AU
C006302

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

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.

3
Cases Logged
5
Causes
Likely Causes — Qin Plus
  • 1Yaw rate sensor (typically integrated into the IPB or mounted separately): internal circuit fault, component aging, or poor solder joint.
  • 2Poor contact, open circuit, short circuit, or oxidation from water ingress in the sensor power supply, ground, or CAN communication circuits.
  • 3IPB control module internal signal processing circuit fault, or outdated software causing signal interpretation errors.
  • 4Incorrect sensor calibration (zero-point offset) after a vehicle collision, severe jolting, or chassis repair.
  • 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 eliminate software defects.
  • 3
    Check the yaw rate sensor (or IPB module) power supply voltage (typically 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 waveforms. 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 located 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 (access the IPB system special functions via the diagnostic tool).
  • 7
    If calibration fails or the fault persists, replace the yaw rate sensor (if standalone) or the IPB assembly (if the sensor is integrated into the IPB).
  • 8
    After replacement, recalibrate the sensor, clear the fault code, and perform a road test to verify ESP, EPB, and ABS functions are restored.
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 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.