Safety Warning
DIY auto repair can cause serious injury, fire, or vehicle damage. These guides are for informational purposes only. Always follow OEM torque specs, wear PPE, and consult a certified mechanic if you are unsure. You are solely responsible for your safety.
DTC C1A21: Object Recognition Camera: Procedure
- REPLACE OBJECT RECOGNITION CAMERA
- Replace the object recognition camera. Refer to REMOVAL .
NEXT: Go to next step
- ADJUST OBJECT RECOGNITION CAMERA
- Adjust the object recognition camera. Refer to ADJUSTMENT .
NEXT: Go to next step
- CHECK FOR DTC
- Clear the DTCs. Refer to DTC CHECK / CLEAR
.
HINT:
If the detection conditions are not met, the system cannot detect the malfunction.
- Drive the vehicle at a 50 km/h (31 mph) or more, and operate lane-keeping assist system.
- Check for DTCs. Refer to DTC CHECK / CLEAR
.
OK
DTC C1A21 is not output.
NG → See step 4
OK → END (OBJECT RECOGNITION CAMERA IS DEFECTIVE)
- Clear the DTCs. Refer to DTC CHECK / CLEAR
.
- REPLACE OBJECT RECOGNITION ECU
- Replace the object recognition ECU. Refer to REMOVAL .
NEXT: Go to next step
- ADJUST OBJECT RECOGNITION CAMERA
- Adjust the object recognition camera. Refer to ADJUSTMENT .
NEXT: Go to next step
- CHECK FOR DTC
- Clear the DTCs. Refer to DTC CHECK / CLEAR
.
HINT:
If the detection conditions are not met, the system cannot detect the malfunction.
- Drive the vehicle at a 50 km/h (31 mph) or more, and operate lane-keeping assist system.
- Check for DTCs. Refer to DTC CHECK / CLEAR
.
OK
DTC C1A21 is not output.
NG → See step 7
OK → END (OBJECT RECOGNITION ECU IS DEFECTIVE)
- Clear the DTCs. Refer to DTC CHECK / CLEAR
.
- REPLACE DRIVING SUPPORT ECU. Refer to REMOVAL
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When to See a Mechanic
Stop DIY work and contact a certified mechanic immediately if any of the following apply:
- • You smell fuel, burning insulation, or see smoke.
- • Brakes feel soft, pull hard to one side, or make grinding noises.
- • The engine overheats, stalls repeatedly, or misfires under load.
- • You are missing required tools, torque specs, or safe lifting equipment.
- • You are not confident in the next step or safety outcome.
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