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Home >> Toyota >> 2021 >> Prius XLE AWD-e >> Repair and Diagnosis (Single Page) >> Accessories & Equipment >> Collision/Avoidance >> Dynamic Radar Cruise Control System - Diagnostic Codes & Circuit Tests >> Dynamic Radar Cruise Control System >> DTC U0104-87: Lost Communication with Cruise Control Module Missing Message; DTC U0122-87: Lost Communication with Vehicle Dynamics Control Module Missing Message; DTC U0293-87: Lost Communication With Hybrid Powertrain Control Module Missing Message [11/2017 - 07/2020] >> Description
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DTC U0104-87: Lost Communication with Cruise Control Module Missing Message; DTC U0122-87: Lost Communication with Vehicle Dynamics Control Module Missing Message; DTC U0293-87: Lost Communication With Hybrid Powertrain Control Module Missing Message [11/2017 - 07/2020]: Description

The hybrid vehicle control ECU communicates with each sensor and ECU via CAN communication.

If any malfunction is detected in a CAN communication circuit, one or more CAN communication system DTCs are stored.

DTC No. Detection Item DTC Detection Condition Trouble Area MIL
U0104-87 Lost Communication with Cruise Control Module Missing Message w/o Full-speed range following function: 
  • While the vehicle speed is 40 km/h (25 mph) or more and the dynamic radar cruise control system is operating, a communication error between the driving support ECU assembly and hybrid vehicle control ECU is detected for 1 second or more.

w/ Full-speed range following function: 
  • While the vehicle speed is 5 km/h (3 mph) or more and the dynamic radar cruise control system is operating, a communication error between the driving support ECU assembly and hybrid vehicle control ECU is detected for 1 second or more.
  • CAN communication system
  • Hybrid vehicle control ECU
  • Driving support ECU assembly
  • Network Gateway ECU
Does not come on
U0122-87 Lost Communication with Vehicle Dynamics Control Module Missing Message When the power switch is on (IG) and the dynamic radar cruise control system is operating, a communication error between the skid control ECU (brake booster with master cylinder assembly) and the hybrid vehicle control ECU is detected for approximately 2.6 seconds or more.
  • CAN communication system
  • Hybrid vehicle control ECU
  • Skid control ECU (brake booster with master cylinder assembly)
  • Network Gateway ECU
Does not come on
U0293-87 Lost Communication With Hybrid Powertrain Control Module Missing Message w/o Full-speed range following function: 
  • While the vehicle speed is 36 km/h (22 mph) or more and the dynamic radar cruise control system is operating, the hybrid vehicle control ECU continuously receives a communication cut-off signal from the skid control ECU (brake booster with master cylinder assembly) for approximately 1 second or more.

w/ Full-speed range following function: 
  • While the vehicle speed is 5 km/h (3 mph) or more and the dynamic radar cruise control system is operating, the hybrid vehicle control ECU continuously receives a communication cut-off signal from the skid control ECU (brake booster with master cylinder assembly) for approximately 1 second or more.
  • CAN communication system
  • Hybrid vehicle control ECU
  • Skid control ECU (brake booster with master cylinder assembly)
  • Network Gateway ECU
Does not come on