2026-04-23

Camera - Bi - Forward Facing (HW4) (Remove and Replace)

Correction code 17221002 0.30 NOTE: Unless otherwise explicitly stated in the procedure, the above correction code and FRT reflect all of the work required to perform this procedure, including the linked procedures. Do not stack correction codes unless explicitly told to do so. NOTE: See Flat Rate Times to learn more about FRTs and how they are created. NOTE: See Personal Protection to make sure proper PPE is worn when performing the below procedure.

  • 2026-04-23: Updated camera update routine.
  • 2026-03-02: Updated calibration steps to use ServiceUI.

Remove

  1. Open the LH front door and lower the LH front window.
  2. Enable Service Mode. See Service Mode (Enable and Disable).
  3. Remove the rear view mirror. See Mirror - Rear View (Remove and Replace).
  4. Remove the upper camera cover. See Upper Cover - Rear View Mirror (Remove and Replace).
  5. Release the glare shield assembly from the windshield bracket, and with the electrical harness still connected, set the glare shield assembly aside. See Glare Shield - Autopilot (Remove and Replace).
  6. Remove the screws (x4) that attach the bi-camera assembly to the windshield, and then allow the bi-camera to hang by the harness.
    0.8 Nm (7 lbs-in)
    Informational PurposesAn informational icon, calling your attention
    TIp
    Use of the following tool(s) is recommended:
    • T10 bit
  7. Disconnect the electrical connectors (x2) from the bi-camera assembly, and then remove from the bi-camera from the vehicle.
    Informational PurposesAn informational icon, calling your attention
    Note
    The bi-camera assembly has cutouts for 3 camera lens assemblies, but one of the cutouts is populated with a dummy camera.
    Informational PurposesAn informational icon, calling your attention
    TIp
    Use of the following tool(s) is recommended:
    • Small flathead screwdriver

Install

  1. Use glass cleaner to clean the inside surface of the windshield.
  2. Connect the electrical connectors (x2) to the bi-camera assembly.
    Informational PurposesAn informational icon, calling your attention
    Note
    The bi-camera assembly has cutouts for 3 camera lens assemblies, but one of the cutouts is populated with a dummy camera.
  3. Install the screws (x4) that attach the bi-camera assembly to the windshield.
    0.8 Nm (7 lbs-in)
    Warning IconA warning icon, calling your attention to a possibly risky situation
    CAUTION
    Make sure not to trap any electrical harnesses between the bi-camera assembly and the windshield.
    Informational PurposesAn informational icon, calling your attention
    TIp
    Use of the following tool(s) is recommended:
    • T10 bit
  4. Install the glare shield assembly. See Glare Shield - Autopilot (Remove and Replace).
  5. Install the upper camera cover. See Upper Cover - Rear View Mirror (Remove and Replace).
  6. Unlock the vehicle gateway. See Gateway (Unlock).
  7. Run PROC_DAS_X_CLEAR-CALIBRATIONvia Service Mode:
    • Driver Assist ➜ Cameras ➜ Clear Camera Calibration
    • Driver Assist ➜ Driverless ➜ Clear Calibration
    via Toolbox:(link)
  8. Run PROC_DAS_X_UPDATE-CAMERAvia Service Mode:Driver Assist ➜ Cameras ➜ Update Cameravia Toolbox:(link)
  9. Perform the forward facing camera pitch verification. See Camera - Forward Facing (Pitch Verification).
  10. Install the rear view mirror. See Mirror - Rear View (Remove and Replace).
  11. Disable Service Mode. See Service Mode (Enable and Disable).
  12. Raise the LH front window and close the LH front door.
  13. Inform the customer that the vehicle needs to be driven by the customer to complete the calibration procedure.
    Informational PurposesAn informational icon, calling your attention
    Note
    Self-calibration can take up to 100 miles (160 km) of manual driving, depending upon the road type and condition. Until self-calibration is complete, the message "Autopilot Features Currently Unavailable: Manual Driving Required While Camera Is Calibrating" is displayed if an attempt is made to engage an Autopilot feature.