Important Information
This brand currently has limited openpilot support 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.
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/incognitojam/openpilot/tree/ford-port
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 |
| Ford | Focus 2018-Present (EU) | Adaptive Cruise | Stock | 20mph | 35mph | 0mph |
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 | |
| 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.
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.
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 and Go vehicles can be intercepted, but this has not been tested.