DIY: Installing ACC (Adaptive Cruise Control) and LKA (Lane Keep Alert) to 2022 F-150 Lightning XLT

[gorwell]

But why though? As far as I understand it, the radar module for ACC has nothing to do with lane centering. The only sensor used for LC should be the camera on the windshield. I'm not saying you're wrong, I just don't see why LC is not possible without ACC.

There's be a discussion on this before, so you can try to track down the previous thoughts. Ultimately, I think it's possible, but also why?

The Lane Centering alone isn't worth much, and it's pretty annoying given that it really gives you like 5 seconds of light hand contact before it starts to want you to grip the wheel with more force. So, it becomes more work to try to let the car drive than to just drive as you have to constantly clear the alert. There's probably a workaround, but I haven't looked it up.

Even without ACC, I often get the "Keep hands on steering wheel" when I'm just driving the car regularly due to my normal light grip.

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[ZSC100]

You must add/have the forward looking RF radar (CCM Module) to get lane centering. This is by design of the software. It has to do with redundant/fidelity of sensing the car in front of you which is influenced by NHTSA and the Ford self driving software engineers. Of course they could lane center with just the single fwd looking camera but they have specifically designed the firmware in the IMPA to not do that unless the CCM is present and calibrated. There is no way around this, if you want lane centering you must add the CCM.

 

[rio]

You must add/have the forward looking RF radar (CCM Module) to get lane centering. This is by design of the software. It has to do with redundant/fidelity of sensing the car in front of you which is influenced by NHTSA and the Ford self driving software engineers. Of course they could lane center with just the single fwd looking camera but they have specifically designed the firmware in the IMPA to not do that unless the CCM is present and calibrated. There is no way around this, if you want lane centering you must add the CCM.

This is a great explanation. Thank you!!

 

[grantmethepower]

I'm just not super motivated to be the first to try (who doesn't have tow-tech)!

Hahaha I hear you! I feel the exact same way. Which is why I was hoping you’d go first

 

[ZSC100]

There's be a discussion on this before, so you can try to track down the previous thoughts. Ultimately, I think it's possible, but also why?

The Lane Centering alone isn't worth much, and it's pretty annoying given that it really gives you like 5 seconds of light hand contact before it starts to want you to grip the wheel with more force. So, it becomes more work to try to let the car drive than to just drive as you have to constantly clear the alert. There's probably a workaround, but I haven't looked it up.

Even without ACC, I often get the "Keep hands on steering wheel" when I'm just driving the car regularly due to my normal light grip.

It's exactly 15sec of lane centering (self driving) before it gripes at you. It is possible and quite easy to trick the system via injecting fake steering wheel torque values on the CAN bus. It will drive by itself for hours perfectly fine if the roads are marked well. I've considered offering a small CAN module that can be tapped onto the FD-CAN bus to do this for about $100, but have been advised it's not a good idea to let the average person do this.

If someone wanted to learn CAN stuff and do this I could offer light advice. This is the module I used:https://copperhilltech.com/teensy-4-0-can-bus-and-can-fd-training-board/

 

[gorwell]

It's exactly 15sec of lane centering (self driving) before it gripes at you. It is possible and quite easy to trick the system via injecting fake steering wheel torque values on the CAN bus. It will drive by itself for hours perfectly fine if the roads are marked well. I've considered offering a small CAN module that can be tapped onto the FD-CAN bus to do this for about $100, but have been advised it's not a good idea to let the average person do this.

If someone wanted to learn CAN stuff and do this I could offer light advice. This is the module I used:https://copperhilltech.com/teensy-4-0-can-bus-and-can-fd-training-board/

Was thinking more low tech like:

But wasn't sure if Ford had such a workaround or if it's even still a Tesla thing

 

[laselvasurf]

It's exactly 15sec of lane centering (self driving) before it gripes at you. It is possible and quite easy to trick the system via injecting fake steering wheel torque values on the CAN bus. It will drive by itself for hours perfectly fine if the roads are marked well. I've considered offering a small CAN module that can be tapped onto the FD-CAN bus to do this for about $100, but have been advised it's not a good idea to let the average person do this.

If someone wanted to learn CAN stuff and do this I could offer light advice. This is the module I used:https://copperhilltech.com/teensy-4-0-can-bus-and-can-fd-training-board/

I'd be interested... I'm not super technical, but have done this mod and many others on my lighting, so I'm not a total idiot Would a good place to start be purchasing the Teensy?

 

[ZSC100]

I'd be interested... I'm not super technical, but have done this mod and many others on my lighting, so I'm not a total idiot Would a good place to start be purchasing the Teensy?

If your goal is simply only to bypass the steering torque for self driving I'd say it's not worth it.

If you really are curious and want to learn how CAN stuff in the truck works then the first step is buying a USB CAN adapter and learn how to sniff messages so you can figure out how it works and diagnose your own stuff once you start playing around. This is the one I use:
https://www.peak-system.com/PCAN-USB-FD.365.0.html?&L=1

 

[regentscholar]

Sorry this is a bit off-topic for this specific thread, but since I can find any info in the forums... do any of you expert modders know how to retrofit the Lightning's front Ford emblem camera into a base Pro trim 2023? I don't need 360, just really wish I had both the back and front cameras...

 

[grantmethepower]

Sorry this is a bit off-topic for this specific thread, but since I can find any info in the forums... do any of you expert modders know how to retrofit the Lightning's front Ford emblem camera into a base Pro trim 2023? I don't need 360, just really wish I had both the back and front cameras...

I wanted to do the same but it isn’t straight forward. It’s probably worth its own thread.My very basic understanding is you need the 360 and the more advanced ipma.

 

[3rdgenfan]

Was thinking more low tech like:

But wasn't sure if Ford had such a workaround or if it's even still a Tesla thing

I think the Ford would need to see some torque applied if it goes to turn the wheel in any direction, which is at least what I've noticed. So you'd have to replace that orange with an ankle weight lol.

 

[regentscholar]

I wanted to do the same but it isn’t straight forward. It’s probably worth its own thread.My very basic understanding is you need the 360 and the more advanced ipma.

thanks, I created a new thread here: https://www.f150lightningforum.com/...or-those-without-the-360-camera-option.16195/

 

[Sin]

im in the middle of doing this now , and i cant get the CCM to show up. ive checked my wiring and i have the wires. when i rescan it doesnt show up at all. has anyone ran into this before ?

 

[gorwell]

im in the middle of doing this now , and i cant get the CCM to show up. ive checked my wiring and i have the wires. when i rescan it doesnt show up at all. has anyone ran into this before ?

This happens. Not sure why it works for some but not others.

Earlier in this thread there is discussion on having to make a change to IPMA before the CCM shows up. Basically it needs to power on before it can load. I

Change this value in IPMA to power CCM on:

706-02-02 x**x xxxx xx--(04 to 05)

I had to make this change as well before CCM would show up.

(double check by going back in this thread and looking for other discussions)

 

[Sin]

This happens. Not sure why it works for some but not others.

Earlier in this thread there is discussion on having to make a change to IPMA before the CCM shows up. Basically it needs to power on before it can load. I

Change this value in IPMA to power CCM on:

706-02-02 x**x xxxx xx--(04 to 05)

I had to make this change as well before CCM would show up.

(double check by going back in this thread and looking for other discussions)

I appreciate such a fast response, I was hoping the search function would have help but I couldn't find anything. I managed to finish thanks to your help. Still says lane centering not available but adaptive cruise works !

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