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C006102

DTC C006102 indicates the Intelligent Power Brake (IPB) system received a lateral acceleration (Ay) sensor signal outside the plausible range or with an abnormal status — Qin Plus

Braking System

DTC C006102 indicates the Intelligent Power Brake (IPB) system received a lateral acceleration (Ay) sensor signal outside the plausible range or with an abnormal status.

This sensor typically integrates with the longitudinal acceleration (Ax) sensor and yaw rate sensor into a single inertial sensor module mounted in the center of the vehicle chassis or under a seat.

It provides a key input signal for the Electronic Stability Control (ESC) system, Anti-lock Braking System (ABS), and electronic parking system.

When this fault triggers, the IPB system cannot accurately obtain the vehicle's lateral dynamic parameters, limiting or disabling the body stability control function.

This condition may also trigger a chain reaction fault in the electronic parking system, severely compromising vehicle stability and safety during cornering or emergency evasive maneuvers.

The '02' suffix in the fault code indicates a signal plausibility error, meaning the signal value logically conflicts with the vehicle's actual condition or data from other sensors.

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Cases Logged
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Causes
Likely Causes — Qin Plus
  • 1Inertial sensor (yaw rate sensor) internal circuit fault or damaged MEMS sensing element, causing deviation or distortion in the lateral acceleration signal output.
  • 2The sensor mounting bracket is loose, deformed, or misaligned (e.g., due to chassis bottoming out or unrepaired collision damage), causing the sensor reference plane to deviate from the vehicle's actual horizontal plane.
  • 3Poor contact at the sensor wiring harness connector, backed-out terminals, oxidized or corroded pins, or a damaged wiring harness, causing abnormal signal transmission impedance or an intermittent open circuit.
  • 4Failure to perform the inertial sensor calibration procedure after accident repairs or sensor replacement, resulting in a zero-point offset or measurement range error.
  • 5IPB control module internal signal processing circuit fault or software version defect causes abnormal sensor signal sampling, filtering, or CAN message parsing.
What To Do
  • 1
    Use the dedicated diagnostic tool (VDS2000/3000) to read all IPB system fault codes, check if C006202 (longitudinal acceleration signal fault), C006302 (yaw rate signal fault), or C006108 (signal fault) are also present, and record freeze frame data.
  • 2
    Visually inspect the inertia sensor appearance and installation condition. Confirm the mounting bracket is not deformed, the bolts are secure (standard torque: 9-11 N·m), and the sensor arrow mark points in the vehicle's forward direction.
  • 3
    Check the sensor wiring harness connector (usually 24-pin) for a secure connection. Disconnect the plug and inspect the terminals for backed-out pins, corrosion, or water ingress. Measure the plug supply voltage; it must be 12V±0.5V and stable without fluctuation.
  • 4
    If the wiring is normal, swap an inertia sensor of the same model for cross-validation. If installing a new sensor, execute the 'Inertia Sensor Calibration' or 'Yaw Rate Sensor Calibration' procedure: park the vehicle on level ground, use the diagnostic tool to enter the IPB system special functions menu, and follow the prompts to complete the sensor zero-point and level learning.
  • 5
    If the fault is intermittent, simulate rough road conditions (raise the vehicle and gently shake the wiring harness) and monitor the signal data stream. Verify the Ay signal value is near 0m/s² (within ±0.3) when the vehicle is stationary, and matches the steering angle and vehicle speed logic while driving.
  • 6
    After completing the repair, clear the fault code and perform a road test (including straight-line driving, cornering, and emergency lane changes) to confirm ESC/ABS functions operate normally and the fault code does not return.
Real-World Cases
BYD DTC AI Analysis

Yaw rate sensor internal fault triggered C006102

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Owner reported the instrument panel displayed "Check Electronic Parking System". The fault persisted after power cycling. Scanned vehicle systems with a diagnostic tool; the Integrated Power Brake (IPB) logged DTCs C006102 (IPB 0x223 message Ay signal value error), C006202 (IPB 0x223 message Ax signal value error), and C006302 (IPB 0x222 message Yaw signal value error). All module software versions were current. IPB connector power supply measured normal. Yaw Rate Sensor (integrated lateral acceleration sensor) power supply and CAN lines measured normal. Determined internal fault in the Yaw Rate Sensor. Replaced the Yaw Rate Sensor assembly (located in the centre of the vehicle chassis or beneath the seat, integrating lateral and longitudinal acceleration sensors). Fault resolved.
Original source ↗
BYD DTC AI Analysis

Loose inertial sensor mounting caused signal anomaly

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ESP warning light suddenly illuminated while driving, with the instrument cluster displaying 'Check ESP System' and 'Check Electronic Parking System' messages. Driver noticed abnormal stability control intervention during cornering. Connected a scan tool and retrieved IPB system DTCs: C006102 (Lateral Acceleration Sensor Signal Value Error) and C006108 (Lateral Acceleration Sensor Signal Fault). Checked IPB module power supply (12V) and ground—both normal. CAN bus communication waveforms showed no abnormalities. Lifted the vehicle and found the yaw rate sensor (inertial sensor) mounting bracket bolts loosened from underbody scrape damage, shifting the sensor position and causing the lateral acceleration signal (Ay) output to exceed acceptable limits. Re-aligned the yaw rate sensor mounting position, tightened the mounting bolts to specified torque (9-11N·m), performed the 'Yaw Rate Sensor Calibration' procedure using the factory scan tool, cleared the fault codes, and road tested with normal results.
BYD DTC AI Analysis

Poor contact at sensor wiring harness connector

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Vehicle intermittently displayed electronic parking system fault warnings, especially after driving on bumpy roads. Scanned the IPB system and found stored historical DTCs C006102 (lateral acceleration signal value error) and C006164 (signal status bit error). The yaw rate sensor showed no external damage, but measuring the supply voltage revealed occasional jumps (should be stable 12V). Further inspection found a backed-out terminal at pin 15 (Ay signal line) inside the 24-pin sensor harness connector, causing excessive contact resistance and signal distortion. Reseated the backed-out terminal and repaired the connector, replacing the entire sensor harness plug if necessary. Confirmed good contact, cleared the DTCs, and resolved the fault.
BYD DTC AI Analysis

C006102 caused by failure to calibrate sensor after accident repair

✓
After a front-end collision and repairs (replacement of front bumper, radiator support, etc.), the instrument cluster displayed persistent "Check Electronic Parking System" and "ESP Fault" warnings. The vehicle drove normally, but the stability system did not function. A scan tool retrieved IPB DTCs C006102 (Lateral Acceleration Signal Error) and C051D01 (IPB Yaw Rate Sensor Calibration Error). The yaw rate sensor—new, replaced during the accident repairs—had no external damage and the wiring harness connections were normal. Repair history showed the sensor had not been recalibrated after replacement. The technician parked the vehicle on level ground, connected a dedicated diagnostic tool (VDS2000/3000), and accessed the IPB system. They ran the "Inertial Sensor Calibration" or "Yaw Rate Sensor Calibration" routine, followed the prompts to complete the vehicle level calibration and sensor zero-point learning, and cleared the DTCs after successful calibration. The warning lights went out and the system returned to normal.
Other Qin Plus Fault Codes
B1108For the BYD Song MAX (2017–2019), DTC B1108 indicates a short circuit in the PM2.5 air quality detection module (dust sensor) or its wiring harness. The sensor uses laser scattering to detect in-cabin and outside PM2.5 concentrations and transmits data to the HVAC ECU via the LIN bus or an analog signal. Short circuit conditions include: 1) Sensor power supply wire (+5V/+12V) shorted to ground 2) Signal wire shorted to power or ground 3) Short circuit in the sensor's internal photoelectric detection circuit This fault prevents the automatic climate control from switching between fresh air and recirculation based on air quality. The system enters fail-safe mode (typically forced recirculation). Severe short-circuit current can destroy the HVAC ECU sampling circuit. The system classifies this as a Level 3 severe fault and restricts vehicle operation to prevent electrical fires or controller damage. For other BYD models (such as the Qin EV, E5, and Song DM), B1108 indicates a driver-side sunload sensor fault, reflecting differences in DTC definitions across models.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.B110913DTC B110913 indicates an open signal circuit for the PM2.5 rapid detector (in-cabin air quality sensor). This sensor typically mounts inside the air conditioning system intake duct. It monitors in-cabin PM2.5 concentration in real time and provides data to the automatic air conditioning system for intelligent control of the air purification function. The BYD diagnostic protocol uses sub-code '13' to specifically indicate an open signal circuit. Although this fault theoretically affects a comfort feature, BYD Qin series vehicles classify it as a Level 3 (severe) fault. This classification occurs because the air conditioning system interacts with the battery thermal management system (e.g., monitoring battery cooling intake air quality). The fault can disable the automatic air conditioning mode and prevent the air purification function from operating. In extreme cases, it affects the battery compartment intake air quality assessment, triggering the 'repair immediately' strategy.B110AThis DTC indicates interrupted CAN bus communication or abnormal data between the air conditioning control unit (ACU) and the PM2.5 air quality sensor. The PM2.5 sensor monitors particulate concentration inside and outside the vehicle and provides the basis for purification control in the automatic air conditioning system. The ACU triggers this fault if it fails to receive a valid CAN message from the sensor within the specified period (usually 100-500 ms), if message verification fails, or if the signal frame times out. Although this fault does not affect vehicle driving safety, it disables the automatic air purification function. The air conditioning system cannot automatically switch between recirculation and fresh air modes or activate the air purification mode based on air quality. A persistent fault may restrict the thermal management strategy.
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.