Toyota CH-R Service Manual: Yaw Rate Sensor (C1234,C1472,C1474)

Toyota CH-R Service Manual / Brake Control / Dynamic Control Systems / Vehicle Stability Control System / Yaw Rate Sensor (C1234,C1472,C1474)

DESCRIPTION

The skid control ECU (brake actuator assembly) receives signals from the yaw rate and acceleration sensor (airbag sensor assembly) via CAN communication.

HINT:

If there is a malfunction in the bus lines between the yaw rate and acceleration sensor (airbag sensor assembly) and the CAN communication system, DTC U0123 (Lost Communication with Yaw Rate Sensor Module) is output. When U0123 is output together with C1234, C1472 and/or C1474, inspect and repair the trouble areas indicated by U0123 first.

These DTCs may be stored if one of the following occurs:

  • Yaw rate and acceleration sensor circuit malfunction.
  • Yaw rate and acceleration sensor (airbag sensor assembly) installation abnormality.
  • Yaw rate and acceleration sensor signal malfunction.

DTC No.

Detection Item

DTC Detection Condition

Trouble Area

C1234

Yaw Rate Sensor

Any of the following is detected:

  • The yaw rate sensor offset value is estimated as less than -5.25 deg/s or more than 5.25 deg/s based on offset correction performed when the vehicle is stopped and then the vehicle starts off.
  • The offset correction did not complete with the vehicle stopped, and the yaw rate sensor offset value is estimated as less than -15 deg/s or more than 15 deg/s based on the offset correction performed while the vehicle is being driven.
  • The offset correction completed with the vehicle stopped and the yaw rate sensor offset value is less than -7.5 deg/s or more than 7.5 deg/s.
  • The yaw rate sensor offset value is estimated as less than -7.5 deg/s or more than 7.5 deg/s based on the offset correction performed while the vehicle is being driven.
  • After the VSC system has started, but before the vehicle starts off, the yaw rate sensor value is less than -30 deg/s or more than 30 deg/s for 5 seconds or more when the vehicle is stopped.
  • After the VSC system has started, but before the vehicle starts off, the yaw rate sensor value is less than -30 deg/s or more than 30 deg/s for 0.5 seconds or more when the vehicle starts off.
  • The yaw rate sensor value is less than -94.75 deg/s or more than 94.75 deg/s for 0.8 seconds or more.
  • The change of the yaw rate sensor value within 0.04 seconds is abnormal.
  • The value from the yaw rate sensor is judged as abnormal based on the skid control ECU (brake actuator assembly) estimation.
  • Sensor installation
  • Yaw rate sensor (airbag sensor assembly)
  • Yaw rate sensor circuit

C1472

Acceleration Sensor

Any of the following is detected:

  • With the vehicle stopped, the internal acceleration value is less than -7 m/s2 or more than 7 m/s2 for 0.4 seconds or more.
  • The acceleration sensor offset value is estimated as less than -2.25 m/s2 or more than 2.25 m/s2 based on the offset correction performed while the vehicle is being driven.
  • The acceleration sensor value is less than -14.6 m/s2 or more than 14.6 m/s2 for 0.8 seconds or more.
  • Sensor installation
  • Acceleration sensor (airbag sensor assembly)
  • Acceleration sensor circuit

C1474

Forward and Rearward G Sensor

Any of the following is detected:

  • The acceleration sensor offset value is estimated as less than -2.25 m/s2 or more than 2.25 m/s2 based on the offset correction performed while the vehicle is being driven.
  • The acceleration sensor value is less than -14.6 m/s2 or more than 14.6 m/s2 for 3 seconds or more.
  • Sensor installation
  • Acceleration sensor (airbag sensor assembly)
  • Acceleration sensor circuit
DTC Detection Conditions: C1234
 

Vehicle Condition

Pattern 1

Pattern 2

Pattern 3

Diagnosis Condition

-

-

-

-

Malfunction Status

The yaw rate sensor offset value is estimated as less than -5.25 deg/s or more than 5.25 deg/s based on offset correction performed when the vehicle is stopped and then the vehicle starts off.

○

-

-

The offset correction did not complete with the vehicle stopped, and the yaw rate sensor offset value is estimated as less than -15 deg/s or more than 15 deg/s based on the offset correction performed while the vehicle is being driven.

-

○

-

The offset correction completed with the vehicle stopped and the yaw rate sensor offset value is less than -7.5 deg/s or more than 7.5 deg/s.

-

-

○

Detection Time

-

-

-

Number of Trips

1 trip

1 trip

1 trip

HINT:

DTC will be output when conditions for either of the patterns in the table above are met.

DTC Detection Conditions: C1234
 

Vehicle Condition

Pattern 4

Pattern 5

Pattern 6

Diagnosis Condition

-

-

-

-

Malfunction Status

The yaw rate sensor offset value is estimated as less than -7.5 deg/s or more than 7.5 deg/s based on the offset correction performed while the vehicle is being driven.

○

-

-

After the VSC system has started, but before the vehicle starts off, the yaw rate sensor value is less than -30 deg/s or more than 30 deg/s for 5 seconds or more when the vehicle is stopped.

-

○

-

After the VSC system has started, but before the vehicle starts off, the yaw rate sensor value is less than -30 deg/s or more than 30 deg/s for 0.5 seconds or more when the vehicle starts off.

-

-

○

Detection Time

-

-

-

Number of Trips

1 trip

1 trip

1 trip

HINT:

DTC will be output when conditions for either of the patterns in the table above are met.

DTC Detection Conditions: C1234
 

Vehicle Condition

Pattern 7

Pattern 8

Pattern 9

Diagnosis Condition

-

-

-

-

Malfunction Status

The yaw rate sensor value is less than -94.75 deg/s or more than 94.75 deg/s.

○

-

-

The change of the yaw rate sensor value within 0.04 seconds is abnormal.

-

○

-

The value from the yaw rate sensor is judged as abnormal based on the skid control ECU (brake actuator assembly) estimation.

-

-

○

Detection Time

0.8 seconds or more

-

-

Number of Trips

1 trip

1 trip

1 trip

HINT:

DTC will be output when conditions for either of the patterns in the table above are met.

DTC Detection Conditions: C1472
 

Vehicle Condition

Pattern 1

Pattern 2

Pattern 3

Diagnosis Condition

-

-

-

-

Malfunction Status

With the vehicle stopped, the internal acceleration value is less than -7 m/s2 or more than 7 m/s2.

○

-

-

The acceleration sensor offset value is estimated as less than -2.25 m/s2 or more than 2.25 m/s2 based on the offset correction performed while the vehicle is being driven.

-

○

-

The acceleration sensor value is less than -14.6 m/s2 or more than 14.6 m/s2.

-

-

○

Detection Time

0.4 seconds or more

-

0.8 seconds or more

Number of Trips

1 trip

1 trip

1 trip

HINT:

DTC will be output when conditions for either of the patterns in the table above are met.

DTC Detection Conditions: C1474
 

Vehicle Condition

Pattern 1

Pattern 2

Diagnosis Condition

-

-

-

Malfunction Status

The acceleration sensor offset value is estimated as less than -2.25 m/s2 or more than 2.25 m/s2 based on the offset correction performed while the vehicle is being driven.

○

-

The acceleration sensor value is less than -14.6 m/s2 or more than 14.6 m/s2.

-

○

Detection Time

-

3 seconds or more

Number of Trips

1 trip

1 trip

HINT:

DTC will be output when conditions for either of the patterns in the table above are met.

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

Inspect the fuses for circuits related to this system before performing the following procedure.

HINT:

When U0073, U0123 and/or U0126 is output together with C1234, C1472 and/or C1474, inspect and repair the trouble areas indicated by U0073, U0123 and/or U0126 first.

Click here

PROCEDURE

1.

CHECK DTC

(a) Clear the DTCs.

Click here

Chassis > ABS/VSC/TRAC/EPB > Clear DTCs

(b) Turn the ignition switch off.

(c) Start the engine.

(d) At a speed of 30 km/h (18 mph) or more, drive the vehicle, turn the steering wheel, and decelerate (depress the brake pedal) the vehicle.

(e) Turn the ignition switch off.

(f) Turn the ignition switch to ON again and check that no CAN communication system DTCs are output.

Click here

Result

Proceed to

CAN communication system DTCs are not output.

A

CAN communication system DTCs are output.

B
B

INSPECT CAN COMMUNICATION SYSTEM

A

2.

CHECK AIRBAG SENSOR ASSEMBLY INSTALLATION

(a) Turn the ignition switch off.

(b) Check that the yaw rate and acceleration sensor (airbag sensor assembly) has been installed properly.

Click here

OK:

The airbag sensor assembly is tightened to the specified torque.

The airbag sensor assembly is not tilted.

NG

INSTALL AIRBAG SENSOR ASSEMBLY CORRECTLY

OK

3.

CHECK HARNESS AND CONNECTOR (POWER SOURCE TERMINAL)

(a) Make sure that there is no looseness at the locking part and the connecting part of the connector.

*a

Front view of wire harness connector

(to Yaw Rate and Acceleration Sensor (Airbag Sensor Assembly))

(b) Disconnect the yaw rate and acceleration sensor (airbag sensor assembly) connector.

(c) Turn the ignition switch to ON.

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

Standard Voltage:

Tester Connection

Condition

Specified Condition

F70-21 (IG2) - Body ground

Ignition switch ON

11 to 14 V
NG

REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)
OK

4.

CHECK HARNESS AND CONNECTOR (POWER SOURCE TERMINAL)

(a) Turn the ignition switch off.

*a

Front view of wire harness connector

(to Yaw Rate and Acceleration Sensor (Airbag Sensor Assembly))

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

Standard Resistance:

Tester Connection

Condition

Specified Condition

F70-25 (E1) - Body ground

Always

Below 1 Ω

F70-26 (E2) - Body ground

Always

Below 1 Ω

HINT:

If troubleshooting has been carried out according to Problem Symptoms Table, refer back to the table and proceed to the next step before replacing parts.

Click here

OK

REPLACE AIRBAG SENSOR ASSEMBLY

NG

REPAIR OR REPLACE HARNESS OR CONNECTOR (GROUND CIRCUIT)
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