HI, I went on a 30 minutes drive on the highway the other day and the check engine light came on. Checking the code my car threw me all this
B10A2
U0151
U0405
U0167

other than that the car seem to run fine.

 

Google is your friend!

http://obdii.pro/en/code/{enter code number here} e.g. OBDII diagnostics. Trouble code definition for code U0167. Causes of error U0167

B10A2 - CRASH INPUT
U0151 - Lost Communication With Restraints Control Module
U0405 - Invalid Data Received From Cruise Control Module
U0167 - Lost Communication With Vehicle Immobilizer Control Module

I literally know nothing about CANBUS and cars but I know a bit about networks in general, so I would guess that something bad happened on the CANBUS. Cable damage? Others can say if this is something you can check out for yourself or if a trip to the dealer is needed. Might be interesting to see if your cruise control is still working...

 

I read the code and erased them run around with the cars for weeks and they haven't came back. don't know what happen or what cause this but .. I mean it's a jag after all so ...

 

It's all cars. Nothing going on here. Move on.