Ford - commaai/openpilot Wiki

Original URL: https://github.com/commaai/openpilot/wiki/Ford

Ford

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Important Information

This brand currently has limited openpilot support on the F150 and Fusion only through community maintained branches. Safety code is not working properly and should NOT be used without fully understanding the ramifications of such.

Ford currently has a steering lockout on the PSCM, and after 10 seconds, commands will drop for approximately 200-300ms. A fix has not yet been implemented.

Community Branches

The following members currently have Ford code. All code listed here is WIP and not expected to work 100%

https://github.com/bugsy924/openpilot/tree/ford

Supported Vehicles

Make Model Supported Package ACC No ACC accel below No LKA below No Lateral below
Ford F150 2015-Present Lariat or Higher Stock 12mph 35mph 10mph
Ford Fusion 2013-Present SE or Higher Stock 12mph 35mph 10mph

Make-Specific Terms

For general terms, go here.

Abbreviation Term Definition
AHBC Automatic High Beam Control
APA Active Park Assist
APIM Accessory Protocol Interface Module SYNC Screen
BLIS Blind Spot Information System
CADS Collision Avoidance Detection System ACC Radar Module for Stop/Go (IPMA does longitudinal calcs)
CCM Cruise Control Module ACC Radar Module for Non Stop/Go
CTA Cross Traffic Alert
DAS Driver Alertness System
FCIM Front Controls Interface Module SYNC Surround (Climate, Hazards, 360 Cam, Hill Descent)
GWM Gateway Module Gatekeeper for all CAN networks in the vehicle
HUD Head Up Display Used for the Collision Warning and Pre-Collision Assist
IPC Instrument Panel Cluster
IPMA Image Processing Module A LKAS Camera
PAM Park Aid Module
PCA Pre-Collision Assist
POA Parallel Park Out Assist APA Park Out
PSCM Power Steering Control Module
PPA Perpendicular Park Assist APA Perpendicular
SAPP Semi-Autonomous Parallel Park APA Parallel
SCCM Steering Column Control Module SWC Buttons
SODL Side Obstacle Detection Left BLIS Left Module
SODR Side Obstacle Detection Right BLIS Right Module
TCU Telematics Control Unit SYNC Connect LTE

openpilot Capabilities

Lateral Control

Control over the steering wheel.

Vehicles without LKAS can use openpilot, so long as the LKAS Enable bit is changed in the PSCM with Forscan. This will throw a recurring DTC for a missing IPMA, but will not show up on the IPC. Ford currently has a steering lockout on the PSCM, and after 10 seconds, commands will drop for approximately 200-300ms. A fix has not yet been implemented.

Torque

Minimum Speeds

Lateral Control is tied to the Cruise Control. On non Stop/Go vehicles, Lateral stops at 12mph, and can be manually engaged above 20mph. On Stop/Go vehicles, Lateral stops at 10mph.

Longitudinal Control

Control over the gas and brakes.

Most Ford/Lincoln vehicles do not support OP Longitudinal Control. The CCM on these vehicles (Non Stop/Go) interfaces directly with the HS2 CAN bus and cannot be intercepted. These vehicles run in Lateral Only mode.

Stop/Go Ford's can be intercepted, but this has not been tested.

Useful links

https://medium.com/@comma_ai/safer-control-of-steering-362f3526c9ab