Ford - commaai/openpilot Wiki

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Overview

Currently there is no official support for Ford/Lincoln vehicles in openpilot. Work to upstream support to openpilot is underway however support is currently provided through community maintained forks. Safety code is not always working properly and these forks should NOT be used without fully understanding the ramifications of such. Make sure to read Safer Control of Steering.

  • Vehicles with the option for "Lane Centering" (LCA) functionality from the factory are potential candidates for future support.

  • Vehicles without this feature are not currently suitable for use with openpilot as the alternative LKA method is subject to a steering lockout on the PSCM, and after 10 seconds, control will drop for approximately 200-300ms.

  • Almost all Ford vehicles support park assist commands, however this cannot be used for steering at speeds greater than 5mph.

Getting Started

If you want to help add support for potentially supported vehicle, you should buy some comma hardware (there is also the option of buying second hand!) and a development harness in order to build your own "Ford harness". The extra parts required vary depending on which IPMA your car has. If you need help, ask on Discord!


Table of Contents

Supported Vehicles

Support in openpilot

Support for these vehicles is being actively developed. All of these vehicles are "dashcam only" as panda safety code has not yet been upstreamed.

Lateral control is implemented using the LCA/TJA method allowing for steering down to 0mph. Currently, ACC is stock and OP long is not supported.

The vehicle should have the Adaptive Cruise package (or otherwise a radar/retrofit).

Potential Support

The vehicles below should theoretically be possible to support, provided they have the necessary hardware, but as of yet are untested and do not have any support in openpilot. If you have a vehicle with the option for "Adaptive Cruise with Stop/Go and Lane Centering", it should be possible to add support, as long as it comes with the necessary hardware (a radar, and electric brake booster ABS for stop-and-go ACC). Share it with us in the #ford channel on Discord and read Getting started.

Vision-only vehicles

These vehicles cannot be obtained with ACC (radar), however, they may be supported in the future when openpilot has "vision only" longitudinal (no radar), and code is written to replicate the ACC messages.

  • Ford Fiesta Mk8 2017+ ST

    The ST variant does not have space for the radar to be installed due to the intercooler.

CAN-FD Vehicles

These vehicles should theoretically be possible to support, but currently no CAN-FD vehicle is supported in openpilot, so may take longer to port. They also use the new IPMA with the MobileEye Q4 chip, which a different harness.

Community Branches

All code listed here is WIP and not expected to work 100%. These branches use the LKA method and are subject to the "10-second lockout".

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

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)
FDA Forward Distance Alert Follow distance warning if you are too close to the vehicle in front. Also known as Forward Alert (FA)
GWM Gateway Module Gatekeeper for all CAN networks in the vehicle
HUD Head Up Display Used for the Collision Warning and Pre-Collision Assist
iACC Intelligent Adaptive Cruise Control Combines TSR, ACC, and navigation data if present, to automatically adjust the cruise speed
IPC Instrument Panel Cluster aka instrument cluster, speedometer...
IPMA Image Processing Module A LKAS Camera
LCA Lane Centering Assist
PAM Park Aid Module
PCA Pre-Collision Assist
PSCM Power Steering Control Module
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

Operation of openpilot is tied to the stock cruise control being engaged/disengaged. Below is a table showing the range of speeds at which cruise control can be operated. With ACC SnG, openpilot can operate at the full range of speeds.

Transmission Stop and Go Min Engage Speed Disengage Speed
Manual - 20mph 12mph
Automatic No 20mph 12mph
Automatic Yes 0mph -

Lateral Control

Control over the steering wheel.

Method Min Steer Speed Max Steer Speed Notes
LKA 35mph - Lockout for 200-300ms every 10 seconds
LCA 0mph - Can only be used with compatible PSCM
APA 0mph 5mph Cannot be used over 5mph

Lane Keeping Aid (LKA)

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.

Minimum Speeds

Lateral Control with LKA 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.

Lane Centering Assist (LCA) / Traffic Jam Assist (TJA)

Some vehicles (those with the option for LCA/TJA from the factory, or otherwise a compatible PSCM) can use an alternate control method which does not have the steering lockout. The feature can be enabled on supported vehicles by changing the LCA/TJA Enable bit in the PSCM as-built data using Forscan.

Minimum Speeds

Lateral Control with LCA is functional down to 0mph.

Longitudinal Control

Control over the gas and brakes.

Newer vehicles

On newer vehicles, the IPMA calculates the ACC commands. It has a private CAN bus to the radar. This means we can intercept messages from the camera to the car using the same harness, and openpilot longitudinal is possible to implement.

Older vehicles

Most older 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 and Go vehicles can be intercepted, but this has not been tested.

Harnesses

In order to intercept the CAN messages from the IPMA we need to use a harness. There are a few known variants of the IPMA as Ford introduced new features.

Currently, comma does not sell any Ford harnesses so we have to build our own. You can buy the "Developer Harness" from comma (with the comma power, harness box and fully-wired harness with no connectors) and build your own harness.

Building a harness requires the dev harness, connectors (female connector for car side, and male connector to the camera) and crimp pins for attaching the dev harness wires to the connectors. You can use the information below (pinouts, part lists) to help you source these parts. The pinout for the 26-pin harness wire can be found on GitHub.

The CAN bus from the car should be connected to Panda CAN0, the CAN bus from the camera should be connected to Panda CAN2, and if there is a radar present then its private CAN bus should be connected to Panda CAN1.

Old style (14-pin)

This connector is present on the original IPMA which, as far as we know, does not support "Lane Centering" feature.

It is a 14-pin connector from Western Diversified Plastics, who do not sell the part to individuals.

However, STL files exist which can be used to 3D print the connectors. These have kindly been provided by Wahzoo#3094 on Discord. Download on Google Drive.

Lane Centering / MobileEye Q3 (12-pin)

Click here to reveal images

The newer IPMA contains the MobileEye Q3 chip and introduced the "Lane Centering" feature for vehicles with stop-and-go ACC. It is found on the newer vehicles as early as the Ford Fiesta Mk7 (EU) (Mk8 in UK). All vehicles with this IPMA are potentially supportable by openpilot provided they have, or have retrofitted, Adaptive Cruise Control.

Connector C9224 (IPMA) Pinout

Click here to reveal image

This is a Molex Mini50 Series 12-pin connector.

Pin Function Colour
1 LANE DEPARTURE WARNING HEATER FRONT WINDOW - BU-WH
2 -
3 RADAR CAN HIGH BN-BU
4 12V (IGNITION/ACCESSORY) BU-BN
5 GROUND BK-WH
6 -
7 -
8 LANE DEPARTURE WARNING HEATER FRONT WINDOW + BU-GY
9 CAN BUS HIGH SPEED 2 LOW GY-BU
10 CAN BUS HIGH SPEED 2 HIGH GN-OG
11 RADAR CAN LOW GY-BU
12 -

Parts

Name Part Manufacturer Links Notes
MINI50 CONN RCPT 12CKT NB NP BLK 0348240124 Molex WM10324-ND at DigiKey Harness connector
CONN HEADER R/A 12POS 2MM 0348260124 Molex WM10328-ND at DigiKey Harness receptacle
CONN SOCKET 24AWG CRIMP TIN 5600230421 Molex WM8745CT-ND at DigiKey Pins for harness connector

BlueCruise / MobileEye Q4 / CAN-FD

The new IPMA with MobileEye Q4 chip for BlueCruise on the CAN-FD platform. The only vehicles using this platform are the Ford Mustang Mach-E 2021+ and the new Ford F-150 Lightning 2022+.

Connector C4242A (IPMA) Pinout

Pin Function Colour
1 12V* WH-OG
2 -
3 -
4 PARKING AID SENSORS REAR - GN-WH
5 SENSOR PARKING AID REAR (RIGHT INNER) YE-VT
6 SENSOR PARKING AID REAR (RIGHT OUTER) VT-OG
7 SENSOR PARKING AID ACTIVE PARK ASSIST (AUTOPARK) FRONT LEFT SIDE BU
8 SENSOR PARKING AID ACTIVE PARK ASSIST (AUTOPARK) FRONT RIGHT SIDE GY-VT
9 SENSOR PARKING AID FRONT (RIGHT INNER) WH
10 SENSOR PARKING AID FRONT (RIGHT OUTER) BN-WH
11 PARKING AID SENSORS FRONT - YE-OG
12 -
13 GROUND BK
14 -
15 PARKING AID SENSORS REAR + BU-WH
16 SENSORS PARKING AID REAR (LEFT INNER) BU-GY
17 SENSORS PARKING AID REAR (LEFT OUTER) GY-BN
18 SENSOR PARKING AID ACTIVE PARK ASSIST (AUTOPARK) REAR RIGHT SIDE BU-BN
19 SENSOR PARKING AID ACTIVE PARK ASSIST (AUTOPARK) REAR LEFT SIDE BU-GN
20 SENSOR PARKING AID FRONT (LEFT INNER) VT-GN
21 SENSOR PARKING AID FRONT (LEFT OUTER) GN-OG
22 PARKING AID SENSORS FRONT + VT-GY
23 -
24 SWITCH - PARKING AID GN-BN
  • Unclear if this is battery 12V or accessory

Connector C4242B (IPMA) Pinout

Pin Function Colour
1 -
2 RIGHT REAR RADAR GROUND BU-BN
3 -
4 -
5 LEFT REAR RADAR GROUND VT-BN
6 LANE DEPARTURE WARNING HEATER FRONT WINDOW - BU-WH
7 CAN BUS HIGH SPEED FD LOW BU-OG
8 CAN BUS HIGH SPEED FD HIGH YE-OG
9 FRONT RADAR GROUND GN-WH
10 -
11 RIGHT REAR RADAR POWER VT-GY
12 REAR RADAR CAN BUS LOW YE-BU
13 REAR RADAR CAN BUS HIGH GN-VT
14 LEFT REAR RADAR POWER YE-GN
15 REAR RADAR CAN BUS LOW YE-BU
16 REAR RADAR CAN BUS HIGH GN-VT
17 LANE DEPARTURE WARNING HEATER FRONT WINDOW + BU-GY
18 FRONT RADAR POWER GY
19 FORWARD LOOKING RADAR CAN BUS LOW GY-BU
20 FORWARD LOOKING RADAR CAN BUS HIGH BN-BU

Connector C4242C (IPMA) Pinout

Pin Function Colour
1 -
2 RIGHT FRONT RADAR GROUND GN-BU
3 LEFT FRONT RADAR GROUND BN-GN
4 FRONT RADAR CAN BUS LOW WH-OG
5 FRONT RADAR CAN BUS HIGH WH-VT
6 -
7 -
8 -
9 -
10 -
11 RIGHT FRONT RADAR POWER GN-BU
12 FRONT RADAR CAN BUS LOW WH-OG
13 FRONT RADAR CAN BUS HIGH WH-VT
14 LEFT FRONT RADAR POWER YE-OG
15 -
16 -
17 -
18 -
19 -
20 -

Parts

These parts haven't been tested/confirmed - nobody has built one yet!

Name Part Manufacturer Links Notes
? ? TE Connectivity Need to source C4242A harness connector
Generation Y Connector, 20 Pos, 2.54mm 2288276-1 TE Connectivity TE Connectivity For C4242B and C4242C harness connectors?
? ? TE Connectivity Need to source harness receptacles

Useful links

⚠️ **GitHub.com Fallback** ⚠️