Toyota Avalon (XX50): Parking Assist Monitor System(for Gasoline Model)

Toyota Avalon (XX50) 2019-2022 Service & Repair Manual / Audio, Visual, Telematics / Park Assist / Monitoring / Parking Assist Monitor System(for Gasoline Model)

Black Screen

DESCRIPTION

The video signal from the television camera assembly is transmitted to the radio and display receiver assembly.

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

Depending on the parts that are replaced or operations that are performed during vehicle inspection or maintenance, calibration of other systems as well as the parking assist monitor system may be needed.

Click here

PROCEDURE

1.	CHECK HARNESS AND CONNECTOR (RADIO AND DISPLAY RECEIVER ASSEMBLY - TELEVISION CAMERA ASSEMBLY)

Click here

REPAIR OR REPLACE HARNESS OR CONNECTOR

2.	INSPECT RADIO AND DISPLAY RECEIVER ASSEMBLY

Click here

REPLACE RADIO AND DISPLAY RECEIVER ASSEMBLY

3.	INSPECT RADIO AND DISPLAY RECEIVER ASSEMBLY (V+, GND1)

Click here

REPLACE TELEVISION CAMERA ASSEMBLY

4.	REPLACE RADIO AND DISPLAY RECEIVER ASSEMBLY

(a) Replace the radio and display receiver assembly with a new or known good one.

Click here

(b) Check that the parking assist monitor system operates normally.

OK:

Parking assist monitor system operates normally.

END

REPLACE TELEVISION CAMERA ASSEMBLY

Vehicle Information Unmatched (C168D)

DESCRIPTION

This DTC is stored if the television camera assembly judges as a result of its self check that the vehicle information received from the main body ECU (multiplex network body ECU) via CAN communication and the vehicle information stored in the television camera assembly do not match.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C168D	Vehicle Information Unmatched	Vehicle information is unmatched	Television camera assembly optical axis adjustment (back camera position setting) Steering angle setting Television camera assembly

CAUTION / NOTICE / HINT

NOTICE:

Click here

PROCEDURE

1.	PERFORM CALIBRATION

(a) Perform the following procedure depending on the memory conditions to register the vehicle information into the television camera assembly.

(1) Television camera assembly optical axis adjustment (back camera position setting).

Click here

(2) Steering angle setting.

Click here

2.	CHECK DTC OUTPUT

(a) Clear the DTCs.

Chassis > Parking Assist Camera > Clear DTCs

(b) Recheck for DTCs and check that no DTCs are output.

Chassis > Parking Assist Camera > Trouble Codes

HINT:

If DTC C168D is output, perform the procedure to register the vehicle information into the television camera assembly.
If DTC C168D is still output after performing the procedure to register the vehicle information into the television camera assembly 3 times, replace the television camera assembly.

Result	Proceed to
DTC C168D is output	A
DTC C168D is not output	B

REPLACE TELEVISION CAMERA ASSEMBLY

END

ECU Malfunction (C1611)

DESCRIPTION

This DTC is stored if the television camera assembly judges that there is an internal malfunction as a result of its self check.

HINT:

The television camera assembly stores different types of information during initialization. If the television camera assembly cannot read the stored information when it is activated, the television camera assembly judges that there is an internal malfunction and stores this DTC.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1611	ECU Malfunction	When one of the following conditions is met: EEPROM status (Initial read) malfunction CPU communication malfunction Video output malfunction	Television camera assembly

DTC No.

Detection Item

DTC Detection Condition

Trouble Area

C1611

ECU Malfunction

When one of the following conditions is met:

EEPROM status (Initial read) malfunction
CPU communication malfunction
Video output malfunction

Television camera assembly

CAUTION / NOTICE / HINT

NOTICE:

Click here

PROCEDURE

1.	READ VALUE USING TECHSTREAM

(a) Connect the Techstream to the DLC3.

(b) Turn the engine switch on (IG).

(d) Enter the following menus: Chassis / Parking Assist Camera / Data List.

(e) According to the display on the Techstream, read the Data List.

Chassis > Parking Assist Camera > Data List

Tester Display

Measurement Item

Range

Normal Condition

Diagnostic Note

Video Output Status

Output condition of video signal

OK or NG

OK: Output condition of video signal is normal

NG: Output condition of video signal is abnormal

EEPROM Status (Initial read)

Television camera assembly information

OK or NG

OK: Television camera assembly normal

NG: Television camera assembly abnormal

CPU Communication Status

Television camera assembly information

OK or NG

OK: Television camera assembly normal

NG: Television camera assembly abnormal

Chassis > Parking Assist Camera > Data List

Tester Display
Video Output Status
EEPROM Status (Initial read)
CPU Communication Status

Result	Proceed to
OK is displayed for all items	A
NG is displayed for EEPROM status (Initial read)	A
NG is displayed for items other than EEPROM status (Initial read)	B

REPLACE TELEVISION CAMERA ASSEMBLY

2.	PERFORM CALIBRATION

(a) Perform the following procedure depending on the memory conditions to register the vehicle information into the television camera assembly.

(1) Television camera assembly optical axis adjustment (back camera position setting).

Click here

(2) Steering angle setting.

Click here

3.	CHECK DTC OUTPUT

(a) Clear the DTCs.

Chassis > Parking Assist Camera > Clear DTCs

(b) Recheck for DTCs and check that no DTCs are output.

Chassis > Parking Assist Camera > Trouble Codes

HINT:

If DTC C1611 is output, perform the procedure to allow the television camera assembly to store the vehicle information again.
If DTC C1611 is still output after performing the procedure to make the television camera assembly store the vehicle information 3 times, replace the television camera assembly.

Result	Proceed to
DTC C1611 is output	A
DTC C1611 is not output	B

REPLACE TELEVISION CAMERA ASSEMBLY

END

Back Camera Power Supply Failure (C1621)

DESCRIPTION

This DTC is stored if the television camera assembly judges as a result of its self check that the signals or signal lines between the television camera assembly and radio and display assembly are not normal.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1621	Back Camera Power Supply Failure	Television camera assembly power supply failure	Harness or connector Television camera assembly Radio and display receiver assembly

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

Click here

PROCEDURE

1.	CHECK HARNESS AND CONNECTOR (RADIO AND DISPLAY RECEIVER ASSEMBLY - TELEVISION CAMERA ASSEMBLY)

(a) Disconnect the G2 radio and display receiver assembly connector.

(b) Disconnect the P19 television camera assembly connector.

Standard Resistance:

Tester Connection	Condition	Specified Condition
G2-30 (CA+) - P19-6 (CB+)	Always	Below 1 Ω
G2-27 (CGND) - P19-5 (CGND)	Always	Below 1 Ω
G2-30 (CA+) or P19-6 (CB+) - Body ground	Always	10 kΩ or higher
G2-27 (CGND) or P19-5 (CGND) - Body ground	Always	10 kΩ or higher

REPAIR OR REPLACE HARNESS OR CONNECTOR

2.	INSPECT RADIO AND DISPLAY RECEIVER ASSEMBLY

(a) Reconnect the G2 radio and display receiver assembly connector.

(b) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Tester Connection	Condition	Specified Condition
G2-27 (CGND) - Body ground	Always	Below 1 Ω

*a	Component with harness connected (Radio and Display Receiver Assembly)

Standard Voltage:

Tester Connection	Condition	Specified Condition
G2-30 (CA+) - G2-27 (CGND)	Engine switch on (ACC)	5.5 to 7.05 V

REPLACE TELEVISION CAMERA ASSEMBLY

REPLACE RADIO AND DISPLAY RECEIVER ASSEMBLY

Back Camera Disconnected (C1622)

DESCRIPTION

This DTC is stored if the radio and display receiver assembly judges that the signals or signal lines between the television camera assembly, and the radio and display receiver assembly are not normal as a result of its self check.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1622	Back Camera Disconnected	Open or short in the television camera assembly signal circuit	Harness or connector Television camera assembly Radio and display receiver assembly

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

Click here

PROCEDURE

1.	CHECK HARNESS AND CONNECTOR (RADIO AND DISPLAY RECEIVER ASSEMBLY - TELEVISION CAMERA ASSEMBLY)

(a) Disconnect the G2 radio and display receiver assembly connector.

(b) Disconnect the P19 television camera assembly connector.

Standard Resistance:

Tester Connection	Condition	Specified Condition
G2-30 (CA+) - P19-6 (CB+)	Always	Below 1 Ω
G2-28 (V+) - P19-3 (CV+)	Always	Below 1 Ω
G2-29 (V-) - P19-2 (CV-)	Always	Below 1 Ω
G2-27 (CGND) - P19-5 (CGND)	Always	Below 1 Ω
G2-26 (CSLD) - Body ground	Always	10 kΩ or higher
G2-30 (CA+) or P19-6 (CB+) - Body ground	Always	10 kΩ or higher
G2-28 (V+) or P19-3 (CV+) - Body ground	Always	10 kΩ or higher
G2-29 (V-) or P19-2 (CV-) - Body ground	Always	10 kΩ or higher
G2-27 (CGND) or P19-5 (CGND) - Body ground	Always	10 kΩ or higher

REPAIR OR REPLACE HARNESS OR CONNECTOR

2.	INSPECT RADIO AND DISPLAY RECEIVER ASSEMBLY

(a) Reconnect the G2 radio and display receiver assembly connector.

(b) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Tester Connection	Condition	Specified Condition
G2-29 (V-) - Body ground	Always	Below 1 Ω
G2-27 (CGND) - Body ground	Always	Below 1 Ω

*a	Component with harness connected (Radio and Display Receiver Assembly)

Standard Voltage:

Tester Connection	Condition	Specified Condition
G2-30 (CA+) - G2-27 (CGND)	Engine switch on (ACC)	5.5 to 7.05 V

REPLACE RADIO AND DISPLAY RECEIVER ASSEMBLY

3.	INSPECT RADIO AND DISPLAY RECEIVER ASSEMBLY (V+, GND1)

(a) Reconnect the P19 television camera assembly connector.

(b) Using an oscilloscope, check the waveform of the television camera assembly.

*a	Component with harness connected (Radio and Display Receiver Assembly)

HINT:

A waterproof connector is used for the television camera assembly. Therefore, inspect the waveform at the radio and display receiver assembly with the connector connected.

OK:

Waveform is similar to that shown in the illustration.

Item	Content
Measurement terminal	G2-28 (V+) - G3-1 (GND1)
Measurement setting	200 mV/DIV., 50 μs./DIV.
Condition	Engine switch on (IG), shift lever in R

HINT:

The video waveform changes according to the image sent by the television camera assembly.
The video waveform is constantly output when the engine switch is on (ACC).

*a	Waveform 1 (camera lens is not covered, displaying an image)
*b	Waveform 2 (camera lens is covered, blacking out the screen)
*c	Synchronization Signal
*d	Video Waveform

REPLACE RADIO AND DISPLAY RECEIVER ASSEMBLY

REPLACE TELEVISION CAMERA ASSEMBLY

Open or Short in Steering Angle Sensor +B (C1625)

DESCRIPTION

This DTC is stored if the television camera assembly receives a signal via CAN communication from the steering sensor that indicates a power supply problem.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1625	Open or Short in Steering Angle Sensor +B	Open or short in steering sensor power source	Harness or connector Steering sensor

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

Inspect the fuses for circuits related to this system before performing the following procedure.
Depending on the parts that are replaced or operations that are performed during vehicle inspection or maintenance, calibration of other systems as well as the parking assist monitor system may be needed.
Click here

PROCEDURE

1.	CHECK HARNESS AND CONNECTOR (STEERING SENSOR POWER SOURCE)

(a) Disconnect the G48 steering sensor connector.

(b) Measure the voltage according to the value(s) in the table below.

Standard Voltage:

Tester Connection	Condition	Specified Condition
G48-9 (IG1) - G48-6 (ESS)	Engine switch on (IG)	11 to 14 V

REPAIR OR REPLACE HARNESS OR CONNECTOR

2.	CHECK HARNESS AND CONNECTOR (STEERING SENSOR POWER SOURCE)

(a) Disconnect the G48 steering sensor connector.

(b) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Tester Connection	Condition	Specified Condition
G48-6 (ESS) - Body ground	Always	Below 1 Ω

Standard Voltage:

Tester Connection	Condition	Specified Condition
G48-4 (BAT) - G48-6 (ESS)	Always	11 to 14 V

REPLACE STEERING SENSOR

REPAIR OR REPLACE HARNESS OR CONNECTOR

Steering Angle Sensor Failure (C1626)

DESCRIPTION

This DTC is stored if the television camera assembly receives a signal via CAN communication from the steering sensor that indicates an internal malfunction.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1626	Steering Angle Sensor Failure	A fail flag is transmitted from the steering sensor	Steering sensor Television camera assembly

CAUTION / NOTICE / HINT

NOTICE:

Click here

PROCEDURE

1.	CHECK DTC OUTPUT

(a) Clear the DTCs.

Chassis > Parking Assist Camera > Clear DTCs

(b) Recheck for DTCs and check that no DTCs are output.

Chassis > Parking Assist Camera > Trouble Codes

Result	Proceed to
DTC C1626 is output	A
DTC C1626 is not output	B

USE SIMULATION METHOD TO CHECK

2.	REPLACE STEERING SENSOR

(a) Replace the steering sensor with a new or known good one.

Click here

3.	CHECK DTC OUTPUT

(a) Clear the DTCs.

Chassis > Parking Assist Camera > Clear DTCs

(b) Recheck for DTCs and check that no DTCs are output.

Chassis > Parking Assist Camera > Trouble Codes

Result	Proceed to
DTC C1626 is output	A
DTC C1626 is not output	B

REPLACE TELEVISION CAMERA ASSEMBLY

END

Back Camera Initialization Incomplete (C1691)

DESCRIPTION

This DTC is stored when the television camera assembly judges that the back camera initial setting has not been memorized (television camera assembly optical axis adjustment (back camera position setting) is incomplete).

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1691	Back Camera Initialization Incomplete	Back camera initial setting has not been memorized (television camera assembly optical axis adjustment (back camera position setting) is incomplete)	Television camera assembly optical axis adjustment (back camera position setting) Television camera assembly

CAUTION / NOTICE / HINT

NOTICE:

Click here

PROCEDURE

1.	PERFORM CALIBRATION

(a) Perform the following procedure depending on the memory conditions to register the vehicle information into the television camera assembly.

(1) Television camera assembly optical axis adjustment (back camera position setting).

Click here

2.	CHECK DTC OUTPUT

(a) Clear the DTCs.

Chassis > Parking Assist Camera > Clear DTCs

(b) Recheck for DTCs and check that no DTCs are output.

Chassis > Parking Assist Camera > Trouble Codes

HINT:

If DTC C1691 is output, perform the television camera assembly optical axis adjustment (back camera position setting) again.
If DTC C1691 is still output after performing the television camera assembly optical axis adjustment 3 times, replace the television camera assembly.

Result	Proceed to
DTC C1691 is output	A
DTC C1691 is not output	B

REPLACE TELEVISION CAMERA ASSEMBLY

END

Steering Angle Initialization Incomplete (C1694)

DESCRIPTION

This DTC is stored when the television camera assembly judges that the maximum steering angle has not been memorized (steering angle setting is incomplete).

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C1694	Steering Angle Initialization Incomplete	Maximum steering angle has not been memorized (steering angle setting is incomplete)	Steering angle setting Television camera assembly

CAUTION / NOTICE / HINT

NOTICE:

Click here

PROCEDURE

1.	PERFORM CALIBRATION

(a) Perform the following procedure depending on the memory conditions to register the vehicle information into the television camera assembly.

(1) Steering angle setting.

Click here

2.	CHECK DTC OUTPUT

(a) Clear the DTCs.

Chassis > Parking Assist Camera > Clear DTCs

(b) Recheck for DTCs and check that no DTCs are output.

Chassis > Parking Assist Camera > Trouble Codes

HINT:

If DTC C1694 is output, perform the steering angle setting again.
If DTC C1694 is still output after performing the steering angle setting 3 times, replace the television camera assembly.

Result	Proceed to
DTC C1694 is output	A
DTC C1694 is not output	B

REPLACE TELEVISION CAMERA ASSEMBLY

END

Calibration

CALIBRATION

ADJUST PARKING ASSIST MONITOR SYSTEM

(a) The parking assist monitor system can be adjusted using diagnostic mode.

(b) If the following operations are performed, it is necessary to perform adjustments and checks using diagnostic mode.

Part Name	Operation	Adjustment Item	Proceed to
Steering sensor	Replacement Removal and installation of the steering sensor Removal and installation of the connector of the steering sensor	Steering angle neutral point (Initialize parking assist monitor system)
Steering sensor		Steering angle setting	Procedure 3
Suspension, tires, etc.	Replacement (The vehicle height changes due to suspension or tire replacement)	Television camera assembly optical axis (Back camera position setting)	Procedure 2
Television camera assembly	Replacement	Parking assist monitor system initialization	Procedure 1
Television camera assembly	Removal and installation of the television camera assembly etc. (Installation angle of the television camera assembly changes due to removal and installation)	Television camera assembly optical axis (Back camera position setting)	Procedure 2

HINT:

The adjustment values stored while performing parking assist monitor system calibration are stored in the television camera assembly.

PARKING ASSIST MONITOR SYSTEM INITIALIZATION (PROCEDURE 1)

HINT:

Be sure to check for DTCs before performing this procedure.
Click here
Illustrations may differ from the actual vehicle screen depending on the device settings and options. Therefore, some detailed areas may not be shown exactly the same as on the actual vehicle screen.

(a) Preparation for adjustment

(1) Park the vehicle with the steering wheel centered.

(2) Set a target bar behind the vehicle for optical axis adjustment of the television camera assembly (back camera position setting).

HINT:

Create a target bar for adjustment only when adjusting the optical axis of the television camera assembly.

*a	Vehicle Center
*b	Target Bar for Back Camera Position Setting
*c	Vehicle End
*d	Front

Dimension:

Area	Specification
A	1055 mm (3.460 ft.)
B	1995 to 2005 mm (6.544 to 6.576 ft.)

HINT:

Set a piece of tape on the ground as the target bar for adjustment. Its width and length should be 20 to 30 mm (0.787 to 1.180 in.) and 1995 to 2005 mm (6.544 to 6.576 ft.), respectively.
Before parking the vehicle, be sure to move the vehicle forward and in reverse to check that the tires are facing straight ahead with the steering wheel centered.
Check that the luggage compartment door is fully closed.

(b) Start diagnostic mode.

w/ Navigation System: Click here
w/o Navigation System: Click here

NOTICE:

The following must be carried out with the engine started. Apply the parking brake, depress the brake pedal, check that the shift lever is in P, and ensure that the vehicle is not moving.

(1) Select "Function Check/Setting" on the "Service Menu" screen.

(2) Select "Camera Setting" on the "Function Check/Setting I" screen.

(3) Select "Next" on the "Signal Check" screen.

HINT:

When "CHK" (red) is displayed for any items on the "Signal Check" screen, selecting "Next" will not change the screen to the "Steering Angle Setting" screen.
When "CHK" (red) is displayed for any items on the "Signal Check" screen, perform inspections using the "Signal Check" screen.
Click here

(1) Check that the steering wheel is centered (approximately +/- 5 degrees or less) and then select "Steering Center Memorize".

HINT:

When performing removal and installation of the television camera assembly, steering angle setting is not required.

(2) After performing the steering center memorize operation, turn the steering wheel to the left and right lock positions and select "Max Steering Angle Memorize". The maximum steering angle is then stored and the screen changes to the "Back Camera Position Setting D (*)" screen.

HINT:

The "Next" does not respond until the system memorizes the steering center and maximum steering wheel angle.
It is also possible to start by initially turning the steering to the right side.
When "Max Steering Angle Memorize" is selected, a beep will sound to confirm that the adjustment values have been stored.
The adjustment values will not be stored unless "Max Steering Angle Memorize" is selected after turning the steering wheel from lock to lock.
When "Back" is selected, the screen changes to the "Signal Check" screen without storing any values.
Even if no DTCs are detected, selecting "Max Steering Angle Memorize" may not cause the adjustment values to be stored if the steering sensor is malfunctioning.
If selecting "Max Steering Angle Memorize" does not cause the adjustment value to be stored after performing the steering angle setting procedure, replace the steering sensor.
Click here

(d) Back Camera Position Setting

*a	Target Bar for Back Camera Position Setting

HINT:

When the luggage compartment door is open, the "You can not calibrate the camera when the door is open. Please close the door." message will be displayed and camera position setting will not be possible.
If the "You can not calibrate the camera when the door is open. Please close the door." message is displayed even when the luggage compartment door is closed, perform inspections according to Problem Symptoms Table (When adjusting the camera optical axis, "You can not calibrate the camera when the door is open. Please close the door." is displayed even after the luggage compartment door has been closed).
Click here

(1) Perform vertical and horizontal position adjustment.

Move the circle (A) left, right, up and down by selecting the buttons (C), (D), (E) and (F) so that the left end of Target Bar for Back Camera Position Setting is positioned within the center of the circle (A) (center of the inner red circle).

(2) Perform roll angle adjustment.

Rotate the bar (B) by selecting the buttons (G) or (H) so that the bar (B) becomes parallel to Target Bar for Back Camera Position Setting.

(3) Select "Next" on the "Back Camera Position Setting D (*)" screen.

(e) Back Verify Mode

(1) Check that (A) and the target adjustment bar are overlapping.

If the lines are not aligned, perform the "Steering Center Memorize" and "Max Steering Angle Memorize" operations.
If (A) and the target adjustment bar are not aligned even if the tires are aligned straight ahead, perform the back camera position setting operation.

(2) Select "OK" to return to the "Function Check/Setting I" screen and complete the adjustment.

HINT:

The update is not completed until "OK" is selected.
When "OK" is selected, a beep will sound to confirm that the adjustment values have been stored.
The adjustment values are not stored until the beep has sounded.

(f) Finish diagnostic mode.

w/o Navigation System: Click here
w/ Navigation System: Click here

(g) Confirm steering angle adjustment.

HINT:

If the steering angle has been adjusted, confirm the steering angle adjustment on the parking assist monitor screen after finishing diagnostic mode.

(1) Check on the parking assist screen that the estimated course line moves until the steering wheel is fully turned to either the left or right.

HINT:

If the estimated course line stops moving before the steering wheel is fully turned to either the left or right, the steering angle adjustment values have not been stored correctly. In this case, perform "Steering Center Memorize" and "Max Steering Angle Memorize" again.

BACK CAMERA POSITION SETTING (PROCEDURE 2)

HINT:

Be sure to check for DTCs before performing this procedure.
Click here
Illustrations may differ from the actual vehicle screen depending on the device settings and options. Therefore, some detailed areas may not be shown exactly the same as on the actual vehicle screen.

(a) Preparation for adjustment

(1) Park the vehicle with the steering wheel centered.

(2) Set a target bar behind the vehicle for optical axis adjustment of the television camera assembly (back camera position setting).

HINT:

Create a target bar for adjustment only when adjusting the optical axis of the television camera assembly.

*a	Vehicle Center
*b	Target Bar for Back Camera Position Setting
*c	Vehicle End
*d	Front

Dimension:

Area	Specification
A	1055 mm (3.460 ft.)
B	1995 to 2005 mm (6.544 to 6.576 ft.)

HINT:

Set a piece of tape on the ground as the target bar for adjustment. Its width and length should be 20 to 30 mm (0.787 to 1.180 in.) and 1995 to 2005 mm (6.544 to 6.576 ft.), respectively.
Before parking the vehicle, be sure to move the vehicle forward and in reverse to check that the tires are facing straight ahead with the steering wheel centered.
Check that the luggage compartment door is fully closed.

(b) Start diagnostic mode.

w/ Navigation System: Click here
w/o Navigation System: Click here

NOTICE:

The following must be carried out with the engine started. Apply the parking brake, depress the brake pedal, check that the shift lever is in P, and ensure that the vehicle is not moving.

(1) Select "Function Check/Setting" on the "Service Menu" screen.

(2) Select "Camera Setting" on the "Function Check/Setting I" screen.

(3) Select "Back Camera Setting" on the "Mode Setting" screen.

HINT:

To select a grayed out item, select and hold the item for 2 seconds or more.

(4) Select "Next" on the "Signal Check" screen.

HINT:

When "CHK" (red) is displayed for any items on the "Signal Check" screen, selecting "Next" will not change the screen to the "Back Camera Position Setting D (*)" screen.
When "CHK" (red) is displayed for any items on the "Signal Check" screen, perform inspections using the "Signal Check" screen.
Click here

*a	Target Bar for Back Camera Position Setting

HINT:

When the luggage compartment door is open, the "You can not calibrate the camera when the door is open. Please close the door." message will be displayed and camera position setting will not be possible.
If the "You can not calibrate the camera when the door is open. Please close the door." message is displayed even when the luggage compartment door is closed, perform inspections according to Problem Symptoms Table (When adjusting the camera optical axis, "You can not calibrate the camera when the door is open. Please close the door." is displayed even after the luggage compartment door has been closed).
Click here

(1) Perform vertical and horizontal position adjustment.

Move the circle (A) left, right, up and down by selecting the buttons (C), (D), (E) and (F) so that the left end of Target Bar for Back Camera Position Setting is positioned within the center of the circle (A) (center of the inner red circle).

(2) Perform roll angle adjustment.

Rotate the bar (B) by selecting the buttons (G) or (H) so that the bar (B) becomes parallel to Target Bar for Back Camera Position Setting.

(3) Select "Next" on the "Back Camera Position Setting D (*)" screen.

(d) Back Verify Mode

(1) Check that (A) and the target adjustment bar are overlapping.

If the lines are not aligned, perform the "Steering Center Memorize" and "Max Steering Angle Memorize" operations.
If (A) and the target adjustment bar are not aligned even if the tires are aligned straight ahead, perform the back camera position setting operation.

(2) Select "OK" to return to the "Mode Setting" screen and complete the adjustment.

HINT:

The update is not completed until "OK" is selected.
When "OK" is selected, a beep will sound to confirm that the adjustment values have been stored.
The adjustment values are not stored until the beep has sounded.

(e) Finish diagnostic mode.

w/ Navigation System: Click here
w/o Navigation System: Click here

STEERING ANGLE SETTING (PROCEDURE 3)

HINT:

If the vehicle width extension guide lines and estimated course lines are not aligned when the steering wheel is centered, or if the estimated course line does not move before the steering wheel is fully turned to either the left or right, perform Steering Angle Setting.
Be sure to check for DTCs before performing this procedure.
Click here
Illustrations may differ from the actual vehicle screen depending on the device settings and options. Therefore, some detailed areas may not be shown exactly the same as on the actual vehicle screen.

(a) Center the steering wheel and stop the vehicle.

(b) Start diagnostic mode.

w/ Navigation System: Click here
w/o Navigation System: Click here

NOTICE:

The following must be carried out with the engine started. Apply the parking brake, depress the brake pedal, check that the shift lever is in P, and ensure that the vehicle is not moving.

(1) Select "Function Check/Setting" on the "Service Menu" screen.

(2) Select "Camera Setting" on the "Function Check/Setting I" screen.

(3) Select "Steering Angle Setting" on the "Mode Setting" screen.

HINT:

To select a grayed out item, select and hold the item for 2 seconds or more.

(4) Select "Next" on the "Signal Check" screen to display the "Steering Angle Setting" screen.

HINT:

When "CHK" (red) is displayed for any items on the "Signal Check" screen, selecting "Next" will not change the screen to the "Steering Angle Setting" screen.
When "CHK" is displayed for any items on the "Signal Check" screen, perform inspections using the "Signal Check" screen.
Click here

(1) Check that the steering wheel is centered (approximately +/- 5 degrees or less) and select "Steering Center Memorize".

HINT:

When performing removal and installation of the television camera assembly, steering angle setting is not required.

(2) After the centered steering position is memorized, turn the steering wheel to the left and then to the right full lock positions and select "Max Steering Angle Memorize".

HINT:

It is also possible to start by initially turning the steering wheel to the right side.

(3) Select "Max Steering Angle Memorize" to store the steering angle adjustment value and change the screen to the "Mode Setting" screen.

HINT:

When "Max Steering Angle Memorize" is selected, a beep will sound to confirm that the steering angle adjustment values have been stored.
The adjustment values will not be stored unless "Max Steering Angle Memorize" is selected.
When "Back" is selected, the screen changes to "Signal Check" without storing the set values.
If the Steering Angle Settings have not been adjusted, selecting "Max Steering Angle Memorize" will not cause the adjustment values to be stored.
Even if no DTCs are detected, selecting "Max Steering Angle Memorize" may not cause the adjustment value to be stored if the steering sensor is malfunctioning.
If selecting "Max Steering Angle Memorize" does not cause the adjustment value to be stored after adjusting the steering angle, replace the steering sensor.
Click here

(d) Finish diagnostic mode.

w/ Navigation System: Click here
w/o Navigation System: Click here

(e) Confirm steering angle adjustment.

HINT:

If the steering angle has been adjusted, confirm the steering angle adjustment on the parking assist monitor screen after finishing diagnostic mode.

(1) Check on the parking assist screen that the estimated course line moves until the steering wheel is fully turned to either the left or right.

HINT:

Data List / Active Test

DATA LIST / ACTIVE TEST

DATA LIST

NOTICE:

In the table below, the values listed under "Normal Condition" are reference values. Do not depend solely on these reference values when deciding whether a part is faulty or not.

HINT:

Using the Techstream to read the Data List allows the values or states of switches, sensors, actuators and other items to be read without removing any parts. This non-intrusive inspection can be very useful because intermittent conditions or signals may be discovered before parts or wiring is disturbed. Reading the Data List information early in troubleshooting is one way to save diagnostic time.

(a) Connect the Techstream to the DLC3.

(b) Turn the engine switch on (IG).

(d) Enter the following menus: Chassis / Parking Assist Camera / Data List.

(e) Read the Data List according to the display on the Techstream.

Chassis > Parking Assist Camera > Data List

Tester Display	Measurement Item	Range	Normal Condition	Diagnostic Note
Video Output Status	Output condition of video signal	OK or NG	OK: Output condition of video signal is normal NG: Output condition of video signal is abnormal	-
HV/ENG Data Check	Verification of the HV/ENG data	OK or NG	OK: Data verification normal NG: Data verification abnormal	-
Destination Data Check	Verification of destination data	OK or NG	OK: Data verification normal NG: Data verification abnormal	-
RHD/LHD Signal Check	Verification of RHD/LHD signal	OK or NG	OK: Output condition of RHD/LHD signal is normal NG: Output condition of RHD/LHD signal is abnormal	-
EEPROM Status (Initial read)	Television camera assembly information	OK or NG	OK: Television camera assembly normal NG: Television camera assembly abnormal	-
CPU Communication Status	Television camera assembly information	OK or NG	OK: Television camera assembly normal NG: Television camera assembly abnormal	-
Number of DTC	Number of stored DTCs	min.: 0, max.: 255	Number of DTCs will be displayed	-
Current Key Cycle	Cumulative number of times the engine switch was turned on (IG)	Min.: 0, Max.: 65535 time	Cumulative number of times the engine switch was turned on (IG) will be displayed	-
Current Key Cycle Elapsed Time	Time elapsed since the engine switch was turned on (IG)	Min.: 0, Max.: 1677721.5 s	Time elapsed since the engine switch was turned on (IG) will be displayed	-

Diagnosis System

DIAGNOSIS SYSTEM

PARKING ASSIST MONITOR SYSTEM DIAGNOSTIC MODE

(a) In diagnostic mode for the parking assist monitor system, signals received by the radio and display receiver assembly can be checked and the parking assist monitor system can be calibrated, adjusted and checked using the multi-display.

NOTICE:

Click here

HINT:

The displayed items may differ depending on vehicle specifications.

DIAGNOSIS SCREEN TRANSITION (DURING PARKING ASSIST MONITOR SYSTEM INITIALIZATION)

DIAGNOSIS SCREEN TRANSITION (AFTER PARKING ASSIST MONITOR SYSTEM INITIALIZATION)

VEHICLE SIGNAL CHECK

HINT:

Illustrations may differ from the actual vehicle screen depending on the device settings and options. Therefore, some detailed areas may not be shown exactly the same as on the actual vehicle screen.

(a) Start diagnostic mode.

w/ Navigation System: Click here
w/o Navigation System: Click here

(b) Select "Function Check/Setting" on the "Service Menu" screen to display the "Function Check/Setting I" screen.

(d) Vehicle Signal Check Mode

(1) When the "Vehicle Signal Check Mode" screen is displayed, check the item displayed for "REV".

w/ Navigation System: Click here
w/o Navigation System: Click here

HINT:

Only conditions having inputs are displayed.
This screen displays vehicle signals input to the radio and display receiver assembly.

(e) Finish diagnostic mode.

w/ Navigation System: Click here
w/o Navigation System: Click here

HINT:

Illustrations may differ from the actual vehicle screen depending on the device settings and options. Therefore, some detailed areas may not be shown exactly the same as on the actual vehicle screen.

SIGNAL CHECK (PARKING ASSIST MONITOR SYSTEM INPUT SIGNALS)

(a) Start diagnostic mode.

w/ Navigation System: Click here
w/o Navigation System: Click here

(1) Select "Function Check/Setting" on the "Service Menu" screen to display the "Function Check/Setting I" screen.

(2) Select "Camera Setting" on the "Function Check/Setting I" screen.

HINT:

After "Camera Setting" is selected, the screen transitions differ depending on whether initialization of the parking assist monitor system was performed after the television camera assembly was replaced.

Parking Assist Monitor System Initialization	Screen Transition
Not performed	Signal Check screen
Performed	Mode Setting screen

(3) When the screen changes to the "Mode Setting" screen, select "Back Camera Setting" to display the "Signal Check" screen.

HINT:

To select a grayed out item, select and hold the item for 2 seconds or more.

(b) Signal Check

(1) On the "Signal Check" screen, it is possible to inspect the state of signals and check the settings.

Item	Inspection Detail	Note
CAN	CAN communication signal input	When "CHK" (red) is displayed, selecting "Next" will not change the screen to the next screen.

HINT:

When "CHK" (red) is displayed, perform inspections based on the result of the following inspections.
If performing the adjustment after proceeding to the next screen, confirm that all items display "OK" (blue) before selecting "Next".

HINT:

If "CHK" (red) is displayed for "CAN", check for DTCs and perform troubleshooting based on the output DTCs.

Click here

(d) Finish diagnostic mode.

w/ Navigation System: Click here
w/o Navigation System: Click here

CAMERA SYNCHRONOUS ERROR HISTORY

HINT:

This function is used to check the date and time of occurrence when a camera synchronous error occurs.

(a) Check camera synchronous error history.

(1) Connect the Techstream to the DLC3.

(2) Turn the engine switch on (IG).

(3) Turn the Techstream on.

(4) Enter the following menus: Body Electrical / Navigation System / Utility / Camera Synchronous Error History.

Body Electrical > Navigation System > Utility

Tester Display
Camera Synchronous Error History

(5) When an item is stored for Camera Synchronous Error History, record it before repairing the radio and display receiver assembly and television camera assembly.

HINT:

Camera Synchronous Error History can store up to 5 history data items. If a new camera synchronous error occurs when 5 data items have already been stored, the oldest data is cleared and the new data is stored.

(b) Clear camera synchronous error history.

(1) When DTCs are cleared using any of the following operations, Camera Synchronous Error History will be cleared as well.

w/ Navigation System: Click here
w/o Navigation System: Click here

Cleared using the Techstream.
Cleared using the system check mode screen.
Cleared using the unit check mode screen.

VIDEO DEVICE CONNECTION CHECK

w/ Navigation System: Click here
w/o Navigation System: Click here

CALIBRATION WHEN SERVICING VEHICLE

NOTICE:

Click here

Diagnostic Trouble Code Chart

DIAGNOSTIC TROUBLE CODE CHART

Parking Assist Monitor System

DTC No.	Detection Item	Link
C1611	ECU Malfunction
C1621	Back Camera Power Supply Failure
C1622	Back Camera Disconnected
C1625	Open or Short in Steering Angle Sensor +B
C1626	Steering Angle Sensor Failure
C168D	Vehicle Information Unmatched
C1691	Back Camera Initialization Incomplete
C1694	Steering Angle Initialization Incomplete
U0100	Lost Communication with ECM / PCM "A"
U0126	Lost Communication with Steering Angle Sensor Module
U0140	Lost Communication with Body Control Module
U0163	Lost Communication with Navigation Control Module
U0233	Lost Communication with Blind Spot Monitor Master Module
U1000	CAN Communication Failure (Message Registry)

Dtc Check / Clear

DTC CHECK / CLEAR

CHECK DTC

(a) Connect the Techstream to the DLC3.

(b) Turn the engine switch on (IG).

(d) Enter the following menus: Chassis / Parking Assist Camera / Trouble Codes.

Chassis > Parking Assist Camera > Trouble Codes

(e) Enter the following menus: Body Electrical / Navigation System / Trouble Codes.

Body Electrical > Navigation System > Trouble Codes

(f) Check for DTCs.

Click here

NOTICE:

The radio and display receiver assembly outputs DTCs for the following system. When DTCs other than those in Diagnostic Trouble Code Chart for the parking assist monitor system are output, refer to Diagnostic Trouble Code Chart for the relevant systems.

System	Proceed to
Audio and Visual System*1
Navigation System*2

*1: w/o Navigation System
*2: w/ Navigation System

CLEAR DTC

(a) Connect the Techstream to the DLC3.

(b) Turn the engine switch on (IG).

(d) Enter the following menus: Chassis / Parking Assist Camera / Trouble Codes.

Chassis > Parking Assist Camera > Clear DTCs

(e) Enter the following menus: Body Electrical / Navigation System / Trouble Codes.

Body Electrical > Navigation System > Clear DTCs

(f) Clear the DTCs.

How To Proceed With Troubleshooting

CAUTION / NOTICE / HINT

HINT:

Use the following procedure to troubleshoot the parking assist monitor system.
*: Use the Techstream.

PROCEDURE

1.	VEHICLE BROUGHT TO WORKSHOP

2.	CUSTOMER PROBLEM ANALYSIS

(a) Ask the customer about the problems and the conditions at the time the malfunction occurred to make sure the problem symptom was not temporarily caused by radio waves in the surrounding environment.

HINT:

The parking assist monitor display may be temporarily distorted due to radio waves around the vehicle.

Problem Symptom	Cause
*: DTCs output as "Hist" will not be output again after DTCs are cleared.
Both of the following conditions are met: The problem symptom indicates a parking assist monitor display malfunction and the problem symptom cannot be reproduced. DTC C1622 is output as "Hist" only.*	The display may be temporarily distorted when the vehicle is close to an object that transmits radio waves, such as a telecommunication tower, an airport or a truck equipped with a transceiver.

3.	INSPECT BATTERY VOLTAGE

(a) Measure the battery voltage.

Standard Voltage:

11 to 14 V

If the voltage is below 11 V, replace or recharge the battery before proceeding to the next step.

4.	SYSTEM CHECK

(a) Check the vehicle specification.

Result	Proceed to
w/ Navigation System	A
w/o Navigation System	B

GO TO STEP 6

5.	CHECK NAVIGATION SYSTEM

(a) Refer to Navigation System.

Click here

Result	Proceed to
Navigation system is normal	A
Navigation system is abnormal	B

GO TO STEP 7

GO TO NAVIGATION SYSTEM

6.	CHECK AUDIO AND VISUAL SYSTEM

(a) Refer to Audio and Visual System.

Click here

Result	Proceed to
Audio and visual system is normal	A
Audio and visual system is abnormal	B

GO TO AUDIO AND VISUAL SYSTEM

7.	CHECK COMMUNICATION FUNCTION OF CAN COMMUNICATION SYSTEM*

(a) Use the Techstream to check if the CAN communication system is functioning normally.

Click here

Result	Proceed to
CAN communication system DTCs are not output	A
CAN communication system DTCs are output	B

GO TO CAN COMMUNICATION SYSTEM

8.	CHECK FOR DTC*

(a) Check for DTCs and make a note of any codes that are output.

Chassis > Parking Assist Camera > Trouble Codes Body Electrical > Navigation System > Trouble Codes

(b) Clear the DTCs.

Chassis > Parking Assist Camera > Clear DTCs Body Electrical > Navigation System > Clear DTCs

Chassis > Parking Assist Camera > Trouble Codes Body Electrical > Navigation System > Trouble Codes

Result	Proceed to
No DTCs are output	A
DTCs are output	B

GO TO STEP 11

9.	PROBLEM SYMPTOMS TABLE

(a) Refer to Problem Symptoms Table.

Click here

Result	Proceed to
Fault is not listed in Problem Symptoms Table	A
Fault is listed in Problem Symptoms Table	B

GO TO STEP 11

10.	OVERALL ANALYSIS AND TROUBLESHOOTING

(a) Diagnosis System

Click here

(b) Terminals of ECU

Click here

11.	ADJUST, REPAIR OR REPLACE

12.	CONFIRMATION TEST

END

Image from Camera for Parking Assist Monitor is Abnormal

DESCRIPTION

The video signal from the television camera assembly is transmitted to the radio and display receiver assembly.

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

Click here

HINT:

Images may be unclear even in normal conditions if:

Electrical devices are used in the cabin (noise may occur in the image).
Accessories that generate radio waves have been installed (noise may occur in the image).
The outer mirror switch assembly is operated (noise may occur in the image).
The multi-display is cold (the image immediately after turning the engine switch on (IG) may be blurred or darker than normal).
The camera lens is dirty with snow, mud, etc.
A strong beam of light, such as a sunbeam or headlight, hits the camera.
It is too dark around the camera (at night etc.).
The ambient temperature around the camera is either too high or too low.
The vehicle is tilted at a steep angle.
The television camera assembly lens is scratched.
The television camera assembly lens has drops of water on it or the humidity is high.
When the camera is used under fluorescent lights, sodium lights, or mercury lights etc., the lights and the illuminated area may appear to flicker.

PROCEDURE

1.	CHECK HARNESS AND CONNECTOR (RADIO AND DISPLAY RECEIVER ASSEMBLY - TELEVISION CAMERA ASSEMBLY)

Click here

REPAIR OR REPLACE HARNESS OR CONNECTOR

2.	REPLACE TELEVISION CAMERA ASSEMBLY

(a) Replace the television camera assembly with a new or known good one.

Click here

(b) Check that the parking assist monitor system operates normally.

OK:

Parking assist monitor system operates normally.

END

REPLACE RADIO AND DISPLAY RECEIVER ASSEMBLY

Initialization

INITIALIZATION

INITIALIZE PARKING ASSIST MONITOR SYSTEM

(a) When "!" mark is displayed on the image of the area behind the vehicle, perform the following procedure to correct the steering angle neutral point.

(1) Fully turn the steering wheel to the right and left on flat ground.

NOTICE:

Memorizing the steering angle neutral point must be carried out with the engine started. Apply the parking brake, depress the brake pedal, check that the shift lever is in P, and ensure that the vehicle is not moving.

HINT:

If "!" mark is displayed on the image of the area behind the vehicle with the steering wheel fully turned to the right or left, perform "Steering Angle Setting in Calibration".

Click here

Parts Location

PARTS LOCATION

ILLUSTRATION

*1	BRAKE ACTUATOR ASSEMBLY	*2	- SKID CONTROL ECU
*3	ECM	*4	TELEVISION CAMERA ASSEMBLY
*5	BLIND SPOT MONITOR SENSOR RH	-	-

ILLUSTRATION

MAIN BODY ECU (MULTIPLEX NETWORK BODY ECU)

STEERING SENSOR

RADIO AND DISPLAY RECEIVER ASSEMBLY

DLC3

INSTRUMENT PANEL JUNCTION BLOCK ASSEMBLY

- ECU-IG1 NO. 2 FUSE

- ECU-DCC NO. 1 FUSE

- ECU-ACC FUSE

- BKUP LP RELAY

- IG1-NO. 1 RELAY

Precaution

PRECAUTION

PRECAUTION FOR DISCONNECTING CABLE FROM NEGATIVE BATTERY TERMINAL

NOTICE:

When disconnecting the cable from the negative (-) battery terminal, initialize the following systems after the cable is reconnected.

System Name	See Procedure
Lane Departure Alert System (w/ Steering Control)
Intelligent Clearance Sonar System
Parking Assist Monitor System
Panoramic View Monitor System
Pre-collision System
Lighting System (for Gasoline Model with Cornering Light)

POINTS TO NOTE WHEN SERVICING

(a) Pay attention to the following points when servicing.

(1) Depending on the parts that are replaced or operations that are performed during vehicle inspection or maintenance, calibration of other systems as well as the parking assist monitor system may be needed.

Click here

HINT:

Each adjusted value for the calibration of the parking assist monitor system will be stored in the television camera assembly.

(2) When the lens of the television camera assembly is dirty, wash the lens with water and wipe it off with a soft cloth to obtain clear images. For heavy dirt, use neutral detergent to clean the lens.

NOTES FOR TELEVISION CAMERA ASSEMBLY

(a) Notes for the television camera assembly

(1) The parking assist monitor system may not function properly if subjected to a severe blow by any hard object.

(2) Do not scrub the camera lens. Scrubbing may scratch the camera lens and affect the image.

(3) The cover part of the camera is made of resin. Prevent organic solvents, waxes, bond removing solvents or glass coating from adhering to the cover. If such material adheres to the cover, clean it off immediately and wash it with water.

(4) Exposing the camera to a sudden temperature change may affect proper functioning of the camera.

(5) A clear image may not appear if the camera is dirty with snow, mud, etc. In that case, wash it with water and wipe off the lens. Use a detergent to remove dirt if necessary.

(6) When washing the vehicle with a high-pressure washer, do not spray water on the television camera assembly or surrounding area. High-pressure water can damage the camera.

(b) Images may be unclear even in normal conditions if:

(1) Electrical devices are used in the cabin (noise may occur in the image).

(2) Accessories that generate radio waves have been installed (noise may occur in the image).

(3) The outer mirror switch assembly is operated (noise may occur in the image).

(4) The multi-display is cold (the image immediately after turning the engine switch on (IG) may be blurred or darker than normal).

(5) The camera lens is dirty with snow, mud, etc.

(6) A strong beam of light, such as a sunbeam or headlight, hits the camera.

(7) It is too dark around the camera (at night etc.).

(8) The ambient temperature around the camera is either too high or too low.

(9) The vehicle is tilted at a steep angle.

(10) The television camera assembly lens is scratched.

(11) The television camera assembly lens has drops of water on it or the humidity is high.

(12) When the camera is used under fluorescent lights, sodium lights, or mercury lights etc., the lights and the illuminated area may appear to flicker.

Problem Symptoms Table

PROBLEM SYMPTOMS TABLE

NOTICE:

The following inspection procedures for the parking assist monitor system are based on the assumption that the audio and visual system*1 or navigation system*2 is normal. If the audio and visual system*1 or navigation system*2 has any malfunctions, first proceed with troubleshooting the audio and visual system*1 or navigation system*2.
Depending on the parts that are replaced or operations that are performed during vehicle inspection or maintenance, calibration of other systems as well as the parking assist monitor system may be needed.
Click here
- *1: w/o Navigation System
- *2: w/ Navigation System

HINT:

Use the table below to help determine the cause of problem symptoms. If multiple suspected areas are listed, the potential causes of the symptoms are listed in order of probability in the "Suspected Area" column of the table. Check each symptom by checking the suspected areas in the order they are listed. Replace parts as necessary.
Inspect the fuses and relays related to this system before inspecting the suspected areas below.

General

Symptom	Suspected Area	Link
When the shift lever is in R, an image of the area behind the vehicle is not displayed (screen is not black)	Proceed to "Reverse Signal Circuit"*1
	Proceed to "Reverse Signal Circuit"*2
	Radio and display receiver assembly
When the shift lever is in R, an image of the area behind the vehicle is not displayed (screen is black)	Proceed to "Black Screen"
When the shift lever is not in R, an image of the area behind the vehicle is displayed	Proceed to "Reverse Signal Circuit"*1
	Proceed to "Reverse Signal Circuit"*2
	Radio and display receiver assembly
When the shift lever is in R, an image of the area behind the vehicle is displayed and then switches to another image	Proceed to "Reverse Signal Circuit"*1
	Proceed to "Reverse Signal Circuit"*2
	Radio and display receiver assembly

Display Malfunction

Symptom	Suspected Area	Link
Parking assist monitor display malfunction (distortion of the color/screen) occurs continuously	Proceed to "Image from Camera for Parking Assist Monitor is Abnormal"
Parking assist monitor display malfunction (distortion of the color/screen) occurs temporarily	Check the usage conditions (Explain to the customer that the display may be temporarily distorted when the vehicle is close to an object that transmits radio waves, such as a telecommunication tower, an airport or a truck equipped with a transceiver)	-

Parking Assist Monitor System Malfunction

Symptom	Suspected Area	Link
Estimated course lines are not displayed	Parking assist monitor screen display mode settings (Check that estimated course line display mode is selected)	-
	Correct the steering angle neutral point (Initialization)
	Steering angle setting (Calibration)
	Television camera assembly
	Steering sensor
Estimated course lines stop moving before the steering wheel is turned fully left.	Steering angle setting (Calibration)
The estimated course lines do not match the vehicle width extension lines when the steering wheel points straight ahead.	Check the installation of steering wheel
	Correct the steering angle neutral point (Initialization)
	Steering angle setting (Calibration)
	Check that the television camera assembly is correctly installed
	Back camera position setting (Calibration)
	Television camera assembly
	Steering sensor
The guide lines are not displayed even though the luggage compartment door is closed	Check that the No. 1 luggage compartment light assembly illuminates normally (if not, refer to Lighting System (INT) - Problem Symptoms Table)
	Television camera assembly
The guide lines remain displayed even though the luggage compartment door is open	Check that the No. 1 luggage compartment light assembly illuminates normally (if not, refer to Lighting System (INT) - Problem Symptoms Table)
	Television camera assembly
"!" mark is displayed.	Correct the steering angle neutral point (Initialization)
"!" mark remains displayed after the steering neutral point is corrected.	Steering angle setting (Calibration)
	Steering sensor
	Television camera assembly
When adjusting the camera optical axis, "You can not calibrate the camera when the door is open. Please close the door." is displayed even after the has been closed	Check that the No. 1 luggage compartment light assembly illuminates normally (if not, refer to Lighting System (INT) - Problem Symptoms Table)
	Television camera assembly
"CHK" message(s) are displayed on the signal check screen	Signal check (Diagnosis system)
When an image of the area behind the vehicle is displayed, the lines are misaligned (the image from the camera is tilted)	Back camera position setting (Calibration)

Others

Symptom	Suspected Area	Link
A switch displayed on the parking assist monitor screen does not respond when pushed, or a switch other than the pushed switch responds.	Proceed to "Touch Panel Switch does not Function"*1
	Proceed to "Touch Panel Switch does not Function"*2
	Television camera assembly
	Radio and display receiver assembly
A beep sound is not emitted when a switch displayed on the parking assist monitor screen is pushed.	Check the setting on the audio screen (General setting)	-
	Proceed to "Touch Panel Switch does not Function"*1
	Proceed to "Touch Panel Switch does not Function"*2
	Television camera assembly
	Radio and display receiver assembly
The language of the messages displayed on the parking assist monitor screen cannot be changed.	Check the setting on the audio screen (General setting)	-
	Television camera assembly
	Radio and display receiver assembly
The switches displayed on the parking assist monitor screen are grayed out.	Television camera assembly
	Radio and display receiver assembly
The color of the switches displayed on the parking assist monitor screen are abnormal, or the switches are not dimmed when the headlights are turned on.	Check the setting on the audio screen (Screen adjustment)	-
	Proceed to "Display does not Dim when Light Control Switch is Turned ON"*1
	Proceed to "Display does not Dim when Light Control Switch is Turned ON"*2
	Television camera assembly
	Radio and display receiver assembly

*1: w/o Navigation System
*2: w/ Navigation System

System Description

SYSTEM DESCRIPTION

GENERAL

(a) This system has a television camera assembly mounted on the luggage compartment door to display an image of the area behind the vehicle on the multi-display. The multi-display also shows a composite view consisting of the area behind the vehicle and parking guide lines to assist the driver in parking the vehicle by monitoring the area behind the vehicle.

When the rear camera detection function of the television camera assembly detects a pedestrian within the detection area when reversing, a buzzer sounds and an icon is displayed on the multi-display to warn the driver.

(b) This system consists of the following components:

(1) Television camera assembly

(2) Radio and display receiver assembly

(3) Steering sensor

(4) ECM

(5) Main body ECU (multiplex network body ECU)

(6) Blind spot monitor sensor

(7) BKUP LP relay

(c) This system is equipped with a self-diagnosis system, which is operated on a designated window that appears on the multi-display.

FUNCTION OF COMPONENTS

(a) The television camera assembly controls the system by using information from the following components.

Item	Function
Television Camera Assembly	Mounted on the luggage compartment door to transmit a composite image of the area behind the vehicle and guide lines calculated based on signals received from each ECU, to the radio and display receiver assembly. Has a color video camera that uses a Complementary Metal Oxide Semiconductor (CMOS) and wide-angle lens. Stops displaying the guide lines when an open signal is received for the luggage compartment door. Performs overall control of the system by receiving signals from the sensor and ECUs.
Radio and Display Receiver Assembly	Receives video signals which contain a composite image of the area behind the vehicle taken with the television camera assembly and guide lines calculated based on signals received from each ECU. Performs control of the system by receiving the reverse signal from the BKUP LP relay. Transmits a setting information signal to the television camera assembly via CAN communication. Receives diagnostic mode video signals from the television camera assembly. Displays "You can not calibrate the camera when the door is open. Please close the door." on the back camera position setting screen when the luggage compartment door is open.
Steering Sensor	Detects the angle of the steering wheel and transmits the resulting signals to the television camera assembly via CAN communication.
ECM	Transmits the vehicle information signal to the television camera assembly via CAN communication. Transmits the reverse signal to the television camera assembly via CAN communication.
Main Body ECU (Multiplex Network Body ECU)	Transmits the luggage compartment door courtesy switch signal and vehicle information signal to the television camera assembly via CAN communication.
Blind Spot Monitor Sensor	Transmits the RCTA information signal to the television camera assembly via CAN communication.
BKUP LP Relay	Transmits the reverse signal to the radio and display receiver assembly.

DISPLAY MODE

(a) Rear view screen

*a	Guide Line Display Mode Switching Button	*b	Estimated Course Line Display Mode
*c	Parking Assist Guide Line Display Mode	*d	Distance Guide Line Display Mode
*e	Display Mode Switching Button	*f	Guide Line Display Mode Switching Button Pressed

HINT:

The screen changes to the wide rear view screen when the display mode switching button is selected.

(1) While the parking assist monitor is displayed on the multi-display, pressing the guide line display mode switching button switches the parking assist monitor display mode.

Parking Assist Monitor Display Mode

Distance Guide Lines

(Red)

Estimated Course Lines

(Yellow)

Distance Guide Line

(Yellow)

Vehicle Width Extension Guide Line

(Blue)

Distance Guide Line

(Blue)

Parking Assist Guide Lines

(Blue)

Vehicle Center Line

(Blue)

Estimated course line display mode

Displayed

Not displayed

Displayed

Parking assist guide line display mode

Displayed

Not displayed

Displayed

Not displayed

Displayed

Distance guide line display mode

Displayed

Not displayed

(b) Wide rear view screen

*a	Guide Line Display Mode Switching Button	*b	Estimated Course Line Display Mode
*c	Parking Assist Guide Line Display Mode	*d	Distance Guide Line Display Mode
*e	Display Mode Switching Button	*f	Guide Line Display Mode Switching Button Pressed

HINT:

The screen changes to the rear view screen when the display mode switching button is selected.

(1) While the parking assist monitor is displayed on the multi-display, pressing the guide line display mode switching button switches the parking assist monitor display mode.

Parking Assist Monitor Display Mode

Distance Guide Lines

(Red)

Estimated Course Lines

(Yellow)

Distance Guide Line

(Yellow)

Vehicle Width Extension Guide Line

(Blue)

Distance Guide Line

(Blue)

Parking Assist Guide Lines

(Blue)

Vehicle Center Line

(Blue)

Estimated course line display mode

Displayed

Not displayed

Displayed

Parking assist guide line display mode

Displayed

Not displayed

Displayed

Not displayed

Displayed

Distance guide line display mode

Displayed

Not displayed

DIAGNOSTIC FUNCTION OUTLINE

(a) This parking assist monitor system has a diagnostic function displayed on the multi-display. This function enables calibration (adjustment and verification) of the parking assist monitor system.

Click here

(b) The following items for the parking assist monitor system can be checked using the Techstream.

Item	Proceed to
DTC
Data List / Active Test

System Diagram

SYSTEM DIAGRAM

Communication Table

Sender	Receiver	Signal	Line
Radio and Display Receiver Assembly	Television Camera Assembly	Setting information signal	CAN
Steering Sensor	Television Camera Assembly	Steering angle signal	CAN
ECM	Television Camera Assembly	Vehicle information signal Reverse signal	CAN
Main Body ECU (Multiplex Network Body ECU)	Television Camera Assembly	Luggage compartment door courtesy switch signal Vehicle information signal	CAN
Blind Spot Monitor Sensor	Television Camera Assembly	RCTA information signal	CAN

Terminals Of Ecu

TERMINALS OF ECU

TELEVISION CAMERA ASSEMBLY

(a) Disconnect the P19 television camera assembly connector.

(b) Measure the voltage on the wire harness side connector according to the value(s) in the table below.

Terminal No. (Symbol)	Wiring Color	Terminal Description	Condition	Specified Condition
P19-6 (CB+) - Body ground	R - Body ground	Power source	Engine switch on (ACC)	5.5 to 7.05 V

If the result is not as specified, there may be a malfunction on the wire harness side.

(d) Check for pulses between each terminal of the connector.

Terminal No. (Symbol)

Wiring Color

Terminal Description

Condition

Specified Condition

P19-3 (CV+) - P19-2 (CV-)

B - W

Video signal

Engine switch on (IG)

Shift lever in R

Camera lens not covered, displaying image

Pulse generation

(Refer to waveform 1)

Engine switch on (IG)

Shift lever in R

Camera lens covered, blacking out screen

Pulse generation

(Refer to waveform 2)

P19-5 (CGND) - Body ground

G - Body ground

Camera ground

Always

Below 1 V

HINT:

A waterproof connector is used for the television camera assembly. Therefore, inspect the waveform at the radio and display receiver assembly with the connector connected.

If the result is not as specified, the television camera assembly may be malfunctioning.

(e) Reference (Oscilloscope waveform):

*a	Waveform 1 (camera lens is not covered, displaying an image)
*b	Waveform 2 (camera lens is covered, blacking out the screen)
*c	Synchronization Signal
*d	Video Waveform

HINT:

A waterproof connector is used for the television camera assembly. Therefore, inspect the waveform at the radio and display receiver assembly with the connector connected.

(1) Waveform 1 (camera lens is not covered, displaying an image)

Item	Content
Measurement terminal	P19-3 (CV+) - P19-2 (CV-)
Measurement setting	200 mV/DIV., 50 μs./DIV.
Condition	Engine switch on (IG), shift lever in R

HINT:

The video waveform changes according to the image sent by the television camera assembly.
The video waveform is constantly output when the engine switch is on (ACC).

(2) Waveform 2 (camera lens is covered, blacking out the screen)

Item	Content
Measurement terminal	P19-3 (CV+) - P19-2 (CV-)
Measurement setting	200 mV/DIV., 50 μs./DIV.
Condition	Engine switch on (IG), shift lever in R

HINT:

The video waveform changes according to the image sent by the television camera assembly.
The video waveform is constantly output when the engine switch is on (ACC).

RADIO AND DISPLAY RECEIVER ASSEMBLY

Terminal No. (Symbol)	Wiring Color	Terminal Description	Condition	Specified Condition
G2-26 (CSLD) - Body ground	Shield - Body ground	Shield ground	Always	Below 1 V
G2-27 (CGND) - Body ground	G - Body ground	Camera ground	Always	Below 1 V
G2-28 (V+) - G3-1 (GND1)	B - BR	Video signal	Engine switch on (IG) Shift lever in R Camera lens not covered, displaying image	Pulse generation (Refer to waveform 1)
G2-28 (V+) - G3-1 (GND1)	B - BR	Video signal	Engine switch on (IG) Shift lever in R Camera lens covered, blacking out screen	Pulse generation (Refer to waveform 2)
G2-29 (V-) - G3-1 (GND1)	W - BR	Ground	Always	Below 1 V
G2-30 (CA+) - G3-1 (GND1)	R - BR	Television camera assembly power supply	Engine switch on (ACC)	5.5 to 7.05 V

(a) Reference (Oscilloscope waveform):

(1) Waveform 1 (camera lens not covered, displaying an image)

Item	Content
Measurement terminal	G2-28 (V+) - G3-1 (GND1)
Measurement setting	200 mV/DIV., 50 μs/DIV.
Condition	Engine switch on (IG), shift lever in R

HINT:

The video waveform changes according to the image sent by the television camera assembly.
The video waveform is constantly output when the engine switch is on (ACC).

*a	Waveform 1 (camera lens is not covered, displaying an image)
*b	Waveform 2 (camera lens is covered, blacking out the screen)
*c	Synchronization Signal
*d	Video Waveform

(2) Waveform 2 (camera lens covered, blacking out the screen)

Item	Content
Measurement terminal	G2-28 (V+) - G3-1 (GND1)
Measurement setting	200 mV/DIV., 50 μs/DIV.
Condition	Engine switch on (IG), shift lever in R

HINT:

The video waveform changes according to the image sent by the television camera assembly.
The video waveform is constantly output when the engine switch is on (ACC).

Lost Communication with ECM / PCM "A" (U0100,U0126,U0140,U0163,U0233)

DESCRIPTION

These DTCs are stored if there is a malfunction in the CAN communication system connected to the television camera assembly.

HINT:

If CAN communication system DTCs are stored, they may also be stored in other systems.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
U0100	Lost Communication with ECM / PCM "A"	Lost Communication with ECM	CAN communication system
U0126	Lost Communication with Steering Angle Sensor Module	Lost communication with steering sensor	CAN communication system
U0140	Lost Communication with Body Control Module	Lost communication with main body ECU (multiplex network body ECU)	CAN communication system
U0163	Lost Communication with Navigation Control Module	Lost communication with radio and display receiver assembly	CAN communication system
U0233	Lost Communication with Blind Spot Monitor Master Module	Lost communication with blind spot monitor sensor RH	CAN communication system

PROCEDURE

1.	CHECK DTC OUTPUT

(a) Clear the DTCs.

Chassis > Parking Assist Camera > Clear DTCs

(b) Recheck for DTCs and check that no DTCs are output.

Chassis > Parking Assist Camera > Trouble Codes

HINT:

If CAN communication system DTCs are stored, they may also be stored in other systems.
If the CAN communication system has been inspected and repaired in other systems, the DTCs will not be output when rechecking for DTCs.
If these DTCs are output frequently, duplicate the conditions that cause the problem symptoms and perform the inspection again, even though the DTC was not output when rechecking for DTCs.
Click here

Result	Proceed to
DTCs are output	A
No DTCs are output	B

GO TO CAN COMMUNICATION SYSTEM

USE SIMULATION METHOD TO CHECK

CAN Communication Failure (Message Registry) (U1000)

DESCRIPTION

This DTC is stored when the television camera assembly judges that it has an internal CAN malfunction.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
U1000	CAN Communication Failure (Message Registry)	Can communication failure (message registry)	Television camera assembly

PROCEDURE

1.	CHECK DTC OUTPUT

(a) Clear the DTCs.

Chassis > Parking Assist Camera > Clear DTCs

(b) Recheck for DTCs and check that no DTCs are output.

Chassis > Parking Assist Camera > Trouble Codes

HINT:

If the DTC is not output again when rechecking for DTCs, it may have been stored due to a temporary CAN malfunction.
If DTC U1000 is stored frequently but is not output when rechecking for DTCs, attempt to reproduce the conditions when the malfunction occurred.
Click here

Result	Proceed to
DTC U1000 is output	A
DTC U1000 is not output	B

REPLACE TELEVISION CAMERA ASSEMBLY

USE SIMULATION METHOD TO CHECK

Parking Assist Ecu

Rear Crossing Traffic Alert Buzzer

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