U170087 - TroubleshootingU170087-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
U170087	There is a fault in the Ethernet communication with the INU and the message is lost.与INU以太网通信存在故障，报文丢失	1. The communication link is disconnected1.通信链路断开
		2. There is a problem with the Ethernet software of the ADC or INU2.ADC或INU的以太网软件有问题

Troubleshooting steps故障诊断步骤

①General inspection一般检查

1. Check whether the Ethernet communication harness of the autonomous driving domain controller is damaged or broken.检查自动驾驶域控制器以太网通讯线束是否存在损坏、断裂等现象。 2. Check whether there is any loose connection or damage to the wiring harness connector.检查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 faulty communication harness or connector.维修或更换故障通讯线束或接插件。

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 the integrated inertial navigation module fault code检查组合惯性导航模块故障码

1. Use a diagnostic tool to read the fault code of the integrated inertial navigation module and check whether there is a fault in the integrated inertial navigation module.使用诊断仪读取组合惯性导航模块故障码，检查组合惯性导航模块是否存在故障。 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 Troubleshoot the combined inertial navigation module fault according to the fault code.根据故障码排除组合惯性导航模块故障。

④Check the INU Ethernet communication cable检查INU以太网通信电缆

1. Check whether the INU Ethernet communication cable is normal.检查INU以太网通信电缆是否正常。 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 Replace the INU Ethernet communication cable.更换INU以太网通信电缆。

⑤Replacing 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。