How to Troubleshoot the Adaptive Cruise Control/LKAS

Adaptive Cruise Control (ACC)/LKAS Indicator (Orange) When the adaptive cruise control (ACC)/LKAS system is OK, the adaptive cruise control (ACC)/LKAS indicator comes on for about 2 seconds after turning the ignition switch ON (II), then goes off.
When the adaptive cruise control (ACC)/LKAS system detects a problem while in operating, the adaptive cruise control (ACC)/LKAS system stops control, and the adaptive cruise control (ACC)/LKAS indicator comes on and stays on.
NOTE:

- EPS (LKAS) control unit does only the trouble which the boiling adaptive cruise control (ACC)/LKAS in the caution at the adaptive cruise control (ACC)/LKAS indicator and the trouble which relates to EPS (LKAS) does a caution with the EPS indicator.
- The adaptive cruise control (ACC)/LKAS system is communicating with the PCM.The VSA system, and the gauge control module by F-CAN. If a connected unit has malfunction, the adaptive cruise control (ACC)/LKAS system does not operate. In this case, both adaptive cruise control (ACC)/LKAS indicator and connected unit indicator come on and stay on (except the gauge control module).

Adaptive Cruise Control (ACC)/LKAS Activation Indicator (Green) If the adaptive cruise control (ACC)/LKAS system is normal, the indicator comes on with the adaptive cruise control (ACC)/LKAS switch is ON, and goes off with the adaptive cruise control (ACC)/LKAS switch is OFF. |

Self-diagnostic Function The adaptive cruise control (ACC)/LKAS system has a self-diagnostic function. If the self-diagnostic function detects a malfunction, the adaptive cruise control (ACC) system and the LKAS system stops control, turns on the adaptive cruise control (ACC)/LKAS indicator, and stores DTCs. |

Multi-information Display (MID) Indication If the adaptive cruise control (ACC)/LKAS system is normal, the adaptive cruise control (ACC)/LKAS indicates its operation on the multi-information display (MID) with the adaptive cruise control (ACC)/LKAS switch is ON.
When the system stops with the malfunction during LKAS control, it makes the LKAS indicator come on.
When returing normally about DTC 7 or DTC 8, the LKAS OFF indicator goes off.

Adaptive Cruise Control (ACC) Unit The adaptive cruise control (ACC) unit uses input from the millimeter wave radar unit to controls the vehicle's speed and breaks to maintain a constant distance between the vehicle and other moving vehicles directly ahead. |

Millimeter Wave Radar The millimeter wave radar recognizes the position of the vehicle running ahead and detects the two vehicles speed differential. The adaptive cruise control (ACC) unit receives these information from the millimeter wave radar.
The millimeter wave radar has also the error detect function, and sends signal to the adaptive cruise control (ACC) unit if an error is detected.

Millimeter Wave Radar Aiming If the millimeter wave radar is removed or replaced, do the millimeter wave radar aiming procedure. If incomplete, the adaptive cruise control (ACC)/LKAS indicator come on. |

LKAS Camera Aiming If the LKAS camera is removed or replacement, do the LKAS camera aiming. If incomplete or failure of aiming stores DTC, the adaptive cruise control (ACC)/LKAS activation indicator come on. There are Static Aiming and Dynamic Aiming, and they need to be done in that order. |

LKAS Camera LKAS camera sends the lane image which was gotten by the LKAS camera to the LKAS control unit. Also, it is equipped with an error detection feature and it sends error data to the LKAS control unit when detecting a malfunction. |

EPS (LKAS) Control Unit When the trouble of the EPS control occurs during adaptive cruise control (ACC) system operation, it makes EPS (LKAS) indicator come on. When detecting LKAS control relation's malfunction, it doesn't do, and the lighting up of EPS (LKAS) indicator by the adaptive cruise control (ACC)/LKAS indicator and there is a caution and the LKAS control of EPS is canceled.
After LKAS cancellation, depending on the malfunction which detected usual EPS control by the doing, it continues and it stops assist.
When the EPS indicator come on during adaptive cruise control (ACC) system operation, check the DTC of EPS (LKAS), and when the adaptive cruise control (ACC)/LKAS indicator come on, check the adaptive cruise control (ACC) system DTC and it does a trouble diagnosis.

CAN Communication Adaptive cruise control (ACC) /LKAS system is composed of LKAS control unit, Adaptive Cruise Control unit, LKAS camera and EPS (LKAS) control unit. LKAS control unit and adaptive cruise control (ACC) unit are sending and receiving a data by the other control system inter-unit and the multiplex-communication system which used CAN.
(Between LKAS control unit and LKAS camera, special CAN communicates).
If there is a communication malfunction between the trouble or sysytem of system which is related with adaptive cruise control (ACC) sysytem, adaptive cruise control (ACC)/LKAS system does not do LKAS contol and adaptive cruise control (ACC) system even if it is normal. Other system indicator and the adaptive cruise control (ACC)/LKAS indicator comes on.

How to Retrieve DTCs

1. With the ignition switch OFF, connect the HDS to the data link connector (DLC) (A) under the right side of the dashboard.

1. Turn the ignition switch ON (II), and follow the prompts on the HDS to display the DTC(s) on the screen. After determining the DTC, refer to the DTC Troubleshooting.
   NOTE: See the HDS Help menu for specific instructions.