Enabling Intelligent Adaptive Cruise Control and Lane Centering

[brkdncr]

is there any visual confirmation that stop&go is enabled? I just followed the steps without issue but i would think the adaptive cruise control option in the dash would show something else now that stop&go is enabled.

EDIT:

There is not. turn cruise on, close your eyes, and pray.

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[Mike G]

New owner of a '24 HLE and reading through this entire thread, (looking for Comma.ai info actually) two things jumped out at me that I thought I should mention. The first thing is for all those using FORScan and are making hex edits to module asbuilt settings directly, (vice the 'easy mode' changes) you do not need to calculate the check digits at all as the program will do this for you when you click the 'Write' button...meaning ignore the warnings about check digits completely! We officially don't care about check digits! I haven't the faintest idea after all this time why FORScan still pops a warning about something it's going to take care of automagically..but it does. And it's still freaking people out unnecessarily. The second thing I wanted to mention is that for most of us who do have 'Speed Sign Recognition' functions in our other Fords (Mach-E, F-150 as examples) most of the posts on those forums are about turning the function OFF because of the tendency of that function to suddenly throw out the anchor when the system thinks it's seen a drastic change to the speed, but was actually not a change to the posted speed at all, but some sign it thinks is a speed sign. This sudden braking for no apparent reason tends to not only surprise you...it also tends to take the driver of the vehicle behind you by complete surprise, and they may think you're attempting to "brake check" them. So, again, most people who do have SSR built in as it came from the factory end up turning it off. So if you're still keen to enable SSR.....be careful what you wish for.

 

[Strizzo]

is there any visual confirmation that stop&go is enabled? I just followed the steps without issue but i would think the adaptive cruise control option in the dash would show something else now that stop&go is enabled.

EDIT:

There is not. turn cruise on, close your eyes, and pray.

correct, there is no indicator other than the cruise doesn’t turn off below 8 or 10mph

 

[RoverDude]

To be clear to anyone who hasn't done it, hope and prayer is an understatement.

The first time you do it, it is the scariest s*** that you're just hoping that this thing works.
It brakes hard, it brakes late.

It will stop you 2 and 1/2 ft from the next car ahead of you.

 

[SierraBronco]

To be clear to anyone who hasn't done it, hope and prayer is an understatement.

The first time you do it, it is the scariest s*** that you're just hoping that this thing works.
It brakes hard, it brakes late.

It will stop you 2 and 1/2 ft from the next car ahead of you.

Lmao yes. Can confirm. It's the BMW version compared to the Ford models that have this optioned from the factory.

 

[soloist]

I'm sorry if I'm missing something. Was this ever resolved for the 2025? I was just out in the driveway ready to code this for my 2025 Badland LUX and I wasn't sure what value to put in the ABS 760-03-01 location.

Dang it, same issue here on a 2026 OBX LUX, tried everything, looked everywhere, nobody has yet figured this out D:

 

[ajzride]

I'm going bring the lane centering assist half of this thread back to life. I am not at the level of Jesse or Livinitup on the as-built side of things, but I do consider myself the the primary expert on ford advanced driver assistance systems configuration and analysis stemming from my three years of work on the bluepilot (ford specific openpilot fork). The 6G Bronco is the only vehicle in the ford fleet that we have never know for sure if it could be made to work with Openpilot. And lof of it stems from exact same issues that you guys ran into when trying to enable LCA.

As some background information on what the huge road block is:

The Bronco is the only vehicle in Ford's fleet that has an CAN camera module (IPMA) and a CANFD rack and pinion (PSCM). Every other ford vehicle has a camera module and a rack and pinion modules on the same architecture. For example the Maverick has a CAN IPMA and a CAN PSCM, the F150 has a CANFD IPMA and a CANFD PSCM. Ford hasn't made a CANFD PSCM yet that doesn't support lane centering, even a F150 XL has lane centering in the PSCM and it can be activated if you DIY the ACC radar. We decompiled the Bronco6g PSCM and it appears to have lane centering control active in the logic (best we can, decompiles are very hard to read through)

So it stands to reason that the Bronco should support LCA, since every other CANFD PSCM supports LCA, but the Bronco CAN IPMA modules is a big problem, because CAN IPMA modules generate the canbus message LateralMotionControl, which contains 9 signals:

However, a CANFD PSCM expects to get the canbus message LateralMotionControl2, which contains 11 signals. 8 of these signals are the same as LateralMotionControl, but one of them has a slightly different name (NoRate2_Actl) and the other two are a live calculated checksum and counter

The stories of a ford engineer getting LCA working on a Bronco are plausible, but it would have taken much more than forscan changes to make it happen. It would have required at a minimum custom firmware on the IPMA to generate the LMC2 message with the extra counter, checksum, and renamed curvature rate signal.

I finally got my hands on a Brocno 6G today to test with, and I was surprised to see that the IPMA was indeed generating LCA signals:

I intercepted the canbus network at the IPMA and attempted to force the LMC2 signal from the Comma onto the network, but the PSCM was not responding to the message. The signal LaneAssistData3_FD1/LatCtlCpblty_D_Stat kept returning a value of 0, meaning that that lateral control messages were not being initialized from the IPMA to the PSCM.

My initial thought is that the GWM module has no programming on how to route the LMC2 signal, and that the message is dying on the CAN side of the network. The next step is to intercept the canbus network on the CANFD network itself, so I can rule out the GWM as an impediment.

The only two places to intercept the CANFD network in a good way are the at the GWM module, or at the PSCM. Obviously at the GWM inside the cabin is much prefered. If anyone has the resources to help us track down both a male and female half of the GWM connector so we can make a Y-Harness, it would be extremely helpful.

 

[Chrome_Pony]

I'm going bring the lane centering assist half of this thread back to life. I am not at the level of Jesse or Livinitup on the as-built side of things, but I do consider myself the the primary expert on ford advanced driver assistance systems configuration and analysis stemming from my three years of work on the bluepilot (ford specific openpilot fork). The 6G Bronco is the only vehicle in the ford fleet that we have never know for sure if it could be made to work with Openpilot. And lof of it stems from exact same issues that you guys ran into when trying to enable LCA.

As some background information on what the huge road block is:

The Bronco is the only vehicle in Ford's fleet that has an CAN camera module (IPMA) and a CANFD rack and pinion (PSCM). Every other ford vehicle has a camera module and a rack and pinion modules on the same architecture. For example the Maverick has a CAN IPMA and a CAN PSCM, the F150 has a CANFD IPMA and a CANFD PSCM. Ford hasn't made a CANFD PSCM yet that doesn't support lane centering, even a F150 XL has lane centering in the PSCM and it can be activated if you DIY the ACC radar. We decompiled the Bronco6g PSCM and it appears to have lane centering control active in the logic (best we can, decompiles are very hard to read through)

So it stands to reason that the Bronco should support LCA, since every other CANFD PSCM supports LCA, but the Bronco CAN IPMA modules is a big problem, because CAN IPMA modules generate the canbus message LateralMotionControl, which contains 9 signals:

However, a CANFD PSCM expects to get the canbus message LateralMotionControl2, which contains 11 signals. 8 of these signals are the same as LateralMotionControl, but one of them has a slightly different name (NoRate2_Actl) and the other two are a live calculated checksum and counter

The stories of a ford engineer getting LCA working on a Bronco are plausible, but it would have taken much more than forscan changes to make it happen. It would have required at a minimum custom firmware on the IPMA to generate the LMC2 message with the extra counter, checksum, and renamed curvature rate signal.

I finally got my hands on a Brocno 6G today to test with, and I was surprised to see that the IPMA was indeed generating LCA signals:

I intercepted the canbus network at the IPMA and attempted to force the LMC2 signal from the Comma onto the network, but the PSCM was not responding to the message. The signal LaneAssistData3_FD1/LatCtlCpblty_D_Stat kept returning a value of 0, meaning that that lateral control messages were not being initialized from the IPMA to the PSCM.

My initial thought is that the GWM module has no programming on how to route the LMC2 signal, and that the message is dying on the CAN side of the network. The next step is to intercept the canbus network on the CANFD network itself, so I can rule out the GWM as an impediment.

The only two places to intercept the CANFD network in a good way are the at the GWM module, or at the PSCM. Obviously at the GWM inside the cabin is much prefered. If anyone has the resources to help us track down both a male and female half of the GWM connector so we can make a Y-Harness, it would be extremely helpful.

I could not care less about Lane Centering as lanes in Alaska are pretty much suggestions 7 months out of the year, but I live for hardcore modding and deep dives like this. Please continue this research, we all benefit from this level of effort and thoroughness.

 

[soloist]

I'm going bring the lane centering assist half of this thread back to life. I am not at the level of Jesse or Livinitup on the as-built side of things, but I do consider myself the the primary expert on ford advanced driver assistance systems configuration and analysis stemming from my three years of work on the bluepilot (ford specific openpilot fork). The 6G Bronco is the only vehicle in the ford fleet that we have never know for sure if it could be made to work with Openpilot. And lof of it stems from exact same issues that you guys ran into when trying to enable LCA.

As some background information on what the huge road block is:

The Bronco is the only vehicle in Ford's fleet that has an CAN camera module (IPMA) and a CANFD rack and pinion (PSCM). Every other ford vehicle has a camera module and a rack and pinion modules on the same architecture. For example the Maverick has a CAN IPMA and a CAN PSCM, the F150 has a CANFD IPMA and a CANFD PSCM. Ford hasn't made a CANFD PSCM yet that doesn't support lane centering, even a F150 XL has lane centering in the PSCM and it can be activated if you DIY the ACC radar. We decompiled the Bronco6g PSCM and it appears to have lane centering control active in the logic (best we can, decompiles are very hard to read through)

So it stands to reason that the Bronco should support LCA, since every other CANFD PSCM supports LCA, but the Bronco CAN IPMA modules is a big problem, because CAN IPMA modules generate the canbus message LateralMotionControl, which contains 9 signals:

However, a CANFD PSCM expects to get the canbus message LateralMotionControl2, which contains 11 signals. 8 of these signals are the same as LateralMotionControl, but one of them has a slightly different name (NoRate2_Actl) and the other two are a live calculated checksum and counter

The stories of a ford engineer getting LCA working on a Bronco are plausible, but it would have taken much more than forscan changes to make it happen. It would have required at a minimum custom firmware on the IPMA to generate the LMC2 message with the extra counter, checksum, and renamed curvature rate signal.

I finally got my hands on a Brocno 6G today to test with, and I was surprised to see that the IPMA was indeed generating LCA signals:

I intercepted the canbus network at the IPMA and attempted to force the LMC2 signal from the Comma onto the network, but the PSCM was not responding to the message. The signal LaneAssistData3_FD1/LatCtlCpblty_D_Stat kept returning a value of 0, meaning that that lateral control messages were not being initialized from the IPMA to the PSCM.

My initial thought is that the GWM module has no programming on how to route the LMC2 signal, and that the message is dying on the CAN side of the network. The next step is to intercept the canbus network on the CANFD network itself, so I can rule out the GWM as an impediment.

The only two places to intercept the CANFD network in a good way are the at the GWM module, or at the PSCM. Obviously at the GWM inside the cabin is much prefered. If anyone has the resources to help us track down both a male and female half of the GWM connector so we can make a Y-Harness, it would be extremely helpful.

Wow, as an Electronic Engineer I'm really pleased to see this kind of detail. By any chance do you know something about why is so hard to enable Auto-Hold or ACC Stop & Go on the post 2025 models?

 

[ajzride]

Wow, as an Electronic Engineer I'm really pleased to see this kind of detail. By any chance do you know something about why is so hard to enable Auto-Hold or ACC Stop & Go on the post 2025 models?

With this being the first time I’ve had my hands on a Bronco, I’ve not gotten to look
at my of that stuff. The guy I worked with today had to drive down from College Station. If there is anyone in the Katy/Sugra land area who wants to join in on the fun, send me a DM

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