Intermittent failure, system is OK at this time. Check for loose terminals between the brake pedal position switch 4P connector, the ECM connector A (49P) (L13Z1 engine model) or ECM/PCM connector A (44P) (except L13Z1 engine model), and the VSA modulator-control unit 46P connector.
Refer to intermittent failures troubleshooting.
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Turn the ignition switch to LOCK (0).
Disconnect the brake pedal position switch 4P connector.