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Ford / Lincoln

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Overview

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

Supported vehicles

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.

  • โœ… is supported.
  • โฐ is supported, but is in dashcam mode until a user supplies a route.
  • ๐Ÿงช works on a development branch, but is not yet officially supported.
  • ๐Ÿ”œ 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!

Make Model Required Package Harness Supported? Comment
Ford Bronco Sport 2021-24 Co-Pilot360 Assist+ Ford Q3 โœ…
Ford Edge 2019-24 Co-Pilot360 Assist+ Ford Q3 ๐Ÿ”œ In progress #30762
Ford Escape 2020-22 Co-Pilot360 Assist+ Ford Q3 โœ…
Ford Escape 2023-24 Co-Pilot360 Assist 2.0 Ford Q4[1] ๐Ÿ”œ Untested
Ford Expedition 2022-24 Co-Pilot360 Assist 2.0 Ford Q4[1] ๐Ÿ”œ Untested
Ford Explorer 2020-24 Co-Pilot360 Assist+ Ford Q3 โœ…
Ford F-150 2021-23 Co-Pilot360 Assist 2.0 Ford Q4[1] ๐Ÿงช Join the Discord
Ford F-150 Lightning 2022-23 Co-Pilot360 Assist 2.0 Ford Q4[1] ๐Ÿงช Join the Discord
Ford Focus 2019-23[2] Driver Assistance Pack[3] Ford Q3 โœ…
Ford Kuga 2019-22 Driver Assistance Pack[3] Ford Q3 โœ…
Ford Maverick 2022-24 Co-Pilot360 Assist Ford Q3 โœ…
Ford Mustang Mach-E 2021-23 Co-Pilot360 Assist 2.0 Ford Q4[1] ๐Ÿงช Join the Discord
Lincoln Aviator 2020-24 Co-Pilot360 Plus Ford Q3 โœ…
Lincoln Corsair 2020-22 Co-Pilot360 1.5 Plus Ford Q3 ๐Ÿ”œ Untested
Lincoln Corsair 2023-24 ? Ford Q4 ๐Ÿ”œ Untested
Lincoln Nautilus 2019-23 ? Ford Q3 ๐Ÿ”œ Untested
Lincoln Nautilus 2024 ? Ford Q4[1] ๐Ÿ”œ Untested
Lincoln Navigator 2020-21 ? Ford Q3 ๐Ÿ”œ Untested
Lincoln Navigator 2022-24 ? Ford Q4[1] ๐Ÿ”œ Untested

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.

Footnotes

  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).

CAN FD Vehicles

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.

Is my car compatible?

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 ๐Ÿ˜”"]
    U -->|Yes| V("Do you have Adaptive Cruise Control?")
    V --->|No| X["Retrofit ACC ๐Ÿ”ง"]
    V --->|Yes| Y["Potentially compatible with module programming ๐Ÿช„"]
    B & C & D & E ----->|Yes| Z["Likely compatible ๐ŸŽ‰"]
Loading
  • 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.

Likely unsupported vehicles

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.

Make-Specific Terms

For general terms, go here.

Abbreviation Term Definition
AHBC Automatic High Beam Control
APA Active Park Assist See Safer Control of Steering
APIM Accessory Protocol Interface Module SYNC Screen
BLIS Blind Spot Information System
CADS, CCM Collision Avoidance Detection System / Cruise Control Module Radar Module
CTA Cross Traffic Alert
DAS Driver Alertness System
DLC Data Link Connector OBD-II port
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 Forwards messages between various CAN buses, provides OBD-II port diagnostic bus
HUD Head Up Display Used for the Collision Warning and Pre-Collision Assist
iACC Intelligent Adaptive Cruise Control Automatically adjust ACC speed using TSR and navigation data
IPC Instrument Panel Cluster aka instrument cluster, speedometer...
IPMA Image Processing Module A LKAS Camera (sends LKAS and ACC commands)
IPMB Image Processing Module B Reversing 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, SODR Side Obstacle Detection Left/Right BLIS Left/Right Module
TCU Telematics Control Unit SYNC Connect LTE
TJA Traffic Jam Assist A term which describes the combined stop-and-go ACC and lane centering system on Ford vehicles

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 -

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

Lateral Control

Control over the steering wheel.

Method Min Steer Speed Max Steer Speed Notes
Traffic Jam Assist (TJA) / Lane Centering Assist (LCA) 0mph - Only some PSCMs are compatible. See flowchart.
Lane Keep Assist (LKA) 35mph - Lockout for 200-300ms every 10 seconds.
Active Park Assist (APA) 0mph 5mph Cannot be used over 5mph. See Safer Control of Steering.

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

โ–บ 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)

Image showing the LKA toggle button on the steering column stalk

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.

Longitudinal Control

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.

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 (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.

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.

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.

Old style (14-pin)

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.

CGEA 1.2 Style (16-pin)

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 pinout
Pin Function Colour
1 12V (IGNITION/ACCESSORY) Violet-Brown
2 -
3 -
4 -
5 -
6 ELECTROCHROMATIC DOOR MIRROR DRIVE
7 ELECTROCHROMATIC DOOR MIRROR GROUND
8 GROUND Black
9 -
10 ENABLE/DISABLE SWITCH
11 -
12 CAMERA DEFROST HEATER +
13 -
14 HS CAN+ White-Blue
15 HS CAN- White
16 CAMERA DEFROST HEATER -

Ford Q3 / Lane Centering (12-pin)

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 -
Click here to reveal parts list
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

Ford Q4 / BlueCruise / CAN FD (20-pin)

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.

Click here to reveal pinouts

Connector C4242A (IPMA) Pinout

Connector colour: Black

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 constant battery 12V or only in accessory mode/ignition

Connector C4242B (IPMA) Pinout

Connector colour: Grey

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

*: Seems to be switched 12V power (only on accessory mode/ignition)

Connector C4242C (IPMA) Pinout

Connector colour: Black

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 -
Click here to reveal parts list

Note: These parts haven't been tested/confirmed.

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

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