OpenPilot on the F-150 (BlueCruise alternative)

[powerboatr]

Everything is laid out here in a clear, concise format

ok my sides are splitting from laughing
thanks

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[Ajzride]

Some driving footage:

 

[powerboatr]

Some driving footage:

thank you

i did notice on the freeway the distance between you and car in front was close but not to close imo
and it seemed to ramp back up after the vehicle cleared your path after you changed lanes.

also did you run any video if the nav screen in 12 inch stack on full screen to compare what the open pilot was seeing to the trucks nav system?

really great of you to run this video, i have to watch it a few more times .

and you mentioned the system was not turned on to read red lights
you were doing all the stopping at red light and stop signs correct?

and is it really that smooth with you going hands on to go around raod construction to back full hands free.?

i also noticed the IPC shows the PUT hands icon on the wheel, while your hands free, so the comma3 tells truck to ignore this advice and stops the noise and stuff to tell you to grab wheel


i am still trying to get my head around how the device can see 360 around the truck with 3 cameras, we have some big blind spots in the rear cab.

thats why was curious if the system also uses any data from truck blind spot sensors.

 

[Ajzride]

i did notice on the freeway the distance between you and car in front was close but not to close imo
and it seemed to ramp back up after the vehicle cleared your path after you changed lanes.

Follow distance is being performed by the Ford stock ACC, the OpenPilot longitudinal controls still need a lot of tweaking for the F150. Also OP can't use the Ford radar yet, so it is relying on the vision system to detect the car in front of you.

also did you run any video if the nav screen in 12 inch stack on full screen to compare what the open pilot was seeing to the trucks nav system?

I have literally never turned on the Ford Nav, I always use Waze. But I'm not sure what you want to compare here, OpenPilot was not using any maps, it was vision recognition only.

and you mentioned the system was not turned on to read red lights
you were doing all the stopping at red light and stop signs correct?

Correct, any red light or stop sign I used the brakes to stop at (and lightly held the wheel since OP disengages when you touch the brake), then I used a little gas to get it going again before hitting the resume button.

and is it really that smooth with you going hands on to go around raod construction to back full hands free.?

One of the great benefits to OP I haven't spoken about his how little it fights you when you want to take control. I feel like trying to override BC/LC from ford is like wrestling an alligator, OP backs out when it senses you take control much faster and with less resistance.

i also noticed the IPC shows the PUT hands icon on the wheel, while your hands free, so the camma3 tells truck to ignore this advice and stops the noise and stuff to tell you to grab wheel

OP disables the keep your hands on the wheel alerts from Ford. I hope we can get the icon to go hands free one day, but that seems like a nice to have bells and whistle kind of thing. I think the primary area of emphasis will be getting the radar working (it uses visual only right now if you turn on longitudinal controls) and find out exactly what the safe torque limits are on steering so we can make sharper (hopefully 90 degree) turns hands free.

 

[powerboatr]

Follow distance is being performed by the Ford stock ACC, the OpenPilot longitudinal controls still need a lot of tweaking for the F150. Also OP can't use the Ford radar yet, so it is relying on the vision system to detect the car in front of you.

Thanks , the trucks acc was doing all the longitudianl work and OP was in a word working in conjunction with truck sensor for that area, which brings me to were or are there any notifications on the comma3 at closing in on a vehicle or does it remain only in background?
you are doing some very important work i think for our community. great job sir


I have literally never turned on the Ford Nav, I always use Waze. But I'm not sure what you want to compare here, OpenPilot was not using any maps, it was vision recognition only.
that was my long way of going around, you were just driving, with no intended route programed into the comma3. i watch one video of a route planned into the comma3 and it was really good imo


Correct, any red light or stop sign I used the brakes to stop at (and lightly held the wheel since OP disengages when you touch the brake), then I used a little gas to get it going again before hitting the resume button.



One of the great benefits to OP I haven't spoken about his how little it fights you when you want to take control. I feel like trying to override BC/LC from ford is like wrestling an alligator, OP backs out when it senses you take control much faster and with less resistance.



OP disables the keep your hands on the wheel alerts from Ford. I hope we can get the icon to go hands free one day, but that seems like a nice to have been and whistle kind of thing. I think the primary area of emphasis will be getting the radar working (it uses visual only right now if you turn on longitudinal controls) and find out exactly what the safe torque limits are on steering so we can make sharper (hopefully 90 degree) turns hands free.

do you think once the radar is qued in to work with OP that it will also try to intergrate into the BLIS system to enhance the comma3 360 degree vision or monitoring of objects within the trucks personal zone ?

thanks again

 

[Ajzride]

do you think once the radar is qued in to work with OP that it will also try to intergrate into the BLIS system to enhance the comma3 360 degree vision or monitoring of objects within the trucks personal zone ?

thanks again

BLIS already works, that is just a discrete signal. The radar on the Sync4 systems uses a different data structure than the Sync3 and it is still being decoded.

 

[powerboatr]

BLIS already works, that is just a discrete signal. The radar on the Sync4 systems uses a different data structure than the Sync3 and it is still being decoded.

ohhhh i was unaware it as in the OP was talking to or using signals from blis, thats make a world of difference in my eyes for system to see all around
sync 4 by your expiriments, is working better with the OP than the older sync3
thanks this old brain has a ton of questions but this is so helpful for me

 

[labjr1]

I just completed the install on my 2021 ICE F-150.

@rwxr_xr_x helped me create a fork of the master ford comfort branch that kept me from having to SSH into the code for the footprint. It's actually a very easy install if you have a link for the F150 fork.

The install video that @Ajzride was spot on, even knowing the 10mm bolts and the specific plug to pull made it all get completed in less than 15minutes including running the wires and tucking the headliner.

I don't have the 8 degree window mount bracket yet, so I just used a homemade 8 degree wooden shim (which I don't recommend) to do a temporary test run of less than 8 miles. I just wanted to see it run. I don't feel like uploading a video tonight, but here's a photo.

I didn't get any warnings and it seems to keep lanes really smoothly. I've never seen Bluecruise in action as it's never worked in my truck, but I can tell you that it felt very similar to tesla autopilot while I was on the interstate. Very short run though.

I am ready to install mine and was wondering how you set the fork and installed it to avoid the fingerprinting. I wanted to take the easiest path to begin with until I come up to speed. I have no problem using SSH to modify files if needed but your description made it sound easy. I already have a path for the Ford Comfort branch "installer.comma.ai/ford-comfort". What are the steps needed to avoid the fingerprinting?

 

[labjr1]

Some driving footage:

A few quick questions for you.

Do you have to unplug open pilot to get BlueCruise to become active (or is there a power off that toggles back to BlueCruise?

Since the Ford adaptive cruise is handling the longitudinal control does automatic reading and adjusting to speed limit signs still work or is it a manual process to adjust the speed? (I realize there is a branch that will do it, but only after they get longitudinal control working.

When in stop and go traffic does the adaptive cruise still handle it effectively on the Ford system or does Open Pilot kill that ability (one of the features I like is Bluecruise's ability to handle stop and go traffic - although I hate the "death defying braking by Ford when rolling at speed down the interstate and the sudden braking when traffic is stopped in front of you - it is WAY too agressive).

 

[Snakebitten]

Wow.
I didn't realize it was already that capable before being "officially supported".

That's some video. Thanks for sharing. I'm in!

 

[Ajzride]

Do you have to unplug open pilot to get BlueCruise to become active (or is there a power off that toggles back to BlueCruise?

There is a toggle in the menu to turn it off, but no power button. If you want to kill power you have to unplug it.

Since the Ford adaptive cruise is handling the longitudinal control does automatic reading and adjusting to speed limit signs still work or is it a manual process to adjust the speed? (I realize there is a branch that will do it, but only after they get longitudinal control working.

I don't use automatic speed sign recognition, but the sign on the IPC is always updating with the correct speed it read, so it should work.

When in stop and go traffic does the adaptive cruise still handle it effectively on the Ford system or does Open Pilot kill that ability (one of the features I like is Bluecruise's ability to handle stop and go traffic - although I hate the "death defying braking by Ford when rolling at speed down the interstate and the sudden braking when traffic is stopped in front of you - it is WAY too agressive).

With LONG turned off in OP the speed portion of BC is unaffected, it handles traffic jams well.

Something I learned yesterday while trying to tune on the LONG model is that OEM radars have lots of trouble detecting objects that are not moving, that is why you get that running up on a traffic jam and then slamming on the brakes. To avoid that situation you have to combine a visual model with radar data. Currently Ford's visual model is only for lane keeping and the radar is only for speed, they have not combined the two yet. I don't think BC1.3 is going to combine visual model data into speed control either, but I think it will combine GPS data into the speed control so it can slow down for curves.

 

[labjr1]

Thanks for the info. That is ecouraging info and it makes sense with respect to the radar. Thanks again for all the info. I hope to install mine tomorrow.

 

[Fourthewin]

I am ready to install mine and was wondering how you set the fork and installed it to avoid the fingerprinting. I wanted to take the easiest path to begin with until I come up to speed. I have no problem using SSH to modify files if needed but your description made it sound easy. I already have a path for the Ford Comfort branch "installer.comma.ai/ford-comfort". What are the steps needed to avoid the fingerprinting?

@hitchhiker Feel free to post this on the original post.

---

**Comma 3x Device Installation Guide for 2021 F-150 ICE with CoPilot 2.0 Active Prep**

**Prerequisites:**
- **Parts Needed:**
- 3M VHB 1" tape
- 10' 3.1 or 3.2 Gen 2 USB-C extension cord. Recommended Option
- 6" Cat5 patch cable (Optional, but helps with tidier wiring)
- also you need an 8 degree window mount bracket. They’re out of stock on the comma site but can be 3d printed.
- **Tools Needed:**
- 10mm Socket
- Small Screwdriver (for handle removal)

**Physical Device Installation:**
1. **Mounting:**
- Set the windshield mount first. Allow it to cure for at least 3 hours in temperatures of 60°F or above.

2. **Device & Wiring:**
- Install the physical device and its wiring. For a detailed guide, refer to @ajzride's video tutorial

**Software Installation:**
1. **Preparation:**
- Ensure your vehicle is within good Wi-Fi range.
- Do not tuck the wire in your headliner until after completing the software installation. The device on the windshield can be challenging to remove and access for programming.

2. **Software Setup:**
- Boot up the Comma device.
- Enter the following URL: https://rb.gy/x7218

*Disclaimer:* The provided link is a fork of the master-ci + ford_comfort + F150. It has two code modifications to allow the F150 fingerprint without needing to SSH into the device. There's no guarantee of maintaining this fork. If issues arise, revert to the master code and SSH into your device to reset the fingerprint.

**Drive Calibration:**
1. Start your vehicle.
2. Take a short drive to calibrate the system.

**Safety Notes:**
- Always pay attention while driving. You are responsible for your safety and the vehicle's operation.
- The F150 integration is still in development and may not be fully supported.
- It's advised not to enable longitudinal control or experimental mode due to potential late braking and other unpredictable behaviors.

Always ensure that users are aware of safety precautions and potential risks.

 

[Fourthewin]

I am ready to install mine and was wondering how you set the fork and installed it to avoid the fingerprinting. I wanted to take the easiest path to begin with until I come up to speed. I have no problem using SSH to modify files if needed but your description made it sound easy. I already have a path for the Ford Comfort branch "installer.comma.ai/ford-comfort". What are the steps needed to avoid the fingerprinting?

If you want to create your own fork. You can get more information here: https://github-wiki-see.page/m/commaai/openpilot/wiki/Forks

And branches are located here: https://github.com/commaai/openpilot/branches

If you want to use the master software or a branch like Ford-Comfort (reduces steering wheel pinballing), you can learn about SSH'ing here: https://github.com/commaai/openpilot/wiki/SSH

Also, I recommend using the discord for quicker more detailed information: https://discord.com/invite/avCJxEX

 

[powerboatr]

Think of SSH as a command line interface with the device.

Or imagine sitting at your Windows PC and using a command prompt to accomplish a task, rather than your mouse or touch screen interface.

this means i am done, my old brain would surely screw the pooch trying to do DOS or commands
i just read the forking and ssh stuff from the links...made me feel inferior in the computer world

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