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A range of Ford vehicles are now supported in openpilot. Work is underway to expand official support for Ford/Lincoln vehicles, particularly those with CAN FD. Some community maintained forks provide support additional vehicles. 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. If your car is not listed in the compatibility table, but has Lane Centering, it may be possible to add support.

Table of Contents

• Overview
• Supported vehicles
  • Looking for testers
  • Footnotes
    • CAN FD Vehicles
  • Is my car compatible?
    • Likely unsupported vehicles
• Make-Specific Terms
• openpilot Capabilities
  • Lateral Control
    • Traffic Jam Assist (TJA) / Lane Centering Assist (LCA)
    • Lane Keep Assist (LKA)
  • Longitudinal Control
    • Older vehicles
• Harnesses
  • Old style (14-pin)
  • CGEA 1.2 Style (16-pin)
  • Ford Q3 / Lane Centering (12-pin)
  • Ford Q4 / BlueCruise / CAN FD (20-pin)
• Useful links

Lateral control is implemented using the TJA/LCA messages which enables steering with no timeout.

openpilot Longitudinal Control (Alpha) is available for Ford and can be enabled when running master-ci/nightly/devel or another development branch. Enable it to use Experimental Mode, which includes alpha features like stopping for red lights and stop signs.

• ✅ is supported.
• ⏰ is supported, but is in dashcam mode until a user supplies a route.
• 🧪 works on a development branch, but is not yet officially supported.
• 🔜 is thought to be compatible but needs a user to test. Take advantage of comma's 30 day money back trial.

If you have a Ford which you think may be compatible, and you're interested in helping us add support, join the comma.ai discord server!

Newer model years within the same generation are usually compatible. Model refreshes may include a change in vehicle architecture (e.g. CAN -> CAN FD) and could mean adding support is not trivial.

1. Requires additional hardware when used with older devices. See CAN FD Vehicles.
2. Refers only to the fourth generation Focus (C519) available in Europe, China, Taiwan and Australasia.
3. Requires Adaptive Cruise Control (with Lane Centering & Stop and Go on Automatic Transmission only).

These vehicles with the Mobileye Q4 chip (BlueCruise platform) use CAN FD, which is a newer standard for modules in the car to communicate. A red panda is required for openpilot running on a Comma 3 to be able to interact with a CAN FD bus.

The CAN FD panda kit can be purchased from the comma shop. You can choose to include it with a purchase of the comma three and Ford Q4 harness. Note that the Comma 3X has CAN FD support built-in, so a separate red panda is not required for CAN FD support.

graph TD
    A([Start]) --> B("Do you have BlueCruise?")
    B -->|No| C("Do you have Co-Pilot360 Assist+ or Assist 2.0?")
    C -->|No| D("Do you have Lane Centering?")
    D -->|No| E("Do you have Traffic Jam Assist?")
    E -->|No| U("Does your model year have any of these packages as options?")
    U ---->|No| W["Likely not compatible 😔"]
    U -->|Yes| V("Do you have Adaptive Cruise Control?")
    V --->|No| X["Retrofit ACC 🔧"]
    V --->|Yes| Y["Potentially compatible with module programming 🪄"]
    B & C & D & E ----->|Yes| Z["Likely compatible 🎉"]

• Any vehicle with BlueCruise, Co-Pilot360 Assist+ or Assist 2.0, Lane Centering or Traffic Jam Assist is likely compatible. See Getting Started for next steps.

• Vehicles without one of these packages but where the package is an option on your model year could be supported:

  • If it has ACC, it is probably compatible, since there aren't hardware differences between the cars which chose the LKAS package and did not. The modules simply need reprogramming (this is not the same as firmware flashing). You can even do this to get stock lane centering on your car!

  • If it does not have ACC, we cannot support it yet. Consider retrofitting ACC (e.g. radar, brakes module) and reprogramming your modules.

    • You may find out your model already has the required hardware for ACC! If it has a brake booster designed for ACC, it may be supported with vision-only ACC in the future.

• Most cars ship with "Co-Pilot360" but this is not the same as "Co-Pilot360 Assist+" or "Co-Pilot360 Assist 2.0". The same applies to "Lane Keep Assist" on older vehicles, which is not the same as "Lane Centering" and "Traffic Jam Assist".

• Active Park Assist is not an indicator of compatibility. It cannot be used above 5mph. See Safer Control of Steering for more information.

• Lane Keep Assist is subject to a steering lockout in the EPS firmware and so this cannot be used for openpilot.

Co-Pilot360 Assist+ or an equivalent package is not available on these vehicles. Further investigation would require testing with the vehicle, or compatible package may be introduced in later model years. If the vehicle has a compatible PSCM, it may be possible to enable the LCA/TJA commands, but this can't be determined without attempting it.

• Ford Bronco
• Ford Ecosport
• Ford F-250/F-350/F-450
• Ford Fiesta
• Ford Fusion/Mondeo/Taurus
• Ford Mustang
• Ford Puma
• Ford Ranger
• Ford Transit

If you're up for a challenge and have some technical knowledge, you might be able to find a way to support one of these vehicles! Improve your chances by buying a vehicle with adaptive cruise control and by getting access to some diagnostic software such as Forscan. Alternatively, you could attempt to reverse engineer some module firmware if you have knowledge in that area. Perhaps you can find a way to bypass the LKA Lockout.

For general terms, go here.

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.

(this may be out of date - there is no automatic without stop and go on modern platform)

Control over the steering wheel.

► Read More: LateralMotionControl

Traffic Jam Assist (TJA) is the driver assistance system on Ford vehicles which applies torque to the steering wheel to enable continuous lane centering. It is packaged as "Intelligent Adaptive Cruise Control (with Stop-and-Go and Lane Centering)" on many vehicles. TJA can describe the combination of both the stop-and-go ACC and lane centering systems.

In the stock system, the driver is required to keep their hands on the steering wheel during operation. If no driver input is detected after displaying warnings it may begin to slow the vehicle before coming to a stop.

The IPMA is responsible for calculating the characteristics of the lane and sending this information to the PSCM. The PSCM then applies torque to the steering wheel to keep the vehicle centered in the lane.

The feature can be enabled on supported vehicles which did not come equipped with the required package from the factory by changing the TJA/LCA Enable bit in the PSCM as-built data using diagnostic tools such as Forscan.

There are some videos online of apparent "continuous lane centering" functionality on older vehicles ([1], [2]), which suggests that firmware may exist to support these features on the old platform.

Minimum speeds

Lateral Control with LCA is functional down to 0mph and is not linked to the cruise state. However, it cannot turn the wheel at standstill.

Lane Keep Assist (LKA) is the driver assist system on Ford vehicles which applies torque to the wheel to nudge the car back into lane when a departure event is detected. This system is only designed to provide temporary steering assistance. It is subject to a steering lockout in the PSCM firmware and so this cannot be used for openpilot.

The lockout is triggered either after 10 seconds of operation, or immediately after operation ceases. Operation cannot be resumed for approximately 200-300ms. This makes steering control very uncomfortable, especially when approaching a curve or at highway speeds, and there is no workaround to allow for steering events which last more than 10 seconds.

Technical Details

• 10 second lockout (LaActAvail_D_Actl)
  • 3 "LKA_LCA_LDW_Avail" 2 "LCA_LKA_Avail_LDW_Suppress" 1 "LCA_LKA_Suppress_LDW_Avail" 0 "LCA_LKA_LDW_Suppress"
  • LaActAvail_D_Actl must be 2 or 3 to send command
  • If LaActAvail_D_Actl is 0 or 1 then LKA is locked out, and sending a command will prevent the PSCM from leaving the lockout state
  • LKA is locked out immediately after you stop sending a command, too
  • LaActAvail_D_Actl returns to 2 or 3 after not sending a command for approx 200ms
• min speed (10mph in F-150, 35mph in Focus Mk4)
• almost all PSCMs can be configured to accept this message

It may be possible to develop a workaround, either through CAN messages or by modifying the PSCM firmware. Prior work has determined the lockout applies regardless of driver input torque so wheel weights are not a solution.

Minimum speeds

On the vehicles tested so far, LKA is only functional at speeds above 35 mph.

Control over the gas and brakes.

On newer vehicles, the IPMA sends longitudinal commands to the PCM. It uses information from its own camera sensor and point cloud data from the front radar (CCM) to calculate these. The CCM is connected to the IPMA on a private CAN bus. Since the messages are sent from the IPMA where we can intercept them, it will be possible to implement openpilot longitudinal for all supported vehicles in the future.

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 (note: this might be possible with an extra harness?). These vehicles run in Lateral Only mode.

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

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.

• Old style (14-pin)
• CGEA 1.2 Style (16-pin)
• Ford Q3 / Lane Centering (12-pin)
• Ford Q4 / BlueCruise / CAN FD (20-pin)

comma now sells Ford Q3 and Ford Q4 development harnesses at comma.ai/shop.

Alternatively, one could build their own harness by buying the "Developer Harness" from comma (with the comma power, harness box and fully-wired harness with no connectors). 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.

This connector is present on the original IPMA which is not believed to support "Lane Centering".

It has 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.

This connector is found on the 2013-2019 Ford Explorer, Ford Fusion, Ford Taurus, Lincoln MKS, or Lincoln MKT with Lane Keep Assist. Some models (mainly Fusion) received a refreshed camera past 2016 with a different pinout.

Click here to reveal images

The newer IPMA contains the Mobileye Q3 chip and introduced the "Lane Centering" feature for vehicles with stop-and-go ACC. It is found on the vehicles as early as 2017, such as the Ford Fiesta in Europe. All vehicles with this IPMA are potentially supportable by openpilot provided they have, or have retrofitted, Adaptive Cruise Control.

Click here to reveal image

Click here to reveal pinout

Connector C9224 (IPMA) Pinout

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	-

The latest IPMA with Mobileye Q4 chip for BlueCruise on the CAN FD platform (extra hardware required). The only vehicles using this platform are the Ford Mustang Mach-E 2021+, Ford F-150 2021+ and the new Ford F-150 Lightning 2022+.

Not all of the connectors sources have been identified for this harness. If you are building it yourself, 3D printed parts are required. Otherwise, it can be purchased on the comma shop.

• Safer Control of Steering
• Discord