Jerry, On your 2002 Toyota Highlander, the sensor is located behind the rear seat. The code you mentioned suggested replacing the yaw rate sensor. After installing the new part, there is a reset and relearn procedure. This is a repair we suggest having done at a reputable shop. Good luck.
〉 Answered on Jan 27th, 2015 by Maryann Croce, Owner at Croce’s Transmission Specialists
This replacement includes the use of an OBDII calibration tool.
When having replaced the yaw rate sensor, deceleration sensor or the ECU, make sure to perform yaw rate and deceleration sensors' zero point calibration. Be sure to complete this step 7. once it is started. During step 7., a not-replaced sensor also requires zero point calibration.
While obtaining the zero point, do not give any vibration to the vehicle by tilting, moving or shaking it and keep it in a stationary condition. (Do not start the engine.) Be sure to do this on a level surface (within an Inclination of 1 %).
a. Clear the zero points of the yaw rate and deceleration sensors.
1. Shift the shift lever to P range. 2. Turn the ignition switch ON in a stationary condition.
3. With the lit switch ON, using SST, repeat a cycle of short and open between terminals Ts and CG of DLC3 4 times or more within 8 sec . Check that the TRAC OFF indicator light is lit indicating the recorded zero point is erased. SST 09843-18040 4. Turn the ignition switch OFF.
b. Obtain zero point of the yaw rate sensor.
1. Make the terminals Ts and CG of DLC3 disconnected. 2. Turn the ignition switch ON.
HINT: The vehicle should be in a stationary condition with the shift lever in P range.
3. Check that the lit TRAC OFF indicator light goes off about 15 sec . after the ignition switch is turned ON.
HINT: Even if the ignition is not turned OFF in step (a)-(4) and remains ON, the yaw rate sensor zero point calibration can be completed. In this case, the TRAC OFF indicator light is lit for about 15 sec . and then starts blinking. (Normal code)
4. After ensuring that the TRAC OFF indicator light remains OFF for 2 sec ., turn the ignition switch OFF.
HINT: If the ignition switch is not turned OFF in step (a)-(4), make sure that the TRAC OFF indicator light blinks for 2 sec . Then turn the ignition switch OFF.
c. Perform deceleration sensor zero point calibration.
NOTE: After step (b) (the yaw rate sensor zero point calibration), the VSC warning light goes off. At this time, if the vehicle is driven without performing step (c) (deceleration sensor zero point calibration), deceleration sensor zero point calibration malfunction will be detected and the VSC warning light will light up. Therefore, perform step (c) right after step (b).
1. Using SST, connect the terminals Ts and CG of DLC3. SST 09843-18040 2. Turn the ignition switch ON.
HINT: Place the vehicle in a stationary condition with the shift lever in P range.
3. After turning the ignition switch ON, check that the VSC warning light is lit for about 4 sec . and then starts quick blinking at 0.13 sec . intervals. 4. After ensuring the blinking of the TRAC OFF indicator light for 2 sec ., turn the ignition switch OFF. 5. Remove the SST and make the terminals Ts and CG of DLC3 disconnected. SST 09843-18040
The terminals in the DLC it speaks of are pins
The pins are 14 and 4 of the DLC under the dash. Here is a link to download a picture of the connector with the pins numbered.
Read more: http://www.justanswer.com/toyota/6fflz-toyota-highlander-limited-2002-highlander-v6-o2-sensors.html#ixzz3U0RZACbY
〉 Answered on Feb 26th, 2015 by Amanda J. Pierce, MBA "AJ", Certified Mechanic, Project Coordinator; Primavera Scheduler at VIGOR Alaska Industrial Shipyard & BizzM3ch Solutions