Ford
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
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!
| Make | Model | Required Package | Harness | Supported? | Comment |
|---|---|---|---|---|---|
| Ford | Bronco Sport 2021-24 | Co-Pilot360 Assist+ | Ford Q3 | ✅ | |
| Ford | Edge 2019-24 | Co-Pilot360 Assist+ | Ford Q3 | 🔜 | In progress #30762 |
| Ford | Escape 2020-22 | Co-Pilot360 Assist+ | Ford Q3 | ✅ | |
| Ford | Escape 2023-24 | Co-Pilot360 Assist 2.0 | Ford Q4[1] | 🔜 | Untested |
| Ford | Expedition 2022-24 | Co-Pilot360 Assist 2.0 | Ford Q4[1] | 🔜 | Untested |
| Ford | Explorer 2020-24 | Co-Pilot360 Assist+ | Ford Q3 | ✅ | |
| Ford | F-150 2021-23 | Co-Pilot360 Assist 2.0 | Ford Q4[1] | 🧪 | Join the Discord |
| Ford | F-150 Lightning 2022-23 | Co-Pilot360 Assist 2.0 | Ford Q4[1] | 🧪 | Join the Discord |
| Ford | Focus 2019-23[2] | Driver Assistance Pack[3] | Ford Q3 | ✅ | |
| Ford | Kuga 2019-22 | Driver Assistance Pack[3] | Ford Q3 | ✅ | |
| Ford | Maverick 2022-24 | Co-Pilot360 Assist | Ford Q3 | ✅ | |
| Ford | Mustang Mach-E 2021-23 | Co-Pilot360 Assist 2.0 | Ford Q4[1] | 🧪 | Join the Discord |
| Lincoln | Aviator 2020-24 | Co-Pilot360 Plus | Ford Q3 | ✅ | |
| Lincoln | Corsair 2020-22 | Co-Pilot360 1.5 Plus | Ford Q3 | 🔜 | Untested |
| Lincoln | Corsair 2023-24 | ? | Ford Q4 | 🔜 | Untested |
| Lincoln | Nautilus 2019-23 | ? | Ford Q3 | 🔜 | Untested |
| Lincoln | Nautilus 2024 | ? | Ford Q4[1] | 🔜 | Untested |
| Lincoln | Navigator 2020-21 | ? | Ford Q3 | 🔜 | Untested |
| Lincoln | Navigator 2022-24 | ? | Ford Q4[1] | 🔜 | 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.
- Requires additional hardware when used with older devices. See CAN FD Vehicles.
- Refers only to the fourth generation Focus (C519) available in Europe, China, Taiwan and Australasia.
- 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.
| 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 |
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)
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. |
► Read More: LateralMotionControl
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 |
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_Actlmust be 2 or 3 to send command - If
LaActAvail_D_Actlis 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_Actlreturns 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 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 - |
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 |
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 |