Adaptive Cruise Control (ACC) Unit DTC 23: Yaw Rate Sensor Gain Error NOTE: If DTC 112 is stored at the same time as DTC 23, troubleshoot DTC 112 first, then recheck for DTC 23.

1. Check for VSA system DTCs with the HDS.

Are any DTCs indicated?

YES | - | Troubleshoot the indicated VSA system DTC(s).■
NO | - | Go to Step 2 .

1. Clear the DTCs with the HDS.

1. Start the engine.

1. Test-drive the vehicle at 20 km/h (12.4 mph) or more, and turn the main switch ON.

1. Test-drive with the adaptive cruise control (ACC) activated, and watch the adaptive cruise control (ACC)/LKAS indicator.

Does the adaptive cruise control (ACC)/LKAS indicator come on?

YES | - | Go to Step 6 .
NO | - | Intermittent failure. The system is OK at this time. Check for loose or poor connections.■

1. Check for DTCs with the HDS.

Is DTC 23 indicated?

YES | - | Go to Step 7 .
NO | - | Troubleshoot the indicated DTC.■

1. Test-drive in a straight line at 20 km/h (12.4 mph) or more, and check YAW RATE S with the HDS.

Is about 2.5 V indicated?

YES | - | Go to Step 8 .
NO | - | Go to VSA system troubleshooting. ■

1. Turn right at 20 km/h (12.4 mph) or more, and check YAW RATE S with the HDS.

Does the voltage increase from 2.5 V?

YES | - | Go to Step 9 .
NO | - | Go to VSA system troubleshooting. ■

1. Turn left at 20 km/h (12.4 mph) or more, and check YAW RATE S with the HDS.

Does the voltage decrease from 2.5 V?

YES | - | The yaw rate sensor signal is OK, check for loose or poor connections. If OK, replace the adaptive cruise control (ACC) unit. ■
NO | - | Go to VSA system troubleshooting. ■