B1E4B9C - TroubleshootingB1E4B9C-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
B1E4B9C	The front lidar is faulty and the sensor is blind.前激光雷达存在故障，传感器失明	1. There is mud/snow/ice covering the FOV area, or continuous glare1.有泥土/雪/冰覆盖FOV区域，或持续炫光

Troubleshooting steps故障诊断步骤

①Power 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 → Fault resolved.是>>故障排除。 No → Go to step 2.否>>去步骤2。

②Clean forward lidar清洁前向激光雷达

1. Clean the forward lidar, use a diagnostic tool to read and clear the fault codes, and check whether the fault codes and symptoms are eliminated.清洁前向激光雷达，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 → Fault resolved.是>>故障排除。 No → Go to step 3.否>>去步骤3。

③Replacing forward-facing lidar更换前向激光雷达

1. Replace with a new forward-facing lidar and check whether the fault code and symptoms are eliminated.更换新的前向激光雷达，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 → Fault resolved.是>>故障排除。 No → Go to step 4.否>>去步骤4。

④Replacing the autonomous driving domain controller更换自动驾驶域控制器

1. Replace with a new autonomous driving domain controller and check whether the fault code and symptoms are eliminated.更换新的自动驾驶域控制器，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 autonomous driving domain controller, you need to use a diagnostic tool to recalibrate the autonomous driving domain controller.更换自动驾驶域控制器后，需用诊断仪对自动驾驶域控制器重新标定。