AU
C006302

DTC C006302 indicates the IPB (Intelligent Integrated Braking System) receives an abnormal yaw rate sensor signal — Atto 8

Braking System

DTC C006302 indicates the IPB (Intelligent Integrated Braking System) receives an abnormal yaw rate sensor signal.

The ESP (Electronic Stability Program) system relies on the yaw rate sensor to detect the vehicle's real-time rotational angular velocity around the vertical axis (such as oversteer or understeer).

This fault means the IPB module receives CAN bus message 0x222 with a yaw signal that falls outside the valid range, is missing, or contains a checksum error.

This condition forces systems including the ESP, ABS, EPB (Electronic Parking Brake), and Automatic Emergency Braking into a degraded mode or complete failure, severely compromising vehicle dynamic stability control and driving safety.

The C006302 fault code on the Atto 8 indicates an abnormal yaw rate sensor signal received by the Intelligent Integrated Braking System. This is a medium-severity fault that can reduce ESP, ABS, EPB, and emergency braking performance. Common causes include a faulty yaw rate sensor or poor wiring/CAN communication due to corrosion, loose contacts, or short circuits. Visit an authorised dealer for diagnosis and repair. Typical repair cost data is available from recorded cases.
3
Cases Logged
5
Causes
Likely Causes — Atto 8
  • 1Yaw rate sensor (usually integrated into the IPB or mounted independently): internal circuit fault, component aging, or cold solder joint.
  • 2Poor contact, open circuit, short circuit, or oxidation from water ingress in the sensor power supply, ground, or CAN communication circuits.
  • 3Internal signal processing circuit fault in the IPB control module or outdated software version causing signal parsing errors.
  • 4Incorrect sensor calibration (zero-point offset) after a collision, severe jolting, or chassis repairs.
  • 5Severe electromagnetic interference or faults in other CAN network nodes causing abnormal signal transmission or message conflicts.
What To Do
  • 1
    Use the VDS diagnostic tool to read all fault codes. Check for accompanying C006102 (lateral acceleration), C006202 (longitudinal acceleration), or U-class communication fault codes to confirm the fault conditions.
  • 2
    Check the IPB system software version. If an update is available, upgrade to the latest version to rule out software defects.
  • 3
    Check the yaw rate sensor (or IPB module) power supply voltage (usually 12V) and verify the ground point resistance is less than 1Ω to ensure a stable power supply.
  • 4
    Use an oscilloscope to check the CAN bus (CAN-H and CAN-L) voltage and waveform. Confirm no short circuits, open circuits, or signal interference, and verify normal terminating resistance.
  • 5
    Check the sensor wiring harness connectors for looseness, backed-out pins, oxidation, or water ingress, especially those on the vehicle floor panel, under the seats, or on the IPB module.
  • 6
    If the wiring is normal, perform the yaw rate sensor zero-point calibration (use the diagnostic tool to access the IPB system special functions for calibration).
  • 7
    If calibration fails or the fault persists, replace the yaw rate sensor (if separate) or replace the IPB assembly (if integrated into the IPB).
  • 8
    After replacement, recalibrate the sensor, clear the fault codes, and perform a road test to verify normal ESP, EPB, and ABS operation.
Real-World Cases
BYD DTC AI Analysis

Song PLUS DM-i dash displays 'Check electronic parking system' with fault code C006302.

✓
The instrument cluster displayed "Check Electronic Parking System" and the electronic parking function malfunctioned; the fault persisted after power-off. Scanned the IPB system with VDS and found C006302 (Yaw Rate Signal Error) along with C006102 and C006202. Confirmed the IPB module version was latest and measured power at the IPB connector and CAN lines to the yaw rate sensor—all normal. Determined internal fault in the yaw rate sensor. Replaced the yaw rate sensor; fault cleared, system returned to normal.
Original source ↗
BYD DTC AI Analysis

Tang DM: ESP warning light illuminated after driving on rough roads, fault code C006302 stored.

✓
After driving on rough roads, the ESP warning light illuminated on the instrument panel and the electronic stability system failed. Retrieved DTC C006302 (Yaw Rate Signal Malfunction). Found the IPB module wiring harness connector loose. Reconnected and secured the harness to clear the DTC, but it returned after further driving. Further inspection found a dry solder joint inside the yaw rate sensor. Replaced the sensor assembly and recalibrated the system. Fault resolved completely.
BYD DTC AI Analysis

Han EV shows C006302 and ESP function limited after accident repair

✓
After front-end collision repairs, the dashboard displayed an ESP warning light. Retrieved DTC C006302. Inspected sensor wiring; no damage found. Power supply and ground were normal. Found that the IPB system yaw rate sensor zero-point calibration was not performed after the collision repairs, causing sensor zero-point offset. Performed sensor calibration using a diagnostic tool (vehicle must be on level ground with steering wheel centered), cleared the DTC, and ESP function returned to normal.
Other Atto 8 Fault Codes
B110811This DTC indicates a short circuit in the air conditioning system PM2.5 air quality sensor (rapid detector). Specifically, abnormal continuity exists between the sensor power supply circuit or signal output circuit and body ground or battery positive. This causes the control module (ACU/air conditioning controller) to detect abnormal current or a voltage signal outside the valid range (typically 0V or supply voltage). The PM2.5 sensor monitors internal and external particulate concentrations, providing the data the automatic air conditioning system uses to switch between fresh air and recirculation modes. A short circuit disables the air quality monitoring function. This fault may force the air conditioning system into recirculation protection mode and trigger related thermal management system faults, as the air conditioning system acts as a key actuator in vehicle thermal management. In severe cases, the short circuit current can damage the internal sampling circuit of the air conditioning controller or overheat the wiring harness.B1109DTC B1109 indicates an open circuit in the communication line between the air conditioning system PM2.5 air quality sensor (dust concentration sensor) and the air conditioning control unit (AC ECU), or an open circuit within the sensor internal circuitry. Typically located in the air conditioning intake duct, this sensor monitors real-time PM2.5 particle concentration inside and outside the vehicle. It provides data to the automatic air conditioning system for intelligent switching between fresh air and recirculation modes and for controlling the air purification device. During an open circuit fault, the AC ECU cannot receive the air quality signal, triggering the system fail-safe mode. Symptoms typically include failure of the automatic recirculation function, abnormal air purification indicator light operation, or abnormal air quality data displayed on the air conditioning panel. Severe cases may compromise the cabin environment control strategy, but do not directly affect vehicle driving safety.B110A02DTC B110A02 indicates the thermal management master control unit (HVAC ECU) or body control module (BCM) failed to receive valid CAN data frames from the PM2.5 air quality sensor over consecutive communication cycles (typically 500ms per cycle). The sensor typically mounts at the HVAC unit air inlet or behind the glove box and transmits real-time particulate concentration data (unit: μg/m³) to the HVAC controller via the CAN bus. The fault is essentially a communication link layer timeout. Potential causes include physical layer wiring faults, sensor power supply failures, sensor internal MCU lockup, or CAN network topology damage. Although this non-critical fault does not directly affect driving safety, it disables the intelligent air purification strategy and the automatic fresh air/recirculation switching function. In extreme cases, it triggers a thermal management system degraded mode, limiting compressor power or fixing the air flap position.B110B07This fault code indicates abnormal operation of the internal air pump (sampling pump) in the PM2.5 air quality detection module. The PM2.5 detector uses the laser scattering principle to measure particulate concentration and requires a built-in air pump to draw ambient air into the detection chamber at a constant flow rate. The ECU sets this code when it detects an open or short in the air pump drive circuit, abnormal current (stall or free-running), or abnormal speed feedback. This fault causes the automatic air conditioning system to lose air quality sensing capability, preventing automatic switching between fresh air and recirculation modes. The instrument cluster air quality display may show '--' or a fixed value, but the fault does not affect the vehicle powertrain or basic air conditioning cooling and heating functions.B173CDTC B173C indicates the Supplemental Restraint System (SRS) detects the Right Second Row Side Airbag squib circuit resistance exceeds the calibrated threshold (typically >4.5Ω). This fault is an active diagnostic result of the SRS system, indicating a high-resistance condition in the circuit between the Airbag Control Unit (ACU) and the airbag module. Causes for excessive resistance include increased contact resistance, a partially broken wiring harness, terminal oxidation, or an aging squib wire inside the airbag module. This fault causes the system to mark the airbag circuit as 'unreliable', meaning the airbag may fail to deploy during a collision. The fault typically illuminates the instrument cluster airbag warning light (SRS light) continuously, and some models also sound a warning buzzer.
Common problems reported for Atto 8 →Atto 8 overview →
Data confidence: Official This information is for reference only. Always consult a qualified technician for diagnosis and repair. Do not attempt high-voltage system repairs yourself.