacemaker should
contact the electric medical equipment manufacturer for the possible influences before use.
OUTLINE OF ICC SENSOR INITIAL ALIGNMENT PROCEDURE C
• Always perform the ICC sensor initial vertical alignment after removing and installing or replacing the ICC
sensor.
D
CAUTION:
1. For required tools, refer to CCS-57, "Required Tools". E
2. For preparation, refer to CCS-57, "Preparation".
3. For ICC sensor initial vertical alignment, refer to CCS-58, "ICC Sensor Initial Vertical Alignment".
F
CAUTIONARY POINT FOR DISTANCE SENSOR ALIGNMENT PROCEDURE
CAUTION:
• For Distance sensor alignment procedure, choose a level location with a few feet of working space in
front and surrounding the vehicle. G
• Vehicle must be stationary and unoccupied during the whole alignment procedure.
• Never enter the vehicle during ICC sensor alignment.
• For proper system operation and adjustment, all vehicle wheels must be the original factory size. H
The ICC sensor requires alignment whenever the ICC sensor is removed and reinstalled and whenever front
end structural repairs are performed. ICC sensor alignment consists of performing the mechanical vertical I
alignment (ICC sensor initial vertical alignment) described in the following procedure, followed by the elec-
tronic horizontal alignment (ICC sensor alignment) that is performed using CONSULT and the appropriate
special service tools.
J
Required Tools INFOID:0000000013296160
The following tool is necessary to perform the ICC sensor initial vertical alignment:
K
• Small level or angle meter.
N
AWOIA0115ZZ
Preparation INFOID:0000000013296161
CCS
1.PREPARATION FOR ICC SENSOR INITIAL VERTICAL ALIGNMENT PROCEDURE
1. Verify correct vehicle suspension height. Refer to FSU-23, "Wheelarch Height (Unladen*)" and RSU-15,
"Wheel Alignment (Unladen*1)". P
2. Repair or replace any damaged body components.
3. Verify proper tire inflation pressures. Refer to GI-27, "Wheels & Tires".
4. Remove any accumulations of mud, snow or ice from the vehicle underbody.
5. Verify that there is no load in the vehicle (cargo or passenger).
6. Place the vehicle on a known level horizontal surface such as a wheel or frame alignment rack to achieve
satisfactory sensor vertical alignment results.

>> Refer to CCS-58, "ICC Sensor Initial Vertical Alignment".

ICC Sensor Initial Vertical Alignment INFOID:0000000013296162
NOTE:
The ICC sensor initial vertical alignment procedure must be performed anytime the distance sensor is
removed and reinstalled.
1. The ICC sensor (1) is located near the right front headlamp
behind the front bumper fascia.
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2. Place the small level or angle meter (2) against the face of the
ICC sensor (1).
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3. Turn the ICC sensor adjustment screw (1) through the ICC sen-
sor adjustment screw access hole to level the sensor.
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4. Ensure the ICC sensor electrical connector located on the bottom of the sensor is connected.
5. Perform the ICC sensor alignment procedure. Refer to CCS-59, "Description".

ICC SENSOR ALIGNMENT
A
WARNING: B
Radio waves could adversely affect electric medical equipment. Those who use a pacemaker should
contact the electric medical equipment manufacturer for the possible influences before use.
OUTLINE OF ICC SENSOR ALIGNMENT PROCEDURE C
• A 4-wheel vehicle alignment must be performed before proceeding with ICC sensor alignment procedure.
• Always perform the ICC sensor alignment after removing and installing or replacing the ICC sensor.
• If the ICC sensor was removed and installed or replaced, first perform ICC Sensor Initial Vertical Alignment, D
refer to CCS-59, "Description".
CAUTION: E
1. For required tools, refer to CCS-59, "Required Tools".
2. For preparation, refer to CCS-60, "Preparation". F
3. For vehicle set up, refer to CCS-61, "Vehicle Set Up".
4. For setting the ICC target board, refer to CCS-63, "Setting The ICC Target Board".
5. For ICC sensor adjustment, refer to CCS-64, "ICC Sensor Adjustment". G
CAUTIONARY POINT FOR ICC SENSOR ALIGNMENT PROCEDURE
CAUTION:
• For ICC sensor alignment procedure, choose a level location with a few feet of working space in H
front and surrounding the vehicle.
• Vehicle must be stationary and unoccupied during the whole alignment procedure.
• Any slight vibration during the alignment procedure can cause the test to fail. If this happens, you I
will have to restart the alignment process.
• The ignition switch must be in the ON position.
• The battery voltage must not fall below 12 volts during the whole alignment procedure. Failure to
maintain adequate battery voltage will cause the test to fail. If this happens, you will have to restart J
the alignment process.
• The ICC target board must be set in front of the vehicle facing the sensor.
• Adjust the ICC sensor alignment with CONSULT. (The ICC sensor alignment procedure cannot be K
adjusted without CONSULT.)
• Never enter the vehicle during ICC sensor alignment.
• Never block the area between the ICC sensor and the ICC target board at any time during the align-
L
ment process.
• Never break the laser beam between the laser assembly and front ICC target board or rear reflector
at any time during alignment.
• Accurate steering wheel setting is crucial. Once set, do not disturb the steering wheel for the M
remainder of the alignment procedure.
• To avoid physical damage, the ICC sensor adjustment screw must not be forced to either clockwise
or counter-clockwise limit. For proper adjustment procedure, follow the directions of the CONSULT N
exactly as instructed.
• For proper system operation and adjustment, all vehicle wheels must be of the same size.
Required Tools INFOID:0000000013296164 CCS
• ICC alignment kit 1-20-2851-1 in addition to one of the following:

a) Hunter self-centering wheel adapter (Hunter wheel alignment tool)
b) Special Service Tool kit 1-20-2722-1-IF (kit SCA W/Tire Clamp-ICC Aiming) P
The following ICC alignment kit 1-20-2851-1 is necessary to perform the ICC sensor alignment:

• ICC target board.
- Position 1, with top tilted 2° toward vehicle (1).
- Position 2, vertical (2).
- Position 3, with top tilted 2° away from vehicle (3).
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• Hunter self-centering wheel adapter (1) [shown with laser assem-

bly (2) installed]. (Hunter alignment rack head may be substituted.)
NOTE:
When the power switch is turned ON, the front laser signal (A) will
be emitted toward the front ICC target board, and the rear laser
signal (B) will be emitted toward the rear of the vehicle.
NOTE:
Retailers that are not equipped with a Hunter self-centering wheel
adapter will require the following kit:
Part No. 1-20-2722-1-IF (kit SCA W/Tire Clamp-ICC Aiming)
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• Laser assembly (with bi-directional laser beam) as shown in the

illustration.
- Tightening knob (1)
- Power ON/OFF button (2)
- Front laser beam opening (3)
- Rear laser beam opening (4)
- Attaching shaft (5)
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• Stationary target as shown in the illustration.

- Stationary target (1)
- Laser signal reception plate (2)
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• Distance chain (not shown).

Preparation INFOID:0000000013296165
1.ADVANCE PREPARATION FOR ICC SENSOR ALIGNMENT PROCEDURE

1. Adjust all tire pressures to the specified value.
2. Empty the vehicle. (Remove any luggage from the passenger compartment, luggage room, etc.)
3. Shift the selector lever to “P” position, and release the parking brake.
4. Fully fill the fuel tank, and then check that the coolant and oils are filled to correct level.
5. Clean off the front of the ICC sensor.
NOTE:
The ICC sensor (1) is located below the left head lamp. There- A
fore, it should not require any cleaning.
1 : ICC sensor
B
>> Refer to CCS-61, "Vehicle Set Up".

C
ALFIA0652ZZ D
Vehicle Set Up INFOID:0000000013296166
E
DESCRIPTION
Accurate adjustment of the ICC sensor alignment requires that the ICC target board, wheel adapter, laser
assembly, and stationary target be properly positioned.
CAUTION: F
If the ICC sensor alignment is adjusted with the ICC target board, wheel adapter, laser assembly, or
stationary target in the incorrect position, the ICC system will not function properly or the alignment
procedure may not be completed successfully. G
1.PREPOSITION TARGET BOARD
NOTE:
H
• The center of the sensor wave axis (A) is located at the center of
the front lens.
I
K
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• Initial ICC target board setting must be in the center position. L
1. Position the ICC target board in front facing the right front side of
the vehicle: M
- Using the full length of the supplied chain for distance, place the
marked center of the ICC target board (1) 1200 mm (47.2 in.) ±
625 mm(24.6 in) facing the ICC sensor. N
- Adjust the height of the ICC target board using the adjustable
nut (2) to achieve the proper height. The up/down tolerance is ±
80 mm (3.15 in).
- Adjust the ICC target board lateral position aligning the marked CCS
center of the board horizontally with the center of the ICC sensor
front lens. The right/left tolerance is ± 80 mm (3.15 in).
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2. Extend the machined arm of the ICC target board exposing the P
reflective surface (3) to the right front side of the vehicle.

3. Place one side of the laser assembly (2) flush against the center of the ICC target board (1) to assist in the
positioning.
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4. Turn the laser assembly ON (3) allowing the laser beam to emit through the opening of the laser assembly
toward the center of the ICC sensor.
5. Move the ICC target board (1) as necessary so that center of ICC target board aligns with center of ICC
sensor.
6. Turn the laser assembly OFF when done.
Are you using Hunter alignment equipment?

YES >> Refer to Hunter’s equipment instructions for complete vehicle set up and ICC target board setting.
Then, refer to CCS-64, "ICC Sensor Adjustment".
NO >> GO TO 2.
2.INSTALLING LASER ASSEMBLY
NOTE:
• Ensure the steering wheel is positioned in the center straight-forward position.
• Ensure all four vehicle wheels do not have any physical damage.
1. Install the wheel adapter (1) on the right front wheel.
2. Mount the laser assembly (2) to the wheel adapter (1) as shown
in the figure.
NOTE:
When the power switch is turned ON, the front laser signal (A)
will be emitted toward the front ICC target board, and the rear
laser signal (B) will be emitted toward the rear of the vehicle.
>> GO TO 3.
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3.SETTING UP STATIONARY TARGET

1. Place the stationary target next to the right rear tire as shown in
the figure.
2. Turn the laser assembly ON allowing the laser beam to be emit-
ted through the front and rear laser assembly openings.
3. Measure and record the distance (Dr) between the edge of the
right rear wheel and the laser beam (1) on the stationary target
(horizontal line).
4. Measure and record the height (Hr) between the laser beam (1)
on the stationary target and ground level (vertical line).
ALOIA0114ZZ

5. Measure and record the distance (Df) between the edge of the
right front wheel and the laser beam signal/opening (1) on the A
laser assembly (horizontal line).
6. Measure and record the height (Hf) between the laser beam sig-
nal/opening (1) on the laser assembly and ground level (vertical
B
line).
NOTE:
• Horizontal adjustment [front distance (Df) and rear distance
(Dr)] is accomplished by slowly turning the steering wheel until C
the 2 distances are the same.
• Vertical adjustment [front height (Hf) and rear height (Hr)] is
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accomplished by rotating the laser assembly around its axis D
until the two heights are the same.
• Directional arrows (A) and (B) are shown to illustrate the direction of the laser assembly beams.
7. Adjust laser beam as necessary until the two distances match and the two heights match.
NOTE: E
You will have to verify both horizontal and vertical adjustments anytime one adjustment is made.
>> Refer to CCS-63, "Setting The ICC Target Board". F
Setting The ICC Target Board INFOID:0000000013296167
G
DESCRIPTION
Accurate adjustment of the ICC sensor alignment requires that the ICC target board be accurately positioned.
CAUTION:
If the ICC sensor alignment is adjusted with the ICC target board in the incorrect position, the ICC sys- H
tem will not function properly or the alignment procedure may not be completed successfully.
1.ICC TARGET BOARD FINAL SETTING I
1. With the ICC target board arm extended, the laser beam (1)
emitted by the laser assembly (A) will be reflected back (B)
toward the laser assembly.
J
NOTE:
When adjusted properly, reflected laser beam (B) must align
with emitted laser beam (A) and the two laser beams will be
seen as one. K
2. Rotate the ICC target board to achieve the necessary horizontal
adjustment.
3. Adjust the ICC target board leveling screws to achieve the nec- L
essary vertical adjustment.
ALOIA0120ZZ
4. The figure shown illustrates the laser beam (A) emitted by the M
laser assembly (1) and its reflection (B) off the ICC target board
arm.
N
CCS
ALOIA0119ZZ P
>> GO TO 2.
2.CHECK THE POSITION OF THE ICC TARGET BOARD

Do not place anything other than the ICC target board in the space shown in front of the vehicle (view from
top).
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1. ICC target board arm 2. ICC target board 3. ICC sensor

4. Vehicle A. Distance between front wheel and la- B. Distance between rear wheel and
ser beam (Df) laser beam (Dr)
C. Height between front laser beam D. Height between rear laser beam and E. ICC target board center position
and ground (Hf) ground (Hr) (Position 2)
L. 1 - 1.5 m (39.3 - 59 in.)
>> Refer to CCS-64, "ICC Sensor Adjustment".

ICC Sensor Adjustment INFOID:0000000013296168
DESCRIPTION
• Adjust the ICC sensor alignment in a vertical direction with CONSULT as per the following.
• The ICC sensor alignment in the horizontal direction is performed automatically and cannot be adjusted
manually.
CAUTION:
• Never look directly into or block the ICC sensor source (between the front fascia and ICC target
board) during the ICC sensor alignment procedure.
• Perform all necessary work for ICC sensor alignment procedure until the adjustment completes as
shown in the procedure. If the procedure is started but not completed, the ICC system is rendered
inoperable.
1.SET CONSULT TO THE ICC SENSOR ALIGNMENT MODE
CONSULT
1. Place ignition switch in the ON position.
2. Connect CONSULT and select “LASER/RADAR” then “Work support”.
3. Select “MILLIWAVE RADAR ADJUST”.
4. Select “Start” after the “MILLIWAVE RADAR ADJUST” screen is displayed.
NOTE:
If the adjustment screen does not appear or an error appears within approximately 10 seconds after “MIL-
LIWAVE RADAR ADJUST” is selected, the following causes are possible:
• The ICC target board is not installed in the correct position.
• Adequate space is not secured around the ICC target board.
• The ICC sensor alignment procedure exceeds its proper installation range.
- Deformation of vehicle body.
- Deformation of unit.
- Deformation of bracket.
• The area is not suitable for the adjustment work.
• Right front side of fascia (ICC sensor view) is not clean.
• The ICC system warning lamp illuminates.
• Battery voltage is low.
• The extended arm and mirror are not stationary.
>> GO TO 2.
2.ICC SENSOR ALIGNMENT
1. Once the ICC sensor alignment procedure is started, you will be prompted by CONSULT for the next
instruction. A
2. Follow all the instructions exactly as requested by CONSULT which will include the following:
- Adjust ICC target board to position 1 (top tilted toward vehicle).
- Adjust ICC target board to position 2 (vertical position).
B
- Adjust ICC target board to position 3 (top tilted away from vehi-
cle).
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E
3. You will be prompted with specific instructions to perform physi-
cal adjustment to the sensor which may include turning the
adjustment screw (1) through the ICC sensor adjustment screw
access hole by a certain number of turns in increments of 0.25 in F
either direction.
NOTE:
CONSULT is not live and will not automatically update while turning G
the tool.
CAUTION:
Be careful not to cover the right front side of the fascia (ICC H
sensor view) with a hand or any other body part during adjust-
ment.
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>> GO TO 3.
3.ICC SENSOR ALIGNMENT CONFIRMATION J
CONSULT
1. When the “U/D CORRECT” value is executed and the "U/D ADJ VALUE" has been performed, touch
"End". K
2. When “COMPLETED THE VERTICAL AIMING OF LASER BEAM” display appears, touch “End”.
CAUTION:
Always check that the value of “U/D CORRECT” remains accurate (within specification) when the L
ICC sensor is left alone for at least 2 seconds.
3. Check that “ADJUSTING AUTOMATIC HORIZONTAL LASER BEAM AIMING” is displayed and wait for a
short period of time. (The maximum: Approx. 10 seconds).
4. Check that “Normally Completed” is displayed, and select “End” to end “RADAR Alignment”. M
CAUTION:
Once “RADAR Alignment” is started with CONSULT, always continue the work until the ICC sensor
alignment is completed successfully. If the job is stopped midway, the ICC sensor alignment is not N
completed and the ICC system is rendered inoperative.
5. Confirm proper ICC sensor alignment by following CONSULT steps until it shows "U/D ADJ VALUE" to be
0.00 turn.
CCS
>> Alignment End.
P

ACTION TEST
ACTION TEST
Always perform the ICC system action test to check that the ICC system operates normally after replacing the
ICC sensor or repairing any ICC system malfunction.
CAUTION:
• Always drive safely when performing the action test.
Work Procedure INFOID:0000000013296170
NOTE:
• When there is no vehicle ahead, drive at the set speed steadily.
• When there is a vehicle ahead, control to maintain distance from the vehicle ahead, watching its speed.
• The running speed can be set between 32 km/h (20 MPH) and 144 km/h (90 MPH).
CAUTION:
Never set the cruise speed exceed the posted speed limit.
1.CHECK FOR MAIN SWITCH
1. Start the engine.
2. Press the MAIN switch (1) (for less than 1.5 seconds).
Information display status

Set distance indicator (2) : Long mode
MAIN switch indicator (3) : ON
“——”
Set vehicle speed indicator (4) :
“km/h” (“MPH”)
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3. Check the ICC system display on the information display to check that the Intelligent Cruise Control is
ready for activation.
4. Press the MAIN switch, and check that the ICC system display on the information display turns OFF when
the ICC system is deactivated.
5. Check that the ICC system display on the information display turns OFF after starting the engine again.
>> GO TO 2.
2.CHECK FOR DISTANCE SWITCH
2. Press the MAIN switch (for less than 1.5 seconds).
3. Press the DISTANCE switch.

ACTION TEST
4. Check that the set distance indicator changes display in order of: (Long)→(Middle)→(Short).
A
JSOIA0572GB F
NOTE:
When the MAIN switch is turned ON, initial setting is set to (Long).
G
>> GO TO 3. H
3.CHECK FOR RES/+, SET/-, AND CANCEL SWITCHES
1. Check that RES/+, SET/-, and CANCEL switches are operated smoothly.
2. Check that switches come up as hand is released from the switches. I
>> GO TO 4.
J
4.SET CHECKING (1)
2. Press the MAIN switch (for less than 1.5 seconds) and turn the Intelligent Cruise Control ON. K
3. Drive the vehicle at 32 km/h (20 MPH) or more.
4. Push down the SET/- switch.
5. Check that the desired speed is set and Intelligent Cruise Control starts when releasing SET/- switch.
L
NOTE:
The set vehicle speed is indicated on the set vehicle speed indicator in the Intelligent Cruise Control display on
the information display.
M
>> GO TO 5.
5.CHECK FOR INCREASE OF CRUISING SPEED (1) N
1. Set the Intelligent Cruise Control at desired speed.
2. Check that the set speed increases by 1 km/h (1 MPH) as RES/+ switch is pushed up.
NOTE: CCS
The maximum set speed of the Intelligent Cruise Control is 144 km/h (90 MPH).
CAUTION:
Never set the cruise speed exceed the posted speed limit.
P
>> GO TO 6.
6.CHECK FOR DECREASE OF CRUISING SPEED (1)
1. Set the Intelligent Cruise Control at desired speed.
2. Check that the set speed decreases by 1 km/h (1 MPH) as SET/- switch is pushed down.
NOTE:
• The minimum set speed is approximately 32 km/h (20 MPH).
ACTION TEST
• Cancels the control automatically when the vehicle speed is less than approximately 24 km/h (15 MPH) and
when the system does not detect any vehicle ahead.
>> GO TO 7.
7.SET CHECKING (2)
1. Stop the vehicle.
2. Drive the vehicle at less than approximately 32 km/h (20 MPH).
3. Push down the SET/- switch when the system detects a vehicle ahead.
4. Check that the Intelligent Cruise Control is performed so that the vehicle maintains a proper distance
according to the vehicle speed [Maximum: approximately 32 km/h (20 MPH)] when releasing SET/-
switch.
NOTE:
• The Intelligent Cruise Control cannot be set when the vehicle speed is less than 32 km/h (20 MPH) and
when a vehicle ahead is not detected.
• Cancels the control automatically when the vehicle speed is 24 km/h (15 MPH) or less during the control and
when the system does not detect any vehicle ahead.
• The set vehicle speed indicator in the ICC system display on the information display is set to 32 km/h (20
MPH).
>> GO TO 8.
8.CHECK FOR INCREASE OF CRUISING SPEED (2)
1. Set the Intelligent Cruise control when the vehicle speed is less than approximately 32 km/h (20 MPH)
and when a vehicle ahead is detected.
2. Check that the set speed increases by 1 km/h (1 MPH) as RES/+ switch is pushed up.
NOTE:
The maximum set speed of the Intelligent Cruise Control is 144 km/h (90 MPH).
CAUTION:
Never set the cruise speed to exceed the posted speed limit.
>> GO TO 9.
9.CHECK FOR DECREASE OF CRUISING SPEED (2)
1. Set the Intelligent Cruise Control when the vehicle speed is less than approximately 32 km/h (20 MPH)
and when a vehicle ahead is detected.
2. Set vehicle speed to the desired vehicle speed “check for increase of cruising speed”.
3. Check that the set speed decreases by 1 km/h (1 MPH) as SET/- switch is pushed down.
NOTE:
• The minimum set speed is approximately 32 km/h (20 MPH).
tem. The system will cancel once it judges a standstill with a warning chime.
>> GO TO 10.
10.CHECK FOR CANCELLATION OF INTELLIGENT CRUISE CONTROL
Check that the Intelligent Cruise Control is canceled when performing the following operations:
• When the brake pedal is depressed after Intelligent Cruise Control is set and the vehicle is driven.
• When the selector lever is in the “N” position after Intelligent Cruise control is set and the vehicle is driven.
• When the MAIN switch is turned OFF after Intelligent Cruise Control is set and the vehicle is driven.
• When the CANCEL switch is pressed after Intelligent Cruise Control is set and the vehicle is driven.
>> GO TO 11.
11.CHECK FOR RESTORING SPEED THAT IS SET BY INTELLIGENT CRUISE CONTROL BEFORE CAN-
CELLATION
Check that the vehicle restores the previous speed kept before the system deactivation when performing the
following operations:

ACTION TEST
• Drive the vehicle when the Intelligent Cruise Control is set and depress the brake pedal to cancel the control.
Check that the vehicle restores the previous vehicle speed kept before the system deactivation when push- A
ing up the RES/+ switch.
• Drive the vehicle when the Intelligent Cruise Control is set and shift the selector lever to the “N” position to
cancel the control. Check that the vehicle restores the previous vehicle speed kept before the system deac-
B
tivation when shifting the selector lever to the “D” position and pushing up the RESUME/+ switch.
• Drive the vehicle when the Intelligent Cruise Control is set and press the CANCEL switch to cancel the con-
trol. Check that the vehicle restores the previous vehicle speed kept before the system deactivation when
pushing up the RESUME/+ switch. C
>> Inspection End.

D
CCS

C1A00 CONTROL UNIT
< DTC/CIRCUIT DIAGNOSIS > [ICC]
DTC/CIRCUIT DIAGNOSIS
C1A00 CONTROL UNIT
DTC Description INFOID:0000000013296171
DTC DETECTION LOGIC
DTC No. CONSULT screen terms DTC detection condition

Diagnosis condition When ignition switch is ON.
CONTROL UNIT Signal (terminal) —

C1A00
(Control unit malfunction) Threshold ICC sensor CAN failure
Diagnosis delay time —
POSSIBLE CAUSE
ICC sensor
FAIL-SAFE
The following systems are canceled:
• Intelligent Cruise Control
DTC CONFIRMATION PROCEDURE
1.PERFORM DTC CONFIRMATION PROCEDURE
CONSULT
2. Perform “All DTC Reading”.
3. Check if the “C1A00” is detected as the current malfunction in “Self Diagnostic Result” mode of “LASER/
RADAR”.
Is “C1A00” detected as the current malfunction?
YES >> Refer to CCS-70, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-41, "Intermittent Incident".
NO-2 >> Confirmation after repair: Inspection End.
Diagnosis Procedure INFOID:0000000013296172
1.CHECK SELF DIAGNOSTIC RESULT

Check if any DTC other than “C1A00” is detected in “Self Diagnostic Result” mode of “LASER/RADAR”.
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to
CCS-43, "DTC Index".
NO >> Replace the ICC sensor. Refer to CCS-133, "Removal and Installation".

C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
C1A01 POWER SUPPLY CIRCUIT 1, C1A02 POWER SUPPLY CIRCUIT 2
A
DTC DETECTION LOGIC B

Diagnosis condition When ignition switch is ON. C
Signal (terminal) —
POWER SUPPLY CIR
C1A01 The battery voltage sent to ICC sensor remains less
(Power supply circuit) Threshold
than 8.6 V. D
Diagnosis condition When Ignition switch is ON.
E
POWER SUPPLY CIR 2
C1A02 The battery voltage sent to ICC sensor remains more
(Power supply circuit 2) Threshold
than 19.3 V.
F
POSSIBLE CAUSE
G
• Connector, harness or fuse
• ICC sensor
FAIL-SAFE H
I
J
CONSULT
2. Turn the MAIN switch of ICC system ON.
3. Perform “All DTC Reading”. K
4. Check if the “C1A01” or “C1A02” is detected as the current malfunction in “Self Diagnostic Result” mode
of “LASER/RADAR”.
Is “C1A01” or “C1A02” detected as the current malfunction? L
NO-2 >> Confirmation after repair: Inspection End. M
1.CHECK ICC SENSOR POWER SUPPLY AND GROUND CIRCUIT N
Check power supply and ground circuit of ICC sensor. Refer to CCS-110, "ICC SENSOR : Diagnosis Proce-
dure".
CCS
Is the inspection result normal?
YES >> Replace the ICC sensor. Refer to CCS-133, "Removal and Installation".
NO >> Repair or replace the malfunctioning parts.
P

C1A03 VEHICLE SPEED SENSOR
DTC DETECTION LOGIC
DTC
CONSULT screen terms DTC detection condition
No.
VHCL SPEED SE CIRC • If the vehicle speed signal (wheel speed) from ABS actuator and elec-
C1A03 (Vehicle speed sensor cir- tric unit (control unit) and the CVT vehicle speed sensor signal (output
cuit) Threshold shaft revolution signal) from TCM, received by the ICC sensor unit via
CAN communication, are inconsistent
• If tire size is not correct
POSSIBLE CAUSE
• Wheel speed sensor
• ABS actuator and electric unit (control unit)
• Vehicle speed sensor CVT (output speed sensor)
• TCM
• ICC sensor
• Tire
FAIL-SAFE
• Blind Spot Warning (BSW)
• Back-up Collision Intervention (BCI)
1.CHECK DTC PRIORITY
If DTC “C1A03” is displayed with DTC “U1000” or “C1A04”, first diagnose the DTC “U1000” or “C1A04”.
Is applicable DTC detected?
YES >> Perform diagnosis of applicable DTC.
• U1000: Refer to CCS-108, "DTC Logic".
• C1A04: Refer to CCS-74, "DTC Description".
No-1 >> Check the tire size.
NO-2 >> GO TO 2.
CONSULT
3. Drive the vehicle at 30 km/h (19 MPH) or more.
CAUTION:
Always drive safely.
RADAR”.

A
If DTC “C1A03” is displayed with DTC “U1000” or “C1A04”, first diagnose the DTC “U1000” or “C1A04”.
B
• C1A04: Refer to CCS-74, "DTC Description". C
NO >> GO TO 2.
2.CHECK DATA MONITOR D
CONSULT
2. Drive the vehicle. E
3. Check that the value of “VHCL SPD AT” is almost the same as the value of “VHCL SPEED SE” in “Data
Monitor” mode of “LASER/RADAR”.
CAUTION:
Be careful of the vehicle speed. F
YES >> Replace the ADAS control unit. Refer to DAS-67, "Removal and Installation".
NO >> GO TO 3. G
3.CHECK TCM SELF-DIAGNOSIS RESULTS
CONSULT H
2. Check if any DTC is detected in “Self Diagnostic Result” mode of “TRANSMISSION”.
Is any DTC detected? I
TM-127, "DTC Index".
NO >> GO TO 4.
J
4.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
CONSULT
Check if any DTC is detected in “Self Diagnostic Result” mode of “ABS”. K
BRC-350, "Removal and Installation". L
CCS

C1A04 ABS/TCS/VDC SYSTEM
C1A04 ABS/TCS/VDC SYSTEM
DTC DETECTION LOGIC

ABS/TCS/VDC CIRC Signal (terminal) —

C1A04
(ABS/TCS/VDC circuit) Threshold If a malfunction occurs in the VDC/TCS/ABS system
POSSIBLE CAUSE
ABS actuator and electric unit (control unit)
FAIL-SAFE
If DTC “C1A04” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
YES >> Perform diagnosis of applicable DTC. Refer to CCS-108, "Diagnosis Procedure".
NO >> GO TO 2.
CONSULT
RADAR”.

YES >> Perform diagnosis of applicable. Refer to CCS-108, "DTC Logic".
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS RESULTS
CONSULT
Check if any DTC is detected in “Self Diagnostic Result” mode of “ABS”.
BRC-217, "DTC Index".
NO >> Replace the ADAS control unit. Refer to DAS-67, "Removal and Installation".

C1A05 BRAKE SW/STOP LAMP SW
A

A mismatch between a stop lamp switch signal and a
BRAKE SW/STOP L SW brake pedal position switch signal received from ECM D
C1A05 (Brake switch/Stop lamp and a stop lamp signal received from the ABS actuator
switch) Threshold
and electric unit (control unit) continues for 60 seconds
or more when vehicle speed is approximately 40 km/h
E
(65 MPH) or more.
POSSIBLE CAUSE F
• Stop lamp switch circuit
• Brake pedal position switch circuit
• Stop lamp switch G
• Brake pedal position switch
• Incorrect stop lamp switch installation
• Incorrect brake pedal position switch installation
H
• ECM
FAIL-SAFE I
J
K
YES >> Perform diagnosis of applicable DTC. Refer to CCS-108, "DTC Logic". L
NO >> GO TO 2.
CONSULT M
3. Select “Self Diagnostic Result” mode of “LASER/RADAR”. N
RADAR”.
Is “C1A05” detected as the current malfunction? CCS
P
Regarding Wiring Diagram Information, refer to CCS-45, "Wiring Diagram".


YES >> Perform diagnosis of applicable DTC. Refer to CCS-75, "DTC Description".
NO >> GO TO 2.
2.CHECK STOP LAMP SWITCH AND BRAKE PEDAL POSITION SWITCH
CONSULT
Check that “STOP LAMP SW” and “BRAKE SW” operate normally in “Data Monitor” mode of “LASER/
RADAR”.
YES >> GO TO 3.
NO-1 >> When “BRAKE SW” operation is malfunctioning: GO TO 4.
NO-2 >> When “STOP LAMP SW” operation is malfunctioning: GO TO 9.
3.CHECK STOP LAMP SWITCH
Check that “STOP LAMP SW” operates normally in “Data Monitor” mode of “ABS”.
YES >> GO TO 14.
NO >> GO TO 9.
4.CHECK BRAKE PEDAL POSITION SWITCH INSTALLATION
1. Turn ignition switch OFF.
2. Check brake pedal position switch for correct installation. Refer to BR-8, "Inspection".
YES >> GO TO 5.
NO >> Adjust brake pedal position switch installation. Refer to BR-15, "Adjustment".
5.BRAKE PEDAL POSITION SWITCH INSPECTION
1. Disconnect brake pedal position switch connector.
2. Check brake pedal position switch. Refer to CCS-78, "Component Inspection (Stop Lamp Switch)".
YES >> GO TO 6.
NO >> Replace brake pedal position switch.
6.CHECK BRAKE PEDAL POSITION SWITCH POWER SUPPLY CIRCUIT
1. Turn the ignition switch ON.
2. Check voltage between brake pedal position switch harness connector and ground.
Voltage
(+) (-)
(Approx.)
Brake pedal position switch
Connector Terminal Ground Battery voltage
E86 3
YES >> GO TO 7.
NO >> Repair the harnesses or connectors.
7.CHECK HARNESS BETWEEN BRAKE PEDAL POSITION SWITCH AND ECM
1. Turn ignition switch OFF
2. Disconnect ECM connector.
3. Check for continuity between brake pedal position switch harness connector and ECM harness connector.
Brake pedal position switch ECM

Continuity
Connector Terminal Connector Terminal
E86 4 E16 116 Yes
4. Check for continuity between brake pedal position switch harness connector and ground.

Brake pedal position switch A

Continuity
Connector Terminal Ground
E86 4 No
B
YES >> GO TO 8.
NO >> Repair the harnesses or connectors. C
8.PERFORM SELF DIAGNOSTIC RESULTS OF ECM
CONSULT
1. Connect all connectors if the connectors were disconnected. D
2. Turn ignition switch ON.
3. Select “Self Diagnostic Result” mode of “ENGINE”.
4. Check if any DTC is detected in “Self Diagnostic Result” mode of “ENGINE”. Refer to EC-95, E
"DTC Index".
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result. F
9.CHECK STOP LAMP SWITCH INSTALLATION
G
2. Check stop lamp switch for correct installation. Refer to BR-8, "Inspection".
H
YES >> GO TO 10.
NO >> Adjust stop lamp switch installation. Refer to BR-15, "Adjustment".
10.STOP LAMP SWITCH INSPECTION I
1. Disconnect stop lamp switch connector.
2. Check stop lamp switch. Refer to CCS-78, "Component Inspection (Brake Pedal Position Switch)".
Is the inspection result normal? J
YES >> GO TO 11.
NO >> Replace stop lamp switch.
11.CHECK STOP LAMP SWITCH POWER SUPPLY CIRCUIT K
Check voltage between stop lamp switch harness connector and ground.
L
Voltage
(+) (-)
(Approx.)
Stop lamp switch
M
Connector Terminal Ground Battery voltage
E60 1
Is the inspection result normal? N
YES >> GO TO 12.
12.CHECK HARNESS BETWEEN STOP LAMP SWITCH AND ECM CCS
1. Disconnect ABS actuator and electric unit (control unit) connector and resistor.
2. Check for continuity between stop lamp switch harness connector and ECM harness connector.
P
Stop lamp switch ECM

Continuity
E60 2 E16 115 Yes
3. Check for continuity between stop lamp switch harness connector and ground.

Stop lamp switch

Continuity
E60 2 No
YES >> GO TO 13.
13.PERFORM SELF DIAGNOSTIC RESULT OF ECM
CONSULT
1. Connect all connectors if the connectors are disconnected.
4. Check if any DTC is detected in “Self Diagnostic Result” mode of “ENGINE”. Refer to EC-95,
"DTC Index".
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
NO >> GO TO 14.
14.PERFORM SELF-DIAGNOSIS OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
Check if any DTC is detected in “Self Diagnostic Result” mode of “ABS”. Refer to BRC-217, "DTC Index".
YES >> Repair or replace the malfunctioning parts identified by the self-diagnosis result.
NO >> Repair the ICC sensor. Refer to CCS-133, "Removal and Installation".
Component Inspection (Stop Lamp Switch) INFOID:0000000013296181
1.CHECK STOP LAMP SWITCH

Check for continuity between stop lamp switch terminals.
Terminals Condition Continuity

When brake pedal is depressed No
1 2
When brake pedal is released Yes
YES >> Inspection End.
NO >> Replace stop lamp switch.
Component Inspection (Brake Pedal Position Switch) INFOID:0000000013296182
1.CHECK BRAKE PEDAL POSITION SWITCH

Check for continuity between brake pedal position switch terminals.
Terminals Condition Continuity

When brake pedal is depressed Yes
1 2
When brake pedal is released No
When brake pedal is depressed Yes
3 4
When brake pedal is released No
NO >> Replace brake pedal position switch.

C1A06 OPERATION SW
C1A06 OPERATION SW
A

• Any switch of the ICC steering switch is detected as
OPERATION SW CIRC “ON” continuously for 60 seconds. D
C1A06
(Operation switch circuit) Threshold • An ON/OFF state judgment of the ICC differs be-
tween ECM and ICC sensor, and the state continues
for 2 seconds or more.
E
POSSIBLE CAUSE
• ICC steering switch circuit F
• ICC steering switch
• ECM
G
FAIL-SAFE
• Intelligent Cruise Control system is canceled
H
If DTC “C1A06” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. I
YES >> Perform diagnosis of applicable DTC. Refer to CCS-108, "DTC Logic".
J
NO >> GO TO 2.
CONSULT K
2. Wait for approximately 5 minutes after turning the MAIN switch of ICC system ON.
3. Select “Self Diagnostic Result” mode of “LASER/RADAR”. L
RADAR”.
Is “C1A06” detected as the current malfunction? M
N
Regarding Wiring Diagram information, refer to CCS-45, "Wiring Diagram" CCS

P
NO >> GO TO 2.
2.CHECK ICC STEERING SWITCH
1. Turn the ignition switch OFF.

C1A06 OPERATION SW
2. Disconnect the ICC steering switch connector.
3. Check the ICC steering switch. Refer to CCS-80, "Component Inspection".
YES >> GO TO 3.
NO >> Replace the ICC steering switch.
3.CHECK HARNESS BETWEEN SPIRAL CABLE AND ECM
1. Disconnect the ECM connector.
2. Check for continuity between the spiral cable harness connector and ECM harness connector.
Spiral cable ECM

Continuity
25 110
M80 E16 Yes
32 111
3. Check for continuity between spiral cable harness connector and ground.
Spiral cable
Continuity
Connector Terminal
Ground
25
M80 No
32
YES >> GO TO 4.
4.CHECK SPIRAL CABLE
Check for continuity between spiral cable terminals.
Spiral cable
Continuity
Terminals
13 25
Yes
16 32
YES >> GO TO 5.
NO >> Replace the spiral cable.
CONSULT
1. Connect the connectors of ICC steering switch and ECM connector.
3. Select “Self Diagnostic Result” mode of “ENGINE”.
4. Check if any DTC is detected in “Self Diagnostic Result” mode of “ENGINE”.
YES >> Select “Self Diagnostic Result” on the detected DTC and repair or replace the malfunctioning
parts. Refer to EC-95, "DTC Index".
NO >> Replace the ICC sensor. Refer to. CCS-133, "Removal and Installation"
Component Inspection INFOID:0000000013296185

Check resistance between ICC steering switch terminals.

C1A06 OPERATION SW
Approx. A
Terminals Switch operation
Resistance [Ω]
When pressing MAIN switch 1
When pressing CANCEL switch 309 B
When pressing DISTANCE switch 741
13 16
When pressing SET/COAST switch 1406
C
When pressing RESUME/ACCELERATE switch 2586
When all switches are not pressed 5456
Is the inspection result normal? D
NO >> Replace the ICC steering switch.
E
CCS

C1A12 LASER BEAM OFF CENTER
C1A12 LASER BEAM OFF CENTER
DTC DETECTION LOGIC

C1A12 LASER BEAM OFFCNTR
Threshold Radar of ICC sensor is off the aiming point.
POSSIBLE CAUSE
• ICC sensor
FAIL-SAFE
• Intelligent Cruise Control is canceled
1.PERFORM ICC SENSOR SELF DIAGNOSTIC RESULT

CONSULT
RADAR”.
Is “C1A12” detected?
YES >> Refer to CCS-82, "DTC Description".
NO >> GO TO 2.
2.VISUAL INSPECTION
1. Check ICC sensor and ICC sensor bracket for damage or looseness.
Does damage or looseness exist?
YES >> 1. Repair or replace affected components. Refer to CCS-133, "Removal and Installation".
2. Perform ICC sensor alignment. Refer to CCS-59, "Description".
3. Perform action test. Refer to CCS-66, "Description".
NO >> GO TO 3.
3.PERFORM ADAS CONTROL SELF DIAGNOSTIC RESULT
CONSULT
Check if the “C1A12” is detected as the current malfunction in “Self Diagnostic Result” mode of “ICC/ADAS”.
YES >> Replace ICC sensor. Refer to CCS-133, "Removal and Installation".

C1A14 ECM
C1A14 ECM
A

ECM CIRCUIT Signal (terminal) —
C1A14
(ECM circuit) Threshold If ECM is malfunctioning
D
POSSIBLE CAUSE
• Accelerator pedal position sensor E
• ECM
• ICC sensor
FAIL-SAFE F
• Forward Emergency Braking (FEB) G
1.CHECK DTC PRIORITY H
YES >> Perform diagnosis of applicable DTC. Refer to CCS-108, "DTC Logic". I
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE J
CONSULT
2. Operate the ICC system and drive.
K
CAUTION:
Always drive safely.
RADAR”.
Is “C1A14” detected as the current malfunction? M
NO-2 >> Confirmation after repair: Inspection End. N
1.CHECK DTC PRIORITY CCS

P
NO >> GO TO 2.
Check if “U1000” is detected other than “C1A14” in “Self Diagnostic Result” mode of “LASER/RADAR”.
Is “U1000” detected?

C1A14 ECM
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts.
Refer to CCS-108, "DTC Logic".
NO >> GO TO 3.
CONSULT
Select “Self Diagnostic Result” mode of “ENGINE”.
EC-95, "DTC Index".

C1A15 GEAR POSITION
C1A15 GEAR POSITION
A
ADAS control unit judges the gear position based on the following signals: B
• Current gear position signal transmitted from TCM via CAN communication.
• Value of gear ratio calculated from input speed signal transmitted from TCM via CAN communication.
• Value of gear ratio calculated from the vehicle speed signal transmitted from ABS actuator and electric unit
(control unit) via CAN communication. C
DTC Logic INFOID:0000000013296192
D
DTC DETECTION LOGIC

E
GEAR POSITION A mismatch between a current gear position signal F

C1A15 transmitted from TCM via CAN communication and a
(Gear position) Threshold
gear position calculated by the ICC sensor continues
for approximately 11 minutes or more.
G
POSSIBLE CAUSE
• Input speed sensor H
• Vehicle speed sensor CVT (output speed sensor)
• TCM
FAIL-SAFE I
• Forward Emergency Braking (FEB) J
1.CHECK DTC PRIORITY K
If DTC “C1A15” is displayed with DTC “U1000”, “C1A03”, or “C1A04”, first diagnose the DTC “U1000”,
“C1A03”, or “C1A04”.
Is applicable DTC detected? L
• C1A03: Refer to CCS-72, "DTC Description". M
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE N
CONSULT
2. Turn the MAIN switch of ICC system ON. CCS
3. Drive the vehicle at 10 km/h (6 MPH) or more for approximately 15 minutes or more.
CAUTION:
Always drive safely. P
6. Check if “C1A15” is detected as the current malfunction in the “Self Diagnostic Result” mode of “LASER/
RADAR”.

C1A15 GEAR POSITION

If DTC “C1A15” is displayed with DTC “U1000” or “C1A03”, or “C1A04”, first diagnose the DTC “U1000”,
“C1A03”, or “C1A04”.
NO >> GO TO 2.
2.CHECK VEHICLE SPEED SIGNAL
CONSULT
Check that “VHCL SPEED SE” operates normally in “Data Monitor” mode of “LASER/RADAR”.
CAUTION:
Be careful of the vehicle speed.
YES >> GO TO 3.
NO >> GO TO 6.
3.CHECK GEAR POSITION SIGNAL
CONSULT
Check that “GEAR” operates normally in “Data Monitor” mode of “TRANSMISSION”.
YES >> GO TO 4.
NO >> GO TO 5.
4.CHECK INPUT SPEED SENSOR SIGNAL
CONSULT
Check that “INPUT SPEED” operates normally in “Data Monitor” mode of “TRANSMISSION”.
YES >> Replace the ADAS control unit. Refer to DAS-67, "Removal and Installation".
NO >> GO TO 5.
5.CHECK TCM SELF DIAGNOSTIC RESULT
CONSULT
1. Select “Self Diagnostic Result” mode of “TRANSMISSION”.
6.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF DIAGNOSTIC RESULT
CONSULT
1. Select “Self Diagnostic Result” mode of “ABS”.
2. Check if any DTC is detected in “Self Diagnostic Result” mode of “ABS”.
NO >> Replace the ICC sensor. Refer to CCS-133, "Removal and Installation"

C1A16 RADAR BLOCKED OR STAINED
A

C1A16 RADAR BLOCKED
Threshold If any stain occurs to distance sensor body window.
D
NOTE:
DTC “C1A16” may be detected under the following conditions. (Explain to the customer about the difference E
between the contamination detection function and the indication when the malfunction is detected and tell
them, “This is not a malfunction”)
• When contamination or foreign materials adhere to the ICC sensor area.
• When driving while it is snowing or when frost forms on the ICC sensor area. F
• When ICC sensor area is temporarily fogged.
POSSIBLE CAUSE
G
• Stain or foreign material deposited on ICC sensor
• Cracked or scratched ICC sensor
FAIL-SAFE H
• Intelligent Cruise Control system is canceled
I
NOTE:
After ICC sensor alignment is performed, the vehicle must be driven at a speed of 4.5 MPH (7.2 km/h) or more
for a minimum of 2 minutes before DTC C1A16 can be cleared.
J
1.VISUAL CHECK 1
Check for contamination and foreign matter on the ICC sensor area of the front bumper.
Does contamination or foreign material exist? K
YES >> Clean the contamination and foreign material on the ICC sensor area of the front bumper.
NO >> GO TO 2.
2.VISUAL CHECK 2 L
Check ICC sensor for contamination and foreign materials.

Does contamination or foreign material exist? M
YES >> Clean the contamination and foreign material from the ICC sensor.
NO >> GO TO 3.
3.VISUAL CHECK 3 N
Check ICC sensor and ICC sensor bracket for damage or looseness.
Does damage or looseness exist?
CCS
YES >> 1. Repair or replace effected components. Refer to CCS-133, "Removal and Installation".
NO >> GO TO 4. P
4.INTERVIEW
1. Ask if there is any trace of contamination or foreign materials adhering to the ICC sensor area.
2. Ask if the ICC sensor area was frosted during driving or if vehicle was driven in snow.
3. Ask if ICC sensor area was temporarily fogged. (Windshield glass may also tend to fog, etc.)
Are any of the above conditions seen?

YES >> Explain to the customer about the difference between the contamination detection function and an
actual malfunction. Inform them “this is not a malfunction”.
NO >> 1. Perform ICC sensor alignment. Refer to CCS-59, "Description".
3. GO TO 5.
5.CHECK ICC SENSOR SELF DIAGNOSTIC RESULTS
CONSULT
Check if “C1A16” is detected as the current malfunction in “Self Diagnostic Result” mode of “LASER/RADAR”.
YES >> Replace ICC sensor. Refer to CCS-133, "Removal and Installation".

C1A17 ICC SENSOR
C1A17 ICC SENSOR
A

C1A17 ICC SENSOR MALF
Threshold If ICC sensor is malfunctioning
D
NOTE:
If DTC “C1A17” is detected along with DTC “U1000”, first diagnose the DTC “U1000”. Refer to CCS-108, E
"DTC Logic".
POSSIBLE CAUSE
ICC F
FAIL-SAFE
• Intelligent Cruise Control G
H
1.CHECK ADAS CONTROL UNIT SELF DIAGNOSTIC RESULTS
CONSULT I
1. Select “Self Diagnostic Result” mode of “ICC/ADAS”.
2. Check if “U1000” is detected along with “C1A17” in “Self Diagnostic Result” mode of “ICC/ADAS”.
Is “U1000” detected? J
CCS-108, "DTC Logic".
NO >> Replace ICC sensor. Refer to CCS-133, "Removal and Installation".
K
CCS

C1A18 RADAR AIMING INCMP
DTC DETECTION LOGIC

Threshold The radar of the ICC sensor is not adjusted.
POSSIBLE CAUSE
• The adjustment of the radar is not yet performed.
• Interruption in radar adjustment
FAIL-SAFE
CONSULT
RADAR”.
1.ADJUST RADAR ALIGNMENT

CONSULT
1. Adjust the radar alignment. Refer to CCS-59, "Description".
2. Erase all “Self Diagnostic Result”.
4. Check if the “C1A18” is detected in “Self Diagnostic Result” mode of “LASER/RADAR”.

C1A21 UNIT HIGH TEMP
C1A21 UNIT HIGH TEMP
A

UNIT HIGH TEMP Signal (terminal) —
C1A21
(Unit high temperature) Threshold Temperature around ICC sensor is high.
D
POSSIBLE CAUSE
Temperature around the ICC sensor becomes extremely low or high. E
FAIL-SAFE
• Intelligent Cruise Control F
DTC CONFIRMATION PROCEDURE G
CONSULT
1. Turn the ignition switch OFF. H
2. Wait for 10 minutes or more.
4. Turn the MAIN switch of ICC system ON. I
RADAR”.
J
NO-1 >> To check malfunction symptom before repair: Refer to GI-41, "Intermittent Incident". K
L
1.CHECK ENGINE COOLING SYSTEM
Check for any malfunctions in engine cooling system.
Is engine cooling system normal? M
NO >> Repair engine cooling system.
N
CCS

C1A24 NP RANGE
C1A24 NP RANGE
DTC DETECTION LOGIC

NP RANGE A mismatch between a shift position signal transmitted
C1A24
(NP range) Threshold from TCM via CAN communication and a current gear
position signal continues for 60 seconds or more.
POSSIBLE CAUSE
• TCM
• Transmission range switch
FAIL-SAFE
NO >> GO TO 2.
2.CHECK DTC(1)
CONSULT
3. Wait for approximately 5 minutes or more after shifting the selector lever to “P” position.
RADAR”.
NO >> GO TO 3.
3.CHECK DTC (2)
CONSULT
1. Wait for approximately 5 minutes or more after shifting the selector lever to “N” position.
2. “Self Diagnostic Result” mode of “ICC/ADAS”.
3. Check if the “C1A24” is detected as the current malfunction in “Self Diagnostic Result” mode of “ICC/
ADAS”.

C1A24 NP RANGE
YES >> Perform diagnosis of applicable DTC. Refer to CCS-108, "DTC Logic". A
NO >> GO TO 2.
2.CHECK TCM DATA MONITOR
B
CONSULT
Check that “SLCT LVR POSI” operates normally in “Data Monitor” mode of “TRANSMISSION”.
Is the inspection result normal? C
YES >> GO TO 3.
NO >> Perform diagnosis for transmission range switch circuit and repair or replace the malfunctioning
parts. Refer to TM-169, "Component Inspection".
D
3.PERFORM TCM SELF DIAGNOSTIC RESULT
CONSULT
1. “Self Diagnostic Result” mode of “TRANSMISSION”. E
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to F
G
CCS

C1A26 ECD MODE MALFUNCTION
DTC DETECTION LOGIC

ECD MODE MALF Signal (terminal) —

C1A26
(ECD mode malfunction) Threshold If an abnormal condition occurs with ECD system
POSSIBLE CAUSE
• ADAS control unit
FAIL-SAFE
If DTC “C1A26” is displayed with DTC “U1000”, “U0415” or “U0121”, first diagnose the DTC “U1000”,“U0415”
or “U0121”.
YES >> Perform diagnosis of applicable.
• U0415: Refer to CCS-102, "DTC Description".
• C1A0C: Refer to CCS-114, "DTC Description".
NO >> GO TO 2.
CONSULT
2. Wait for approximately 1 minute after turning the MAIN switch of ICC system ON.
RADAR”.

or “U0121” or “C1A0C” or “C1A50”.
• C1A0C: Refer to CCS-114, "DTC Description".

NO >> GO TO 2. A
2.PERFORM SELF DIAGNOSTIC RESULT OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
CONSULT B
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to C
NO >> Replace ICC sensor. Refer to CCS-133, "Removal and Installation".
D
CCS

C1A27 ECD POWER SUPPLY CIRCUIT
DTC DETECTION LOGIC

ECD PWR SUPLY CIR Signal (terminal) —

C1A27
(ECD power supply circuit) Threshold ECD system power supply voltage is excessively low
POSSIBLE CAUSE
• ABS actuator and electric unit (control unit) power supply circuit
FAIL-SAFE
CONSULT
or “U0121”.
NO >> GO TO 2.
CONSULT
2. Wait for approximately 1 minute after turning the MAIN switch of ICC system ON.
RADAR”.

or “U0121”.
NO >> GO TO 2.

2.CHECK POWER SUPPLY CIRCUIT OF ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) A
Check power supply circuit of ABS actuator and electric unit (control unit). Refer to BRC-269, "Diagnosis Pro-
cedure".
Is the inspection result normal? B
YES >> Perform “Self Diagnostic Result” mode of ABS actuator and electric unit (control unit). Refer to
C
CCS

C1A39 STEERING ANGLE SENSOR
C1A39 STEERING ANGLE SENSOR
DTC DETECTION LOGIC
DTC No. CONSULT screen terms DTC detecting condition

STRG SEN CIR Signal (terminal) —

C1A39
(Steering angle sensor circuit) Threshold If the steering angle sensor is malfunctioning
POSSIBLE CAUSE
Steering angle sensor
FAIL-SAFE
NO >> GO TO 2.
CONSULT
RADAR”.

YES >> Perform diagnosis of applicable. Refer to CCS-108, "DTC Logic".
NO >> GO TO 2.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF DIAGNOSTIC RESULTS
CONSULT

C1B5D FEB OPE COUNT LIMIT
C1B5D FEB OPE COUNT LIMIT
A

FEB OPE COUNT LIMIT Signal (terminal) —
C1B5D (Forward Emergency Braking FEB system operated 3 times within ignition switch
operation count limit) Threshold D
ON.
NOTE: E
If “C1B5D” is detected, perform the ICC system action test and check that ICC system operates normally.
POSSIBLE CAUSE
• FEB system operated 3 times within ignition switch ON. F
FAIL-SAFE
—
G
1.PERFORM ICC SYSTEM ACTION TEST
H
CONSULT
Perform the ICC system action test.
Is there any malfunction symptom?
I
Diagnosis Procedure INFOID:0000000013296211 J

CONSULT K
4. Check if the “C1B5D” is detected as the current malfunction in “Self Diagnostic Result” mode of “LASER/
RADAR”.
Is “C1B5D” detected as a current malfunction?
M
NO >> Perform ICC system action test. Refer to CCS-66, "Description".
N
CCS

C1A50 ADAS CONTROL UNIT
C1A50 ADAS CONTROL UNIT
DTC DETECTION LOGIC

C1A50 ADAS MALFUNCTION
Threshold If ADAS control unit is malfunctioning
NOTE:
If DTC “C1A50” is detected along with DTC “U1000” or “C1A0C” first diagnose the DTC “U1000” or “C1A0C”.
POSSIBLE CAUSE
• ADAS control unit
FAIL-SAFE
• Predictive Forward Collision Warning (PFCW)

CONSULT
RADAR”.
NO >> Refer to GI-41, "Intermittent Incident".
1.CHECK ICC SENSOR SELF-DIAGNOSIS RESULTS

If DTC “C1A50” is displayed with “U1000” diagnose the DTC “U1000” first.
YES >> Perform diagnosis of applicable DTC. Refer to CCS-108, "DTC Logic" or CCS-114, "DTC Descrip-
tion".
NO >> GO TO 2.
2.CHECK ADAS CONTROL UNIT SELF-DIAGNOSIS RESULTS
CONSULT
Check if any DTC is detected in “Self Diagnostic Result” mode of “ICC/ADAS”.

C10B7 YAW RATE SENSOR
C10B7 YAW RATE SENSOR
A

C10B7 YAW RATE SENSOR The yaw rate/side/decel G sensor calibration is incor-
Threshold D
rect.
POSSIBLE CAUSE E
• The calibration of yaw rate/side/decel G sensor is not yet performed.
• Interruption in yaw rate/side/decel G sensor calibration
FAIL-SAFE F
1.PERFORM DTC CONFIRMATION PROCEDURE H
CONSULT
4. Check if the “C10B7” is detected as the current malfunction in “Self Diagnostic Result” mode of “LASER/
RADAR”.
J
Is “C10B7” detected as the current malfunction?
K
1.PERFORM CALIBRATION OF THE YAW RATE/SIDE/DECEL G SENSOR L

CONSULT
1. Perform calibration of the yaw rate/side/decel G sensor. Refer to BRC-243, "Description".
2. Erase “Self Diagnostic Result” with CONSULT. M
4. Check if the “C10B7” is detected in “Self Diagnostic Result” mode of “LASER/RADAR”.
Is “C10B7” detected? N
CCS

U0121 VDC CAN 2
U0121 VDC CAN 2
DTC DETECTION LOGIC

VDC CAN CIR2 If ICC sensor detects an error signal that is received
U0121
(VDC CAN circuit 2) Threshold from ABS actuator and electric unit (control unit) via
CAN communication
POSSIBLE CAUSE
FAIL-SAFE
The following systems are canceled.
If DTC “U0121” is displayed with DTC “U1000”, first diagnose the DTC “U1000”.
NO >> GO TO 2.
CONSULT
4. Check if the “U0121” is detected as the current malfunction in “Self Diagnostic Result” mode of “LASER/
RADAR”.
Is “U0121” detected as the current malfunction?

NO >> GO TO 2.
CONSULT

U0121 VDC CAN 2
A
CCS

U0126 STRG SEN CAN 1
DTC DETECTION LOGIC

STRG SEN CAN CIR1 Signal (terminal) —

U0126 (Steering sensor CAN circuit If ICC sensor detects an error signal that is received
1) Threshold
from steering angle sensor via CAN communication
POSSIBLE CAUSE
FAIL-SAFE
NO >> GO TO 2.
CONSULT
RADAR”.

NO >> GO TO 2.
CONSULT

U0401 ECM CAN 1
U0401 ECM CAN 1
A

ECM CAN CIR1
U0401 If ADAS control unit detects an error signal that is re-
(ECM CAN circuit 1) Threshold
ceived from ECM via CAN communication D
POSSIBLE CAUSE E
ECM
FAIL-SAFE
The following systems are canceled: F
• Predictive Forward Collision Warning (PFCW) G
1.CHECK DTC PRIORITY H
YES >> Perform diagnosis of applicable DTC. Refer to CCS-108, "DTC Description". I
NO >> GO TO 2.
2.PERFORM DTC CONFIRMATION PROCEDURE J
CONSULT
K
RADAR”.
Is “U0401” detected as the current malfunction? L
NO-2 >> Confirmation after repair: Inspection End. M
1.CHECK DTC PRIORITY N
Is applicable DTC detected? CCS
NO >> GO TO 2.
2.CHECK ECM SELF DIAGNOSTIC RESULT P
CONSULT
Check if any DTC is detected in “Self Diagnostic Result” mode of “ENGINE”.
EC-95, "DTC Index".

U0415 VDC CAN 1
U0415 VDC CAN 1
DTC DETECTION LOGIC

VDC CAN CIR1 If ICC sensor detects an error signal that is received
U0415
(VDC CAN circuit1) Threshold from ABS actuator and electric unit (control unit) via
CAN communication
POSSIBLE CAUSE
FAIL-SAFE
NO >> GO TO 2.
CONSULT
RADAR”.

NO >> GO TO 2.
CONSULT

A

STRG SEN CAN CIR2 Signal (terminal) —
U0428 (Steering sensor CAN If ICC sensor detects an error signal that is received
circuit2) Threshold D
from steering angle sensor via CAN communication
POSSIBLE CAUSE E
FAIL-SAFE
The following systems are canceled: F
G
If DTC “U0428” is displayed with DTC “U1000”, first diagnose the DTC “U1000”. H
NO >> GO TO 2. I
CONSULT J
K
RADAR”.
L
M
1.CHECK DTC PRIORITY N

YES >> Perform diagnosis of applicable DTC. Refer to CCS-108, "DTC Description". CCS
NO >> GO TO 2.
P
CONSULT

U1000 CAN COMM CIRCUIT
U1000 CAN COMM CIRCUIT
ITS COMMUNICATION
• ITS communication is a multiplex communication system. This enables the system to transmit and receive
large quantities of data at high speeds by connecting control units with two communication lines.
• ITS communication lines adopt twisted-pair line style (two lines twisted) for noise immunity.
DTC DETECTION LOGIC

CAN COMM CIRCUIT
U1000 If ICC sensor is not transmitting or receiving ITS com-
(CAN communication circuit) Threshold
munication signal
Diagnosis delay time 2 seconds or more
POSSIBLE CAUSE
ITS communication system
FAIL-SAFE
CONSULT
RADAR”.
1.PERFORM THE SELF DIAGNOSTIC RESULT

CONSULT
2. Turn the MAIN switch of ICC system ON, and then wait for 2 seconds or more.
RADAR”.
YES >> Refer to LAN-17, "Trouble Diagnosis Flow Chart".

U1010 CONTROL UNIT (CAN)
U1010 CONTROL UNIT (CAN)
A
CAN controller controls the communication of ITS communication signal and the error detection. B
DTC DETECTION LOGIC C

Diagnosis condition When ignition switch is ON. D
CONTROL UNIT (CAN)
U1010 If ICC sensor detects malfunction by CAN controller
[Control unit (CAN)] Threshold E
initial diagnosis
POSSIBLE CAUSE F
ICC sensor
FAIL-SAFE
G
H
I
CONSULT
3. Select “Self Diagnostic Result” mode of “LASER/RADAR”. J
RADAR”.
Is “U1010” detected as the current malfunction? K
NO-2 >> Confirmation after repair: Inspection End. L
1.PERFORM DTC CONFIRMATION PROCEDURE M
CONSULT
2. Select “Self Diagnostic Result” mode of “LASER/RADAR”. N
RADAR”.
Is “U1010” detected as the current malfunction? CCS
P

POWER SUPPLY AND GROUND CIRCUIT
POWER SUPPLY AND GROUND CIRCUIT
ICC SENSOR
ICC SENSOR : Diagnosis Procedure INFOID:0000000013296232
Regarding Wiring Diagram information, refer to CCS-45, "Wiring Diagram".

1.CHECK ICC SENSOR POWER SUPPLY CIRCUIT
Check voltage between ICC sensor harness connector and ground.
(+) (–) Condition

Voltage
ICC sensor Standard voltage
Ignition switch (Approx.)
Connector Terminal
OFF 0 - 0.1 V 0V
E76 8 Ground
ON 9.5 - 16 V Battery voltage
YES >> GO TO 2.
NO >> Repair the ICC sensor power supply circuit.
2.CHECK ICC SENSOR GROUND CIRCUIT
1. Turn the ignition switch OFF.
2. Disconnect the ICC sensor connector.
3. Check for continuity between ICC sensor harness connector and ground.
ICC sensor
Continuity
E76 1 Yes
NO >> Repair the ICC sensor ground circuit.

C1A07 CVT
C1A07 CVT
A

C1A07 CVT MSG CIRCUIT If ICC sensor detects an error signal

Threshold that is received from TCM via CAN D
communication.
E
POSSIBLE CAUSE
TCM
FAIL-SAFE F
CONSULT
RADAR”.
J
Is “U1A07” detected as the current malfunction?
K
1.CHECK ICC SENSOR SELF-DIAGNOSIS RESULT L

Check if “U1000” is also detected with “C1A07” in “Self Diagnostic Result” mode of “LASER/RADAR”.
YES >> Perform the CAN communication system inspection. Repair or replace the malfunctioning parts. M
Refer to CCS-108, "DTC Description".
NO >> GO TO 2.
2.CHECK TCM SELF DIAGNOSTIC RESULTS N
CONSULT
Check if any DTC is detected in “Self Diagnostic Result” mode of “TRANSMISSION”. CCS
BRC-217, "DTC Index". P

U153A CVT MESSAGE COUNTER FAILURE
U153A CVT MESSAGE COUNTER FAILURE
DTC DETECTION LOGIC
DTC No. Trouble diagnosis name DTC detection condition

U153A CVT MSG COUNTER If ICC sensor detects an error signal

Threshold that is received from TCM via CAN
communication
POSSIBLE CAUSE
TCM
FAIL-SAFE
CONSULT
4. Check if the “U153A” is detected as the current malfunction in “Self Diagnostic Result” mode of “LASER/
RADAR”.
Is “U153A” detected as the current malfunction?
1.CHECK ICC SENSOR SELF DIAGNOSTIC RESULTS

Check if “U1000” is also detected with “U153A” in “Self Diagnostic Result” mode of “LASER/RADAR”.
NO >> GO TO 2.
CONSULT
Check if any DTC is detected in “Self Diagnostic Result” mode of “TRANSMISSION”.

U153B CVT CHECK SUM FAILURE
U153B CVT CHECK SUM FAILURE
A

U153B CVT MSG COUNTER If ICC sensor detects an error signal

Threshold that is received from TCM via CAN D
communication
E
POSSIBLE CAUSE
TCM
FAIL-SAFE F
CONSULT
1. Start the engine. I
4. Check if the “U153B” is detected as the current malfunction in “Self Diagnostic Result” mode of “LASER/
RADAR”. J
Is “U153B” detected as the current malfunction?
NO >> Refer to GI-41, "Intermittent Incident". K
L
1.CHECK ICC SENSOR SELF DIAGNOSTIC RESULT
Check if “U1000” is detected other than “U153B” in “Self Diagnostic Result” mode of “LASER/RADAR”.
Is “U1000” detected? M
NO >> GO TO 2. N
CONSULT CCS
Check if any DTC is detected in “Self Diagnostic Result” mode of “TRANSMISSION”.
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to P
CCS-108, "DTC Logic".

C1A0C ADAS MESSAGE COUNTER FAILURE
C1A0C ADAS MESSAGE COUNTER FAILURE
DTC DETECTION LOGIC
DTC No. CONSULT terms DTC detection condition

C1A0C ADAS MSG COUNTER
Threshold ICC sensor internal malfunction
POSSIBLE CAUSE
ICC Sensor
FAIL-SAFE
CONSULT
3. Check if the “C1A0C” is detected as the current malfunction in “Self Diagnostic Result” mode of “LASER/
RADAR”.
Is “C1A0C” detected as the current malfunction?

Check if “U1000” is also detected with “C1A0C” in “Self Diagnostic Result” mode of “LASER/RADAR”.
NO >> GO TO 2.
2.CHECK ADAS CONTROL UNIT SELF DIAGNOSTIC RESULT
CONSULT

C1A0D MRR CAN FAILURE
C1A0D MRR CAN FAILURE
A
DTC No. Consult screen terms DTC detection condition

C1A0D MRR CAN FAIL
Threshold ICC sensor internal malfunction
D
POSSIBLE CAUSE
ICC Sensor E
FAIL-SAFE
• Intelligent Cruise Control F
DTC CONFIRMATION PROCEDURE G
CONSULT
1. Start the engine. H
4. Check if the “C1A0D” is detected as the current malfunction in “Self Diagnostic Result” mode of “LASER/ I
RADAR”.
Is “C1A0D” detected as the current malfunction?
YES >> Refer to CCS-115, "Diagnosis Procedure". J
K
Check if “U1000” is also detected with “C1A0D” in “Self Diagnostic Result” mode of “LASER/RADAR”.
L
Refer to CCS-108, "DTC Logic". M
NO >> GO TO 2.
2.CHECK ADAS CONTROL UNIT SELF DIAGNOSTIC RESULT
CONSULT N
YES >> Perform diagnosis on the detected DTC and repair or replace the malfunctioning parts. Refer to CCS
P

INTELLIGENT CRUISE CONTROL SYSTEM SYMPTOMS
< SYMPTOM DIAGNOSIS > [ICC]
SYMPTOM DIAGNOSIS
INTELLIGENT CRUISE CONTROL SYSTEM SYMPTOMS
Symptom Table INFOID:0000000013296243
Symptoms Reference page

MAIN switch does not turn ON
CCS-117, "Description"
MAIN switch does not turn OFF
ICC system cannot be set (MAIN switch turns
ON/OFF)
CANCEL switch does not function
Operation Resume does not function
Set speed does not increase CCS-121, "Description"
Set distance to a vehicle ahead cannot be

changed
ICC is not canceled when the CVT selector lever
is in “N” position
CCS-14, "INTELLIGENT CRUISE CONTROL : System De-
ICC system display does not appear
Display/Chime scription"
Chime does not sound CCS-123, "Description"
Control Driving force is hunting CCS-125, "Description"
System frequently cannot detect a vehicle ahead
Distance to detect a vehicle ahead is short
Function to detect System misidentifies a vehicle even though there • Adjust radar alignment. Refer to CCS-59, "Description".
a vehicle ahead is no vehicle ahead • Perform ICC system action test. Refer to CCS-66, "De-
System misidentifies a vehicle in the next lane scription".
System does not detect a vehicle at all CCS-128, "Description"

MAIN SWITCH DOES NOT TURN ON, MAIN SWITCH DOES NOT TURN OFF
MAIN SWITCH DOES NOT TURN ON, MAIN SWITCH DOES NOT TURN
A
OFF
B
MAIN switch does not turn ON

• ICC system display does not appear even when MAIN switch is pressed.
C
MAIN switch does not turn OFF
• When ICC system display is ON, display does not turn OFF even if MAIN switch is pressed.
NOTE: D
When ICC system warning lamp illuminates, perform the self-diagnosis of ICC system, and then repair or
replace the malfunctioning parts.
Diagnosis Procedure INFOID:0000000013296245 E
1.MAIN SWITCH INSPECTION

CONSULT F
2. Check that “MAIN SW” and “CRUISE LAMP” operate normally in “Data Monitor” mode of “ICC/ADAS”.
Is the inspection result normal? G
YES >> GO TO 2.
NO >> GO TO 4.
2.CHECK COMBINATION METER H
CONSULT
Check that “CRUISE IND” operates normally in “Data Monitor” mode of “METER/M&A”.
I
YES >> GO TO 3.
NO >> GO TO 4. J
3.PERFORM SELF DIAGNOSTIC RESULT OF COMBINATION METER
CONSULT
1. Select “Self Diagnostic Result” mode of “METER/M&A”. K
2. Check if DTC is detected. Refer to MWI-26, "DTC Index".
YES >> Repair or replace malfunctioning parts. L
NO >> GO TO 4.
4.PERFORM SELF DIAGNOSTIC RESULT OF ICC SYSTEM M
CONSULT
1. Select “Self Diagnostic Result” mode of “ICC/ADAS”.
2. Check if DTC “U1000” is detected in. N
YES >> GO TO 5.
NO >> GO TO 6. CCS
5.CAN COMMUNICATION INSPECTION
Check the CAN communication and repair or replace malfunctioning parts. Refer to LAN-8, "CAN COMMUNI-
CATION SYSTEM : System Description". P
>> Inspection End.

Check the ICC steering switch. Refer to AV-60, "Exploded View".

MAIN SWITCH DOES NOT TURN ON, MAIN SWITCH DOES NOT TURN OFF
>> Inspection End.

ICC SYSTEM CANNOT BE SET (MAIN SWITCH TURNS ON/OFF)
A
The MAIN switch can be turned ON/OFF, but the ICC system cannot be set even if the SET/COAST switch is B
pressed.
NOTE:
The system cannot be set in the following cases:
• When the vehicle ahead is not detected below the speed of 32 km/h (20 MPH). C
• When the selector lever is not in the “D” position or manual mode.
• When the brake pedal is depressed.
• When the VDC is turned OFF. D
• When ABS or VDC (including the TCS) operates.
• When a wheel slips.
• When ABS warning lamp is ON.
E
1.CHECK CAUSE OF AUTOMATIC CANCELLATION F

CONSULT
Check if the cancellation cause in the “CAUSE OF AUTO-CANCEL” in “Work support” mode of “LASER/
RADAR”. G
Is it displayed?
Not displayed>>GO TO 2.
“OPE SW VOLT CIRC”>> Refer to CCS-79, "DTC Description". H
“VHCL SPD UNMATCH”>> Refer to CCS-72, "DTC Description".
“IGN LOW VOLT”>> Refer to CCS-96, "DTC Description".
“ECM CIRCUIT”>> Refer to CCS-83, "DTC Description".
I
“CAN COMM ERROR”>> Refer to CCS-108, "DTC Logic".
“ICC SENSOR CAN COMM ERR”>> Refer to CCS-110, "ICC SENSOR : Diagnosis Procedure".
“ABS/TCS/VDC CIRC”>> Refer to CCS-94, "DTC Description".
“ECD CIRCUIT”>> Refer to CCS-94, "DTC Description". J
CONSULT K
2. Check if any DTC is detected in “Self Diagnostic Result” mode of “ICC/ADAS” or “LASER/RADAR”. Refer
to CCS-43, "DTC Index" (ICC/ADAS) or CCS-43, "DTC Index" (LASER/RADAR).
L
YES >> GO TO 3.
NO >> GO TO 4.
M
3.REPAIR OR REPLACE MALFUNCTIONING PARTS
Repair or replace malfunctioning parts identified by the self-diagnosis result.
N
>> GO TO 6.
4.CHECK EACH SWITCH AND VEHICLE SPEED SIGNAL CCS
CONSULT
2. Check that the following items operate normally in “Data Monitor” mode of “LASER/RADAR”: P
- “VHCL SPEED SE”
- “D RANGE SW”
- “SET/COAST SW”
- “BRAKE SW”
- “PKB SW”
Is there a malfunctioning item?
All items are normal>>GO TO 5.

“VHCL SPEED SE”>> Refer to CCS-72, "DTC Description".
“D RANGE SW”>> Refer to CCS-85, "DTC Logic".
“SET/COAST SW”>> Refer to CCS-79, "DTC Description".
“BRAKE SW”>> Refer to CCS-75, "DTC Description".
“PKB SW”>> Refer to CCS-74, "DTC Description".
5.REPLACE ICC SENSOR
Replace the ICC sensor. Refer to DAS-154, "Removal and Installation".
>> GO TO 6.
6.CHECK ICC SYSTEM
CONSULT
1. Erase the “Self Diagnostic Result”, and then select “Self Diagnostic Result” mode again after performing
the action test. (Refer to CCS-66, "Description" for action test.)
2. Check that the ICC system is normal.
>> Inspection End.

ICC STEERING SWITCH (OTHER THAN MAIN SWITCH) DOES NOT FUNCTION
ICC STEERING SWITCH (OTHER THAN MAIN SWITCH) DOES NOT
A
FUNCTION
B
MAIN switch can be turned ON/OFF, but the operation of RESUME/+ switch, CANCEL switch, and DISTANCE
switch cannot be performed during ICC system operation.
NOTE: C
Resume is not accepted when the following condition is met:
• When the MAIN switch is turned OFF once.
Diagnosis Procedure INFOID:0000000013296249 D
1.CHECK EACH SWITCH

E
CONSULT
2. Check that each switch operates normally on “Data Monitor” mode of “LASER/RADAR”:
- “RESUME/ACC SW” F
- “CANCEL SW”
- “DISTANCE SW”
Is the inspection result normal? G
YES >> GO TO 5.
NO >> GO TO 2.
2.PERFORM THE SELF DIAGNOSTIC RESULT H
CONSULT
2. Check if DTC “U1000” is detected. I
YES >> GO TO 3.
NO >> GO TO 4. J

Check the CAN communication and repair or replace malfunctioning parts. Refer to CCS-108, "DTC Logic". K
>> Inspection End.

4.CHECK ICC STEERING SWITCH L
Check the ICC steering switch. Refer to CCS-133, "Exploded View".

M
>> GO TO 6.
N
Replace the ICC sensor. Refer to DAS-154, "Removal and Installation".
>> GO TO 6. CCS
6.CHECK ICC SYSTEM
CONSULT
1. Erase the “Self Diagnostic Result”, and then select “Self Diagnostic Result” mode again after performing P
>> Inspection End.

ICC SYSTEM DOES NOT CANCEL WHEN CVT SELECTOR LEVER SETS ON "N"
ICC SYSTEM DOES NOT CANCEL WHEN CVT SELECTOR LEVER SETS
ON "N"
The ICC system is not canceled even when the CVT selector lever is shifted to the “N” position while the ICC
system is active.
1.CHECK D RANGE SWITCH

CONSULT
Check if “D RANGE SW” operates normally in “Data Monitor” mode of “LASER/RADAR”.
YES >> GO TO 6.
NO >> GO TO 2.
2.PERFORM DIAGNOSTIC RESULT
CONSULT
2. Check if DTC “U1000” is detected in.
YES >> GO TO 3.
NO >> GO TO 4.
Check the CAN communication and repair or replace malfunctioning parts. Refer to CCS-108, "DTC Logic".
>> Inspection End.

4.CHECK POSITION SWITCH
CONSULT
Check if “RANGE” operates normally in “Data Monitor” mode of “TRANSMISSION”.
YES >> GO TO 6.
NO >> GO TO 5.
5.PERFORM TCM SELF DIAGNOSTIC RESULT
CONSULT
1. Select “Self Diagnostic Result” mode of “TRANSMISSION”.
2. Repair or replace malfunctioning parts. Refer to TM-127, "DTC Index".
>> GO TO 7.
Replace the ICC sensor. Refer to CCS-133, "Removal and Installation".
>> GO TO 7.
7.CHECK ICC SYSTEM
CONSULT
1. Erase the “Self Diagnostic Result”, and then select “Self Diagnostic Result” again after performing the
action test. (Refer to CCS-66, "Description" for action test.)
>> Inspection End.

CHIME DOES NOT SOUND
A
Symptom check: In the following conditions, the warning chime may not sound even if the vehicle distance is B
short:
• When the vehicles are traveling at the same speed and the distance between vehicles is not changing.
• When the vehicle ahead is traveling faster and the distance between vehicles is increasing.
• When the accelerator pedal is depressed, overriding the system. C
• When own vehicle approaches vehicles that are parked or moving slowly.
• The warning chime does not sound when the system does not detect any vehicle ahead. (Diagnose the con-
ditions under which the system is detecting the vehicle ahead and when the system is malfunctioning. If D
there is any malfunction in detecting the vehicle ahead, check the system. Refer to CCS-126, "Description".)
E
1.PERFORM ACTIVE TEST
CONSULT
Check if the warning chime sounds on the active test item “ICC BUZZER” of “LASER/RADAR”. F
Does the warning chime sound?
YES >> GO TO 2.
NO >> GO TO 3. G
2.CHECK THE MALFUNCTION SYMPTOM DURING WARNING CHIME OPERATION

Understand the vehicle ahead detecting condition when the malfunction occurred. If the warning chime should H
have sounded, replace the ICC sensor. Refer to CCS-133, "Removal and Installation".
>> GO TO 8. I
3.PERFORM ACTIVE TEST
CONSULT J
Check if the warning chime sounds on the active test item “METER BUZZER” of “ICC/ADAS”.
Does the warning chime sound?
YES >> GO TO 9. K
NO >> GO TO 5.
4.CHECK ICC WARNING CHIME CIRCUIT
Check the meter buzzer circuit. Refer to WCS-35, "Component Function Check". L
YES >> GO TO 8.
NO >> GO TO 7. M

CONSULT N
1. Select “Self Diagnostic Result”mode of “ICC/ADAS”.
2. Check if DTC “U1000” is detected in “Self Diagnostic Result” mode of “ICC/ADAS”.
Is “U1000” detected? CCS
YES >> GO TO 6.
NO >> GO TO 4.
6.CAN COMMUNICATION SYSTEM INSPECTION P
Check the CAN communication system and repair or replace malfunctioning parts. Refer to CCS-108, "DTC
Logic".
>> Inspection End.

Repair or replace malfunctioning parts.
>> GO TO 10.
8.REPLACE ADAS CONTROL UNIT
Replace the ADAS control unit. Refer to DAS-67, "Removal and Installation".
>> GO TO 8.
9.PERFORM ICC SENSOR ALIGNMENT
CONSULT
3. Check that the vehicle ahead detection performance improves.
>> GO TO 10.
10.CHECK ICC SYSTEM
CONSULT
>> Inspection End.

DRIVING FORCE IS HUNTING
DRIVING FORCE IS HUNTING
A
The vehicle causes hunting when the ICC system is active. B

1.PERFORM SELF DIAGNOSTIC RESULT OF ECM C

CONSULT
1. Select “Self Diagnostic Result”.
2. Check if DTC is detected in “Self Diagnostic Result” mode of “ENGINE”. Refer to EC-95, "DTC Index". D
YES >> GO TO 3.
NO >> GO TO 2. E
2.CHECK ICC SENSOR

1. Check the vehicle driving conditions. Refer to CCS-126, "Description". F
2. Check the ICC sensor for contamination, foreign materials, or cracks. Refer to CCS-126, "Diagnosis Pro-
cedure".
G
>> Inspection End.
H
Repair or replace malfunctioning parts identified by the self-diagnosis result.
>> GO TO 4. I
4.CHECK ICC SYSTEM
CONSULT
1. Erase the “Self Diagnostic Result”, and then perform “Self Diagnostic Result” mode again after performing J
K
>> Inspection End.
CCS

FREQUENTLY CANNOT DETECT THE VEHICLE AHEAD / DETECTION ZONE IS
SHORT
FREQUENTLY CANNOT DETECT THE VEHICLE AHEAD / DETECTION
ZONE IS SHORT
The detection function may become unstable in the following cases.

• When radar reflections from the vehicle ahead are interrupted.
• When driving on a road with extremely sharp corners.
• When the sensor cannot detect a vehicle ahead while the vehicle ahead passes a hill or valley.
1.VISUAL CHECK (1)

Check the contamination and foreign matter on the ICC sensor area.
Is foreign matter adhered?
YES >> GO TO 3.
NO >> GO TO 2.
2.VISUAL CHECK (2)
Check ICC sensor for contamination and foreign matter.
YES >> GO TO 3.
NO >> GO TO 4.
3.WIPE OUT DIRT AND FOREIGN MATERIALS
Wipe out the contamination and foreign matter in the area around the ICC sensor.
>> GO TO 8.
4.VISUAL CHECK (3)
Check ICC sensor for cracks and scratches.
Are there any cracks or scratches?
YES >> GO TO 6.
NO >> GO TO 5.
5.ADJUST RADAR ALIGNMENT
2. Perform ICC system action test. Refer to CCS-66, "Description".
Does it improve?
NO >> GO TO 6.
1. Replace the ICC sensor. Refer to CCS-133, "Removal and Installation".
Does it improve?
NO >> GO TO 7.
7.CHECK ICC SYSTEM
CONSULT

FREQUENTLY CANNOT DETECT THE VEHICLE AHEAD / DETECTION ZONE IS
SHORT
>> Inspection End. A
CCS

THE SYSTEM DOES NOT DETECT THE VEHICLE AHEAD AT ALL
When ICC system is active, the ICC system does not perform any control even though there is a vehicle
ahead.
1.CHECK ICC SYSTEM DISPLAY ON INFORMATION DISPLAY

1. Start the self-diagnosis mode of combination meter. Refer to MWI-17, "Description" or MWI-90, "Descrip-
tion" (Type B).
2. Check that the information display turns ON normally.
YES >> GO TO 2.
NO >> Replace the combination meter.
2.VISUAL CHECK (1)
Check the contamination and foreign matter on the ICC sensor area of the front bumper.
YES >> GO TO 4.
NO >> GO TO 3.
3.VISUAL CHECK (2)
Check ICC sensor for contamination and foreign matter.
YES >> GO TO 4.
NO >> GO TO 5.
4.WIPE OUT DIRT AND FOREIGN MATTER
Wipe out the contamination and foreign matter in the area around the ICC sensor.
>> GO TO 10.
5.VISUAL CHECK (3)
Check ICC sensor for cracks and/or scratches.
Are there cracks or scratches?
YES >> GO TO 7.
NO >> GO TO 6.
6.RADAR ALIGNMENT ADJUSTMENT
CONSULT
Does it improve?
NO >> GO TO 7.
7.CHECK INFORMATION DISPLAY
CONSULT
1. Select “Self Diagnostic Result” mode of “ICC SENSOR”. Refer to CCS-29, "CONSULT Function (LASER/
RADAR)".
2. Check that the segment of information is displayed normally.
YES >> GO TO 8.
NO >> Refer to CCS-43, "DTC Index"

8.REPLACE ICC SENSOR A

1. Replace the ICC sensor. Refer to CCS-133, "Removal and Installation".
B
Does it improve?
C
NO >> GO TO 9.
9.REPLACE ADAS CONTROL UNIT
Replace ADAS control unit. Refer to DAS-67, "Removal and Installation". D
>> GO TO 10.
10.CHECK ICC SYSTEM E
CONSULT
1. Erase the “Self Diagnostic Result”, and then select “Self Diagnostic Result” mode again after performing F
G
>> Inspection End.
CCS

NORMAL OPERATING CONDITION
PRECAUTIONS FOR INTELLIGENT CRUISE CONTROL SYSTEM

• ICC system is only an aid to assist the driver and is not a collision warning or avoidance system. It is the
driver's responsibility to stay alert, drive safely and be in control of the vehicle at all times.
• The system is primarily intended for use on straight, dry, open roads with light traffic. It is not advisable to
use the system in city traffic or congested areas.
• This system will not adapt automatically to road conditions. This system should be used in evenly flowing
traffic. Never use the system on roads with sharp curves or on icy roads, in heavy rain or in fog.
• The ICC sensor will not detect the following objects:
- Stationary and slow-moving vehicles.
- Pedestrians or objects in the roadway.
- Oncoming vehicles in the same lane.
- Motorcycles traveling offset in the travel lane.
• As there is a performance limit to the distance control function, never rely solely on the ICC system. This
system does not correct careless, inattentive or absent-minded driving or overcome poor visibility in rain,
fog, or other bad weather. Decelerate the vehicle speed by depressing the brake pedal, depending on the
distance to the vehicle ahead and the surrounding circumstances in order to maintain a safe distance
between vehicles.
tem. The system will cancel once it judges that the vehicle has come to a standstill and sound a warning
chime. To prevent the vehicle from moving, the driver must depress the brake pedal.
• The system may not detect the vehicle in front of the driver in certain road or weather conditions. To avoid
accidents, never use the ICC system under the following conditions:
- On roads where the traffic is heavy or there are sharp curves.
- On slippery road surfaces such as on ice or snow, etc.
- During bad weather (rain, fog, snow, etc.).
- When rain, snow or dirt adheres to the ICC sensor.
- On steep downhill roads (the vehicle may go beyond the set vehicle speed and frequent braking may result
in overheating the brakes).
- On repeated uphill and downhill roads.
- When traffic conditions make it difficult to keep a proper distance between vehicles because of frequent
acceleration or deceleration.
- Never use the ICC system if own vehicle is towing a trailer. The system may not detect a vehicle ahead.
• In some road or traffic conditions, a vehicle or object can unexpectedly come into the sensor detection zone
and cause automatic braking. The driver may need to control the distance from other vehicles using the
accelerator pedal. Always stay alert and avoid using the ICC system when it is not recommended in this sec-
tion.
• The ICC system uses a sensor located behind the front bumper of the vehicle to detect vehicles traveling
ahead. The sensor generally detects the signals returned from the vehicle ahead. Therefore, if the sensor
cannot detect the reflection from the vehicle ahead, the ICC system may not maintain the selected distance.
• The following are some conditions in which the sensor cannot detect the signals:
- When the snow or road spray from traveling vehicles reduces the sensor's visibility.
- When excessively heavy baggage is loaded in the rear seat or the luggage room of own vehicle.
• The ICC system is designed to automatically check the sensor's operation within the limitation of the system.
When the front bumper area of the ICC sensor is covered with dirt or is obstructed, the system will automat-
ically cancel. If the front bumper area of the ICC sensor is covered with ice, a transparent or translucent vinyl
bag, etc., the ICC system may not detect it. In these instances, the ICC system may not cancel and may not
be able to maintain the selected following distance from the vehicle ahead. Be sure to check and clean the
front bumper area of the ICC sensor regularly.
• The ICC system does not control vehicle speed or warn the driver when own vehicle approaches stationary
and slow moving vehicles. The driver must pay attention to vehicle operation to maintain proper distance
from vehicles ahead when approaching toll gates or traffic congestion.

• The detection zone of the ICC sensor is limited. A vehicle ahead
must be in the detection zone for the vehicle-to-vehicle distance A
detection mode to maintain the selected distance from the vehicle
ahead. A vehicle ahead may move outside of the detection zone
due to its position within the same lane of travel. Motorcycles may
B
not be detected in the same lane ahead if they are traveling offset
from the center line of the lane. A vehicle that is entering the lane
ahead may not be detected until the vehicle has completely moved
into the lane. If this occurs, the ICC system may warn the driver by C
blinking the system indicator and sounding the chime. The driver
may have to manually control the proper distance from vehicle
traveling ahead. D
G
JPOIA0221ZZ
• When driving on some roads, such as winding, hilly, curved narrow H

roads or roads which are under construction, the ICC sensor may
detect vehicles in a different lane or may temporarily not detect a
vehicle traveling ahead. This may cause the ICC system to decel-
erate or accelerate the vehicle. The detection of vehicles may also I
be affected by vehicle operation (steering maneuver or traveling
position in the lane, etc.) or vehicle condition. If this occurs, the
ICC system may warn the driver by blinking the system indicator J
and sounding the chime unexpectedly. The driver will have to man-
ually control the proper distance away from the vehicle traveling
ahead.
K
N
JPOIA0220ZZ
• When driving on the freeway at a set speed and approaching a CCS

slower traveling vehicle ahead, the ICC will adjust the speed to
maintain the distance, selected by the driver, from the vehicle
ahead. If the vehicle ahead changes lanes or exits the freeway, the P
ICC system will accelerate and maintain the speed up to the set
speed. Pay attention to the driving operation to maintain control of
the vehicle as it accelerates to the set speed. The vehicle may not
maintain the set speed on winding or hilly roads. If this occurs, the
driver will have to manually control the vehicle speed.
JPOIA0219ZZ

• Normally when controlling the distance to a vehicle ahead, this system automatically accelerates or deceler-
ates own vehicle according to the speed of the vehicle ahead. Depress the accelerator to properly acceler-
ate own vehicle when acceleration is required for a lane change. Depress the brake pedal when
deceleration is required to maintain a safe distance to the vehicle ahead due to its sudden braking or if a
vehicle cuts in. Always stay alert when using the ICC system.
• The sensor sensitivity can be affected by vehicle operation (steering maneuver or driving position in the
lane) or traffic or vehicle condition (for example, if a vehicle is being driven with some damage).

ICC SENSOR
< REMOVAL AND INSTALLATION > [ICC]
REMOVAL AND INSTALLATION A

ICC SENSOR
Exploded View INFOID:0000000013351964
B
ALOIA0357ZZ
H
1. Front bumper reinforcement 2. ICC sensor bracket 3. ICC sensor
A. Refer to INSTALLATION B. ICC sensor harness connector Front
I
Removal and Installation INFOID:0000000013351965
REMOVAL J
1. Remove front bumper fascia. Refer to EXT-17, "Removal and Installation".
2. Disconnect harness connector from ICC sensor.
3. Remove nuts and remove ICC sensor bracket from front bumper reinforcement. K
4. Remove bolts and remove ICC sensor from ICC sensor bracket.
INSTALLATION L
1. Install ICC sensor to ICC sensor bracket.
2. Install ICC sensor bolts finger tight, then tighten in sequence
shown. M
ICC sensor bolts : 3.8 N·m (0.39 kg-m, 34 in-lb)

N
CCS
ALOIA0358ZZ
P
3. Install ICC sensor bracket to front bumper reinforcement.

ICC SENSOR
4. Install ICC sensor bracket nuts finger tight, then tighten in
sequence shown.
ICC sensor bracket nuts : 10.0 N·m (1.0 kg-m, 7 ft-lb)
ALOIA0359ZZ
5. Install remaining components in the reverse order of removal.
CAUTION:
• Always perform the ICC sensor initial vertical alignment and ICC sensor alignment after removing,
installing, or replacing the ICC sensor. Refer to CCS-57, "Description".
• Perform the ICC system action test to check that the ICC system operates normally. Refer to CCS-66,
"Description".
• Do not touch ICC sensor face.
• Do not drop or shock ICC sensor.
• Make sure ICC sensor harness is installed without any twists.

ICC STEERING SWITCH
ICC STEERING SWITCH
A
Removal and Installation INFOID:0000000013351967
For removal and installation of the ICC Steering Switch, refer to Steering Switch R&I (Navigation without B
BOSE™) AV-214, "Removal and Installation" or Steering Switch R&I (Navigation with BOSE™) AV-326,
"Removal and Installation").
CAUTION:
Always perform ICC system action test to check that the ICC system operates normally after replacing C
the ICC sensor or repairing any ICC system malfunction. Refer to CCS-66, "Description".
CCS

PRECAUTIONS
< PRECAUTION > [ASCD]
PRECAUTION
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
PRE-TENSIONER" INFOID:0000000013344988
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. Information necessary to service the system safely is included in the SR and SB section of
this Service Manual.
WARNING:
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision which would result in air bag inflation, it is recommended that all mainte-
nance and repair be performed by an authorized NISSAN/INFINITI dealer.
• Improper repair, including incorrect removal and installation of the SRS, can lead to personal injury
caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag Module,
see the SR section.
• Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this
Service Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or har-
ness connectors.
PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS
WARNING:
• When working near the Air Bag Diagnosis Sensor Unit or other Air Bag System sensors with the
Ignition ON or engine running, DO NOT use air or electric power tools or strike near the sensor(s)
with a hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly
causing serious injury.
• When using air or electric power tools or hammers, always switch the Ignition OFF, disconnect the
battery or batteries, and wait at least three minutes before performing any service.

AUTOMATIC SPEED CONTROL DEVICE (ASCD)
< SYSTEM DESCRIPTION > [ASCD]
SYSTEM DESCRIPTION A
AUTOMATIC SPEED CONTROL DEVICE (ASCD)
Information INFOID:0000000012781969
B
Automatic Speed Control Device (ASCD) system is controlled by ECM.
• Regarding the information for ASCD system, refer to EC-32, "ENGINE CONTROL SYSTEM : System
Description". C
CCS

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CRUISE CONTROL & DRIVER ASSISTANCE

Revision: December 2015 CCS-1 2016 Sentra NAM

Revision: December 2015 CCS-2 2016 Sentra NAM

Revision: December 2015 CCS-3 2016 Sentra NAM

• Bypass connection is never allowed at the repaired area.

Revision: December 2015 CCS-4 2016 Sentra NAM

Revision: December 2015 CCS-5 2016 Sentra NAM

— Adjusting ICC sensor

Revision: December 2015 CCS-6 2016 Sentra NAM

A. Engine room RH B. Engine room RH C. Front bumper LH

Revision: December 2015 CCS-7 2016 Sentra NAM

No. Component Function

7. Brake pedal position switch

ICC Sensor INFOID:0000000013296132

Revision: December 2015 CCS-8 2016 Sentra NAM

• ADAS control unit is installed.

BRAKE PEDAL POSITION SWITCH

Revision: December 2015 CCS-9 2016 Sentra NAM

• ICC brake hold relay is installed in the engine room (LH).

Revision: December 2015 CCS-10 2016 Sentra NAM

ADAS CONTROL UNIT INPUT/OUTPUT SIGNAL ITEM

Revision: December 2015 CCS-11 2016 Sentra NAM

Transmit unit Signal name Description

Output Signal Item

Reception unit Signal name Description

CAN commu- Engine speed signal Receives engine speed

Revision: December 2015 CCS-12 2016 Sentra NAM

Fail-safe (ADAS Control Unit) INFOID:0000000013296139

System Buzzer Warning lamp/Indicator lamp Description CCS

Revision: December 2015 CCS-13 2016 Sentra NAM

Revision: December 2015 CCS-14 2016 Sentra NAM

Revision: December 2015 CCS-16 2016 Sentra NAM

No. Switch name Description G

INTELLIGENT CRUISE CONTROL : Menu Displayed by Pressing Each Switch K

ICC SYSTEM DISPLAY (ON THE INFORMATION DISPLAY) L

No. Display item Description

Revision: December 2015 CCS-17 2016 Sentra NAM

Condition Display on ICC system display

Set vehicle distance (Long)

Set vehicle distance (Middle)

Without a vehicle ALOIA0364ZZ

Set vehicle distance (Short)

When the vehicle speed exceeds the set speed

Revision: December 2015 CCS-18 2016 Sentra NAM

Set vehicle distance (Middle)

With a vehicle ALOIA0366ZZ

Set vehicle distance (Short) G

APPROACH WARNING DISPLAY

Revision: December 2015 CCS-19 2016 Sentra NAM

Condition Display on ICC system display

WARNING LAMP AND AUTOMATIC CANCELLATION DISPLAY

Condition Description Display on ICC system display

then perform the settings again.

A chime sounds and the control is automatically

Revision: December 2015 CCS-20 2016 Sentra NAM

Revision: December 2015 CCS-21 2016 Sentra NAM

• When driving on some roads, such as winding, hilly, curved, nar-

• When driving on the freeway at a set speed and approaching a

Revision: December 2015 CCS-22 2016 Sentra NAM