L-SB-0121-17

April 10, 2017

Lexus Safety System+ Front Camera Optical Axis
Learning Information
Service
Category

Vehicle Interior

Section

Pre-Collision Safety

Market USA

Applicability
YEAR(S)

MODEL(S)

ADDITIONAL INFORMATION

2016 - 2017

ES300H, ES350, GS F,
GS200T, GS350, GS450H,
LX570, RX350, RX450H

Introduction

This Service Bulletin includes precautions and key points for the Lexus Safety System+ front
camera adjustment/learning procedures.
Situations in which front camera optical axis learning is necessary:
 The front camera has been replaced.
 The windshield glass has been replaced or removed and installed.
 When the following DTC is output:
Lexus Safety System+:
 C1AA9: Front Camera Module Beam Axis NOT Adjusting.
Contents
SUBJECT

PAGE

Adjustment Procedure

2

Purpose of Front Camera Optical Axis Learning

3

Characteristics of the Front Camera

4

Hints for Performing Optical Axis Learning

7

How to Prevent a Background Object From Being Recognized as a Target

13

Warranty Information
OP CODE

DESCRIPTION

TIME

OFP

T1

T2

N/A

Not Applicable to Warranty

–

–

–

–

© 2017 Lexus, a division of Toyota Motor Sales, USA

Page 1 of 14

L-SB-0121-17

April 10, 2017

Page 2 of 14

Lexus Safety System+ Front Camera Optical Axis Learning Information
Adjustment Procedure

Refer to the Technical Information System (TIS), applicable model and model year Repair Manual
for the adjustment procedure:


2016 – 2017 ES 300h:
Engine/Hybrid System – Cruise Control – “Cruise Control: Front Camera: Adjustment”



2016 – 2017 ES 350:
Engine/Hybrid System – Cruise Control – “Cruise Control: Front Camera: Adjustment”



2016 – 2017, GS F:
Engine/Hybrid System – Cruise Control – “Cruise Control: Front Camera: Adjustment”



2016 – 2017 GS 200t:
Engine/Hybrid System – Cruise Control – “Cruise Control: Front Camera: Adjustment”



2016 – 2017 GS 350:
Engine/Hybrid System – Cruise Control – “Cruise Control: Front Camera: Adjustment”



2016 – 2017 GS 450h:
Engine/Hybrid System – Cruise Control – “Cruise Control: Front Camera: Adjustment”



2016 – 2017 LX 570:
Engine/Hybrid System – Cruise Control – “Cruise Control: Front Camera: Adjustment”



2016 – 2017 RX 350:
Engine/Hybrid System – Cruise Control – “Cruise Control: Front Camera: Adjustment”



2016 – 2017 RX 450h:
Engine/Hybrid System – Cruise Control – “Cruise Control: Front Camera: Adjustment”

© 2017 Lexus, a division of Toyota Motor Sales, USA

L-SB-0121-17

April 10, 2017

Page 3 of 14

Lexus Safety System+ Front Camera Optical Axis Learning Information
Purpose of Front Camera Optical Axis Learning

If the installation position or orientation of
the front camera is changed due to it being
replaced with a NEW camera, or the windshield
glass sub-assembly being replaced or removed
and installed, it is necessary to perform front
camera optical axis learning for the front camera
to learn the driving direction of the vehicle and
its horizontal axis in order for each driving
support system (Pre-Collision System [PCS],
Lane Departure Alert [LDA], and Automatic High
Beams [AHB], etc.) to operate correctly.
Figure 2. Front Camera Reused AFTER Replacement
or Removal/Installation of Windshield Glass
Sub-Assembly BEFORE Adjustment

Figure 1. NEW Camera BEFORE Adjustment

Figure 3. AFTER Adjustment
1

1

1

Previously Learned Optical Axis

1

Learned Optical Axis

Figure 4. AFTER Adjustment

2
1

1

Driving Direction

2

Horizontal Plane

© 2017 Lexus, a division of Toyota Motor Sales, USA

L-SB-0121-17

April 10, 2017

Page 4 of 14

Lexus Safety System+ Front Camera Optical Axis Learning Information
Characteristics of the Front Camera

1. How the front camera recognizes a target:
The front camera operates through
recognition of differences in contrast.
A high contrast checkered flag pattern target
is used when performing learning.

Figure 5.

2. How differences in contrast are recognized by the front camera:




What the front camera recognizes as high contrast is NOT limited to what appears as black
and white to the human eye.
Depending on how light strikes the target used for learning, the white part of the target may
look dark to the front camera and the contrast will be detected as low.
If there are overhead lights, windows, reflective objects, or high contrast objects behind the
target, the contrast will be detected as high.

Figure 6. Image Seen by Human Eye

Figure 7. Image Processed by Camera

© 2017 Lexus, a division of Toyota Motor Sales, USA

L-SB-0121-17

April 10, 2017

Page 5 of 14

Lexus Safety System+ Front Camera Optical Axis Learning Information
Characteristics of the Front Camera (Continued)
Figure 8.

1

2

1

Overhead Lights

2

Front Camera Detection Area

Figure 9. Image Seen by Human Eye

Figure 10. Contrast is Low Due to Insufficient
Light Striking the Target

Figure 11. Image Seen by Human Eye

Figure 12. In the Image Processed by the Camera,
the Difference in Contrast Between the Target and
Objects in the Background is High

1
2

1

Window and Window Frames

2

Reflective Objects Near the Windows

© 2017 Lexus, a division of Toyota Motor Sales, USA

L-SB-0121-17

April 10, 2017

Page 6 of 14

Lexus Safety System+ Front Camera Optical Axis Learning Information
Characteristics of the Front Camera (Continued)

Figure 13. Image Seen by Human Eye

Figure 14. In the Image Processed by the Camera,
the Difference in Contrast Between the Target and
Objects in the Background is High

1

2

1

Overhead Lights

2

White Vehicle Body and Interior Shadow

© 2017 Lexus, a division of Toyota Motor Sales, USA