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While searching for information on advanced driver assistance systems (ADAS) on an OEM repair information site, you may come across unique calibration procedures or events. These events can vary by year and model, even within a particular make. As the RTS team has been researching these systems, we have been identifying these atypical circumstances. In order to help you better understand them, we are putting together a series of articles that help with the repair and calibration of ADAS. Let’s take a closer look at Toyota/Lexus vehicle control history codes.
You may notice while repairing Toyota/Lexus vehicles that there are ADAS error messages displayed on the dash. However, when you connect the scan tool, no diagnostic trouble codes (DTC) are shown for those particular ADAS cameras/sensors.
This is because depending on what causes the error message, it could be setting a vehicle control history code instead of a DTC. Vehicle control history is also known as Record of Behavior (RoB).
These RoB codes may not appear in a pre- or post-scan diagnostic report. Clearing DTCs may not clear the RoB and as a result will not clear the error messages and can cause vehicle systems to be disabled. Toyota/Lexus service information provides a list of these error messages, and their corresponding RoB code. These codes typically start with an "X".
The vehicle control history information is found in the same area as the DTC information in most 2023 and newer Toyota/Lexus vehicle-specific service manuals, and some 2022 and older. For example, the blind spot detection RoB code chart for a 2024 Toyota RAV4 Prime is found in the Repair Manual ➤ Audio/Visual/Telematics > Park Assist/Monitoring ➤ Blind Spot Monitor System ➤ Vehicle Control History document.
Here you can see the chart that describes the error message on the dash, the RoB code associated with it, what the code means, and if applicable a link to any necessary procedures (like ADAS calibration). Here is one example of what you can find in the Vehicle Control History document from above:
- If a "Blind Spot Monitor Malfunction Visit Your Dealer" message is displayed, and the RoB code shown is X2172, this means that:
- "Rear Side Radar Sensor (Module "B") Beam Axis Not Adjusted"
- "Blind spot monitor sensor adjustment was not performed"
The document also shows how to view the vehicle control history (RoB) codes in the Toyota TechStream scan tool.
It is important to always follow OEM procedures for repairs and calibration. Finding this information quickly and efficiently contributes to a complete, safe, and quality repair.
Additional I-CAR Collision Repair News you may find helpful:
- ADAS, Calibration, And Scanning Article Hotspot
- Calibration Research Tips
- Collision Information Website Access: Toyota/Lexus/Scion
- Locating ADAS Information: Toyota/Lexus - UPDATE
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Article validated in 2025