U013187 - TroubleshootingU013187-故障诊断

Fault code description故障码说明

DTC故障码(DTC)	Fault code description故障码描述	Possible cause of failure可能故障原因
U013187	There is a fault in communication with EPS and messages are lost.与EPS通讯存在故障，报文丢失	1. Lost communication with EPS1.与EPS丢失通信

Troubleshooting steps故障诊断步骤

①General inspection一般检查

1. Check whether the ACANFD communication harness is damaged or broken.检查ACANFD通讯线束是否存在损坏、断裂等现象。 2. Check the ACANFD communication harness connector for loose connections or damage.检查ACANFD通讯线束接插件是否存在虚接、损坏等现象。 Are the test results normal?检查结果是否正常？ Yes是 Go to step 2.去步骤2。 No否 Repair or replace the faulty communication harness.维修或更换故障通讯线束。

②Power on check上电检查

1. Repower the vehicle, use the diagnostic tool to read and clear the fault codes, and check whether the fault codes and symptoms are eliminated.车辆重新上电，使用诊断仪读取并清除故障码，检查故障码及症状是否排除。 Are the test results normal?检查结果是否正常？ Yes是 Fault resolved.故障排除。 No否 Go to step 3.去步骤3。

③Check for electromagnetic interference检查电磁干扰

1. Check for sources of magnetic fields around the vehicle.检查车辆周围是否存在磁场源。 Are the test results normal?检查结果是否正常？ Yes是 Go to step 4.去步骤4。 No否 Move the vehicle away from its current environment.使车辆驶离当前环境。

④Check the Autopilot Domain Controller检查自动驾驶域控制器

1. Use a diagnostic tool to read the fault code of the autonomous driving domain controller and check whether there is a fault on the autonomous driving domain controller.使用诊断仪读取自动驾驶域控制器故障码，检查自动驾驶域控制器是否存在故障。 Are the test results normal?检查结果是否正常？ Yes是 Go to step 5.去步骤5。 No否 Troubleshoot according to the fault code.根据故障码排除故障。

⑤Check the electric power steering system检查电动助力转向系统

1. Check whether the electric power steering system is normal.检查电动助力转向系统是否正常。 Are the test results normal?检查结果是否正常？ Yes是 Go to step 6.去步骤6。 No否 Overhaul the electric power steering system.检修电动助力转向系统。

⑥Replace forward radar更换前向雷达

1. Replace with a new forward radar and check whether the fault code and symptoms are eliminated.更换新的前向雷达，检查故障码及症状是否排除。 Are the test results normal?检查结果是否正常？ Yes是 Fault resolved.故障排除。 No否 Look for causes from other symptoms.从其他症状查找原因。   Caution:注意： ♦  After replacing the forward radar, you need to use a diagnostic tool to recalibrate the forward radar.更换前向雷达后，需用诊断仪对前向雷达重新标定。