DTC B28BA: Steering Angle And Stereo Camera Correlation Misaligned

Detected when the center point of the steering angle sensor is misaligned.
Detected when the alignment is extremely misaligned.

DTC detecting condition:

Defective wheel alignment
Defective VDC control module
Defective stereo camera

Trouble symptom:

All functions of EyeSight system do not operate.
EyeSight warning light illuminates.

CAUTION: Before performing diagnosis, refer to "CAUTION" in "General Description". Ref. to EYESIGHT (DIAGNOSTICS)>General Description>CAUTION .

NOTE: Prior confirmation is required to check if the work related to alignment has been performed or there is an accident history.

CHECK DTC .
Read the DTC of [Brake Control] using the Subaru Select Monitor. Ref. to BRAKE CONTROL (DIAGNOSTICS)>DIAGNOSTIC TROUBLE CODE (DTC) .

Is DTC related to steering angle sensor displayed?

Yes : Perform the diagnosis for DTC for VDC. Go to 2 .

No : Go to 2 .
CHECK DRIVING CONDITION .
Check the driving condition.

Is the steering wheel obviously tilted when the vehicle is in the straight ahead position? (Check if it is obviously tilted at the closest point between the column cover and the steering wheel.)

Yes : Perform the wheel alignment adjustment Ref. to FRONT SUSPENSION>WHEEL ALIGNMENT . Go to 3 .

No : Go to 3 .
CHECK DATA MONITOR .
1. Using the Subaru Select Monitor, check the following items in the [Data Monitor] of [EyeSight]. Ref. to Eyesight (Diagnostics)>Data Monitor .
  - Steering Angle Sensor Signal
  NOTE: Do not check with [Steering Angle Sensor Value (Right +) (Left -)].
2. Check the value when the vehicle is in the straight ahead position.
Is the value within -2 -1-2 deg?

Yes : Go to 4 .

No : Perform [VSC(VDC) Centering Mode] of VDC. Ref. to VEHICLE DYNAMICS CONTROL (VDC)>VDC CONTROL MODULE AND HYDRAULIC CONTROL UNIT (VDCCM AND H/U)>ADJUSTMENT>VDC SENSOR MIDPOINT SETTING MODE .

Repeat the step 3. Go to 3 .
CHECK JOB CONTENT .
Check the job contents performed so far. (To identify whether the problem belongs to the vehicle or the stereo camera.)

Is one of the following actions performed: steering angle sensor diagnosis, wheel alignment adjustment or VDC sensor centering mode?

Yes : Go to 5 .

No : Replace the stereo camera. Ref. to EYESIGHT>STEREO CAMERA .
LANE KEEP ASSIST LEARNING VALUE CLEAR .
Perform the [Clear Active Lane Keep System Learning Value] using Subaru Select Monitor. Ref. to Eyesight (Diagnostics)>Clear Active Lane Keep System Learning Value .

Was it performed without any errors?

Yes : Turn the ignition switch OFF → ON, and Go to 6 .

No : Performing [Clear Active Lane Keep System Learning Value] is not complete. Go to 7 .
CHECK DTC .
1. Using the Subaru Select Monitor, perform the clear memory of [EyeSight]. Ref. to COMMON (DIAG)>CLEAR MEMORY .
2. Turn the ignition switch OFF → ON.
3. Read the DTC of [EyeSight] using the Subaru Select Monitor. Ref. to Eyesight (Diagnostics)>Diagnostic Trouble Code (DTC) .
Is DTC B28BA displayed? (Current malfunction)

Yes : Clearing the memory is not complete. GO to 7 .

No : Currently, it is normal. Finish the diagnosis.
CHECK SUBARU SELECT MONITOR CONNECTION .
Check the connection of Subaru Select Monitor.

Is there any fault in the harness and connection between Subaru Select Monitor and stereo camera?

Yes : Replace the harness or repair the connection.

In case that the step 5 is not performed Go to 5 .

In case that the step 5 has been performed Go to 6 .

No : Replace the stereo camera. Ref. to EYESIGHT>STEREO CAMERA .