Adding Co-Pilot Assist 2.0 with Forscan?

[JBMCEQY]

Well I got the CCM installed today. I ended up using a 1/2" swivel ratchet with a 6" extension and a universal joint to remove the bumper while leaving the grill in place and it wasn't too difficult.

But holy hell the wire harness was a massive pain to remove and reinstall. I'm not sure since I haven't done it, but it sounds potentially easier to just run a wire straight from the CCM to the IPMA than to deal with that hassle of removing all the push clips that are buried deep inside the bumper.

And also, I guess I ordered the wrong harness (ML3Z-15K867-MA) because I have these two empty connectors left over (at least, I hope they should be empty). I have the 5.0, I'm guessing these are for the turbo engines? I'm kind of worried because the dash displayed a message to "Check Brake System" after I initially started it up after doing this. I had the battery disconnected to do the airbag, so I'm hoping the message was related to that...

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[johnhbrandon]

I will attempt to install ACC again before throwing in the towel on my existing IPMA. Scouring the pre-owned truck market, I found at least four MY22 Lariats that closely matched mine, all with ACC, some with and some without TBA. I compared all 4 as-built files with @livnitup’s spreadsheet and saw that, with a few minor exceptions, they matched exactly. The differences were mainly in the ABS selection depending on whether the truck did or did not have TBA. The choices are C without and F with TBA. BTW, the part number for my IPMA that I mentioned previously was read from FORScan. I didn’t feel like removing it just to read the label. If everything works after applying the ACC mods this time and I still have the DTC in the IPMA, I’ll just ignore it since it’s a silent DTC.

Just a followup from my post yesterday. I re-programmed all necessary modules per @Livnitup's spreadsheet. I then had Forscan re-load a new profile from scratch. It found the CCM which still had my VIN in it from the previous attempt. I then cleared all DTCs and besides the one I mentioned coming from the IPMA module, there was one from the CCM stating that is wasn't calibrated. So, I ran the calibration which went just like it should, no errors. I then parked the car, and shut it down completely. After restarting it, I checked the DTCs and again, there was just the one from the IPMA module. Lane centering seemed to be working but when I tried to activate cruise control, a warning message came up on the instrument panel stating Adaptive Cruise Control not available. One difference from the spreadsheet was at 7D0-09-04 where the spreadsheet said to enter a 6 at xxxx xxxx *x--, but all the like F-150s with adaptive cruise control had an E. Haven't tried the E yet. The other difference was in the BCM. The spreadsheet said to put a 10 in the second group in positions 3 and 4. When I tried writing that value, Forscan threw an error stating the the configuration was illegal and failed to write the change. I went into the BCM easy mode and made the change to Adaptive cruise control with start/stop. When I went back in the as-built, it was showing a 90. I compared this to the like trucks I found and they all agreed with 90. That's where I left it. It seems like I'm so close to getting this working, but something is standing in the way.

 

[evoslayer]

Well I got the CCM installed today. I ended up using a 1/2" swivel ratchet with a 6" extension and a universal joint to remove the bumper while leaving the grill in place and it wasn't too difficult.

But holy hell the wire harness was a massive pain to remove and reinstall. I'm not sure since I haven't done it, but it sounds potentially easier to just run a wire straight from the CCM to the IPMA than to deal with that hassle of removing all the push clips that are buried deep inside the bumper.

And also, I guess I ordered the wrong harness (ML3Z-15K867-MA) because I have these two empty connectors left over (at least, I hope they should be empty). I have the 5.0, I'm guessing these are for the turbo engines? I'm kind of worried because the dash displayed a message to "Check Brake System" after I initially started it up after doing this. I had the battery disconnected to do the airbag, so I'm hoping the message was related to that...

I think those are for the lower grill shutters and hybrid noise makers. The 5.0 doesn’t have either.

 

[JBMCEQY]

I think those are for the lower grill shutters and hybrid noise makers. The 5.0 doesn’t have either.

Ah good to hear. I just zip tied em up and it shouldn't pose any issue (otherwise one of them does hang down and gets caught in the air dam). But anyone else with the 5.0 may want to find the correct harness as I'd guess it's cheaper without the extra connections.

Also I drove around a bit and the "check brake system" message hasn't returned, so I'll just assume it was related to disconnecting the battery.

I still haven't done the forscan updates, I'm planning to do that today or tomorrow. Hopefully I'll report back here with success!

 

[johnhbrandon]

Just a followup from my post yesterday. I re-programmed all necessary modules per @Livnitup's spreadsheet. I then had Forscan re-load a new profile from scratch. It found the CCM which still had my VIN in it from the previous attempt. I then cleared all DTCs and besides the one I mentioned coming from the IPMA module, there was one from the CCM stating that is wasn't calibrated. So, I ran the calibration which went just like it should, no errors. I then parked the car, and shut it down completely. After restarting it, I checked the DTCs and again, there was just the one from the IPMA module. Lane centering seemed to be working but when I tried to activate cruise control, a warning message came up on the instrument panel stating Adaptive Cruise Control not available. One difference from the spreadsheet was at 7D0-09-04 where the spreadsheet said to enter a 6 at xxxx xxxx *x--, but all the like F-150s with adaptive cruise control had an E. Haven't tried the E yet. The other difference was in the BCM. The spreadsheet said to put a 10 in the second group in positions 3 and 4. When I tried writing that value, Forscan threw an error stating the the configuration was illegal and failed to write the change. I went into the BCM easy mode and made the change to Adaptive cruise control with start/stop. When I went back in the as-built, it was showing a 90. I compared this to the like trucks I found and they all agreed with 90. That's where I left it. It seems like I'm so close to getting this working, but something is standing in the way.

Okay I know this is getting old. But after all the above, I shut the truck off for a while and went into the house to write the post above. Later, the wife and I took my truck out to a restaurant and while we were coming home, just for kicks, I pressed the cruise button and everything started working just like it should. Adaptive cruise worked great and lane centering was phenomenal. I let it negotiate some curvy roads and it did not veer off at all. I seem to remember after programming changes with Forscan, you have to let the truck rest and "think" about it for a bit before the changes become effective. I experienced that same thing when I installed the bed lights. Initially, they didn't work after installing and making the necessary changes with Forscan. But later, I came to get something in the garage and out of curiosity, I opened the tailgate and pressed the power button and eureka, they worked. Since euphoria had set it, I wasn't in a position to try TJA with start/stop or IACC but it is recognizing speed limit signs as well as knowing the speed limits from the connected nav. So, never mind about my previous post. Thanks for all the great input from everyone who spent hours pioneering this great upgrade. Recommendation, "Wait for it!"

 

[johnhbrandon]

Well I got the CCM installed today. I ended up using a 1/2" swivel ratchet with a 6" extension and a universal joint to remove the bumper while leaving the grill in place and it wasn't too difficult.

But holy hell the wire harness was a massive pain to remove and reinstall. I'm not sure since I haven't done it, but it sounds potentially easier to just run a wire straight from the CCM to the IPMA than to deal with that hassle of removing all the push clips that are buried deep inside the bumper.

And also, I guess I ordered the wrong harness (ML3Z-15K867-MA) because I have these two empty connectors left over (at least, I hope they should be empty). I have the 5.0, I'm guessing these are for the turbo engines? I'm kind of worried because the dash displayed a message to "Check Brake System" after I initially started it up after doing this. I had the battery disconnected to do the airbag, so I'm hoping the message was related to that...

I was in the same position as others in this thread in that I didn't have any wiring for the CCM/IPMA, anywhere. So, as you suggested, I did make up a custom harness that runs directly from the CCM to IPMA. A lot easier than going through the hassle of replacing an entire harness, unless you're adding other upgrades that require the factory harness. And BTW, I discovered it's a lot easier and likely quicker to remove the grille before removing the bumper. You can remove the bumper nuts from above with ordinary sockets and ratchets without climbing under the truck.

 

[JBMCEQY]

After making all the forscan changes yesterday I'm happy to report that ACC and lane centering is working on my '23 XLT 302a! Thank you to everyone responsible for doing the legwork to figure this out! Especially thank you @superfordman for summarizing all the necessary changes in forscan!

I haven't had much chance to fully test it yet, but the lane centering seems to work really well on streets with well-defined lines. I only managed to test the stopping ability once (coming up behind a car stopped at a traffic light), and it left a lot to be desired there. Rather than the gentle, gradual braking that I was expecting, it slammed on the brakes pretty hard a few times to come to a stop. Hopefully that'll get smoothed out in the future because I'm concerned with getting rear ended if it does that when someone's tailgating me.

Also I already have a 2lb ankle weight coming to deal with that pesky "hands on the steering wheel" alert.

 

[ReverendQ]

Excellent @JBMCEQY . Your next assignment should you so choose to implement, https://www.f150gen14.com/forum/threads/rain-sensing-wiper-upgrade.18357/ . Much, much, easier and yes, you do not have to take the grill off

 

[JBMCEQY]

Excellent @JBMCEQY . Your next assignment should you so choose to implement, https://www.f150gen14.com/forum/threads/rain-sensing-wiper-upgrade.18357/ . Much, much, easier and yes, you do not have to take the grill off

haha that's definitely an idea worth considering...

 

[johnhbrandon]

I've had a few days to evaluate the co-pilot assist 2.0 upgrade on my Lariat and I can confirm I do have ACC, lane centering, speed limit sign recognition, lane keeping, and stop & go TJA. I cannot confirm that I have front collision avoidance. I followed the widely distributed spread sheet verbatim, comparing it to many other similarly equipped MY2022 Lariats I dug up online. I have to admit, I've been referring to it as the @Livnitup spreadsheet, but I'm not sure where it originated. The following are some observations, many of which the successful co-pilot implementers in this thread already know:

- Lane centering works at any speed but only when adaptive cruise control is active and lane lines are clearly visible. As long as lane boundaries are there, steering tracking is very good although be prepared for it to suddenly throw up a warning to "Take back Control" or something along that line.

- Lane keeping works like it did before if it's the only thing activated. It only works at or above 40 mph.

- Adaptive cruise control will slow and ultimately stop my truck behind slower/stopped traffic, but be prepared for not so smooth braking. The first time I tried this, the car in front of me started slowing down and do did my truck although it seems it uses braking to simply slow down rather than just decellerating. But as the car ahead came to a full stop, I wasn't sure my truck was going to do likewise, but I allowed it the opportunity to see if it would and thankfully, it did. Not without a few skips of my heartbeat though.

- Throughout this thread, many have surmised that intelligent ACC only works if the truck has connected nav. My truck has factory nav, but I don't pay Ford $80 a year, so it's not connected. I use CarPlay like many of you. Today, I was on a freeway and I set ACC for 60 mph and it was working normally. Then I passed a 65 mph speed limit sign, which my truck read, and it unexpectedly accelerated to 65. Puzzled, I thought it wasn't supposed to do that since my nav isn't connected. Then, I came upon a construction speed limit sign of 55 mph and again, my truck read it and slowed to 55 (although no one else did). So, it would appear I have intelligent ACC but it does not appear in the features menu (see photos) even though it's ostensibly turned on. APIM 7D0-09-02 is set to xxxE xxxx xx--. If anyone knows a setting I may have missed, please reply.

- While driving on a freeway with ACC, I kept a hand on the steering wheel but apparently not firm enough because I kept getting the "Keep hands on the steering wheel" popup on the IPC followed by the obnoxious warning sound. I had to actually lightly "fight" the steering to make it happy. I was thinking, what good is lane centering if you have to practically steer the truck to keep the warning from popping up. I'm going to try the ankle weight hack to see if that satisfies it.

- Installing the ACC left-hand steering wheel switch was the easiest part of my upgrade. I've read where a number of people have avoided doing it due to a fear of setting off the airbag. I did disconnect the negative battery lead to to be on the safe side. Thus far, I've heard of no one setting one off in this thread. The steering wheel switch I ordered from Tasca is: ML3Z-9C888-DA for $19.34.

- I'm still don't completely understand some of the new graphics that show on the instrument panel like what appears to be an orange color block that shows in front of the truck icon if I'm too close to the vehicle in front that seems to work regardless whether ACC or LKA is active. I think this might be a distance indicator since I have display distance set to on.

Now I'm on my next hack to add intelligent rain sensing wipers. Cheers!

 

[ReverendQ]

I've had a few days to evaluate the co-pilot assist 2.0 upgrade on my Lariat and I can confirm I do have ACC, lane centering, speed limit sign recognition, lane keeping, and stop & go TJA. I cannot confirm that I have front collision avoidance. I followed the widely distributed spread sheet verbatim, comparing it to many other similarly equipped MY2022 Lariats I dug up online. I have to admit, I've been referring to it as the @Livnitup spreadsheet, but I'm not sure where it originated. The following are some observations, many of which the successful co-pilot implementers in this thread already know:

- Lane centering works at any speed but only when adaptive cruise control is active and lane lines are clearly visible. As long as lane boundaries are there, steering tracking is very good although be prepared for it to suddenly throw up a warning to "Take back Control" or something along that line.

- Lane keeping works like it did before if it's the only thing activated. It only works at or above 40 mph.

- Adaptive cruise control will slow and ultimately stop my truck behind slower/stopped traffic, but be prepared for not so smooth braking. The first time I tried this, the car in front of me started slowing down and do did my truck although it seems it uses braking to simply slow down rather than just decellerating. But as the car ahead came to a full stop, I wasn't sure my truck was going to do likewise, but I allowed it the opportunity to see if it would and thankfully, it did. Not without a few skips of my heartbeat though.

- Throughout this thread, many have surmised that intelligent ACC only works if the truck has connected nav. My truck has factory nav, but I don't pay Ford $80 a year, so it's not connected. I use CarPlay like many of you. Today, I was on a freeway and I set ACC for 60 mph and it was working normally. Then I passed a 65 mph speed limit sign, which my truck read, and it unexpectedly accelerated to 65. Puzzled, I thought it wasn't supposed to do that since my nav isn't connected. Then, I came upon a construction speed limit sign of 55 mph and again, my truck read it and slowed to 55 (although no one else did). So, it would appear I have intelligent ACC but it does not appear in the features menu (see photos) even though it's ostensibly turned on. APIM 7D0-09-02 is set to xxxE xxxx xx--. If anyone knows a setting I may have missed, please reply.

- While driving on a freeway with ACC, I kept a hand on the steering wheel but apparently not firm enough because I kept getting the "Keep hands on the steering wheel" popup on the IPC followed by the obnoxious warning sound. I had to actually lightly "fight" the steering to make it happy. I was thinking, what good is lane centering if you have to practically steer the truck to keep the warning from popping up. I'm going to try the ankle weight hack to see if that satisfies it.

- Installing the ACC left-hand steering wheel switch was the easiest part of my upgrade. I've read where a number of people have avoided doing it due to a fear of setting off the airbag. I did disconnect the negative battery lead to to be on the safe side. Thus far, I've heard of no one setting one off in this thread. The steering wheel switch I ordered from Tasca is: ML3Z-9C888-DA for $19.34.

- I'm still don't completely understand some of the new graphics that show on the instrument panel like what appears to be an orange color block that shows in front of the truck icon if I'm too close to the vehicle in front that seems to work regardless whether ACC or LKA is active. I think this might be a distance indicator since I have display distance set to on.

Now I'm on my next hack to add intelligent rain sensing wipers. Cheers!

Excellent observations @johnhbrandon , I concur, iACC is good but I am better at coming to a stop or slowing down, I lift way way before the truck does. You may also notice the cameras are certainly not perfect at differentiating 3D i.e. unmarked cement curbs vs. a slab of cement on the sides of a road. While very advanced in this engineers opinion, and in contract to a more famours Engineer who shall remain namelss but is associated with Tesla we have a ways to go in processing 3D spacialtiy accurate and fast enough to match our brains that do it without "thinking" about it.

Anyway, attadched are photos of my (new) sync settings for the subject associated added features to an XLT 302A with 360 cameras and OTA navigation. Some may be different in sub menu as I used the "Unreal" theme. I may have a couple mroe Forscan mods than what it appears you have also.

I have tested everything as much as one can but cannot truly test i.e. Pre-Collision Avoidance without endangering me and the general public. I also plan to regresssion test Pro-Trailer Backup and Assist and Trailer Side view to be sure nothing I did keeps these from continuing to function (they worked before adding Co-Pilot Assist 2.0 Active or whatever the set of features that we hacked in is called.

One last comment to comtimplate...I don't have Blue Cruise but from what I read having what we have and say using a weight (see previous posts) seems to be preferred by most. After getting used to it enough to trust it various SoCal traffic sitiuations, I can recommend it.

 

[Rineland]

Has anyone that's added Co-Pilot Assist 2.0 also tried enabling Auto Hitch? It seems as though it could be possible by changing the below lines in Forscan. It seems like a pretty advanced feature so it may require the advanced IPMA but based on @superfordman getting IACC to work with the regular non-360 cam IPMA I feel like this could be enabled as well.

APIM
7D0-01-03 XXXX XX*X XX--

ABS
760-03-01 XX*X --

IPMA
706-01-01 XXXX XX*X XX--

I placed asterisks in the locations that would be altered instead of example values as it's going to vary truck to truck depending on options and trim level. Best thing to do would be to check your existing values and review the spreadsheet for the correct value to enable Auto Hitch.

 

[Imnotthatsmart]

With all of these pages of information nobody has taken a picture or gone into detail on running the wires through the fire wall. Anyone have any recommendations or potential pictures? Also has anyone attempted this by themselves? I’ve seen several reports saying to use 2 people on removing the bumper and putting it back on. Thanks.

 

[superfordman]

- Throughout this thread, many have surmised that intelligent ACC only works if the truck has connected nav. My truck has factory nav, but I don't pay Ford $80 a year, so it's not connected.

You don't need to have connected nav for IACC to work, it reads signs main from vision and what it can see. However there must be something it still uses in the background nav wise, as in certain places it will ghost change speed, usually always decrease slightly, out of the blue, so not sure if its thinks it sees something, or that is something in the nav map where it thinks it needs to change speed.

Excellent observations @johnhbrandon , I concur, iACC is good but I am better at coming to a stop or slowing down, I lift way way before the truck does.

You really need to look at enabling Predictive Speed Assist then in the APIM if you have the latest software as that is a new feature I just discovered and thanks to the latest definitions of the Forscan sheet, we know where to enable it now. This does a much better job or looking ahead and slows you down to the speed limit sign at the sign, it doesn't wait until you cross it, then slows you down.

7D0-09-05

xxxx

xxxx

2x--

Has anyone that's added Co-Pilot Assist 2.0 also tried enabling Auto Hitch?

I haven't messed around with enabling it but I know others have in some other threads successfully. You need trailer backup assist to use it and interactive with it. My 21 never had TBA so I never messed around with it, then my 23 came with it already enabled.

 

[johnhbrandon]

Excellent observations @johnhbrandon , I concur, iACC is good but I am better at coming to a stop or slowing down, I lift way way before the truck does. You may also notice the cameras are certainly not perfect at differentiating 3D i.e. unmarked cement curbs vs. a slab of cement on the sides of a road. While very advanced in this engineers opinion, and in contract to a more famours Engineer who shall remain namelss but is associated with Tesla we have a ways to go in processing 3D spacialtiy accurate and fast enough to match our brains that do it without "thinking" about it.

Anyway, attadched are photos of my (new) sync settings for the subject associated added features to an XLT 302A with 360 cameras and OTA navigation. Some may be different in sub menu as I used the "Unreal" theme. I may have a couple mroe Forscan mods than what it appears you have also.

I have tested everything as much as one can but cannot truly test i.e. Pre-Collision Avoidance without endangering me and the general public. I also plan to regresssion test Pro-Trailer Backup and Assist and Trailer Side view to be sure nothing I did keeps these from continuing to function (they worked before adding Co-Pilot Assist 2.0 Active or whatever the set of features that we hacked in is called.

One last comment to comtimplate...I don't have Blue Cruise but from what I read having what we have and say using a weight (see previous posts) seems to be preferred by most. After getting used to it enough to trust it various SoCal traffic sitiuations, I can recommend it.

Excellent observations @johnhbrandon , I concur, iACC is good but I am better at coming to a stop or slowing down, I lift way way before the truck does. You may also notice the cameras are certainly not perfect at differentiating 3D i.e. unmarked cement curbs vs. a slab of cement on the sides of a road. While very advanced in this engineers opinion, and in contract to a more famours Engineer who shall remain namelss but is associated with Tesla we have a ways to go in processing 3D spacialtiy accurate and fast enough to match our brains that do it without "thinking" about it.

Anyway, attadched are photos of my (new) sync settings for the subject associated added features to an XLT 302A with 360 cameras and OTA navigation. Some may be different in sub menu as I used the "Unreal" theme. I may have a couple mroe Forscan mods than what it appears you have also.

I have tested everything as much as one can but cannot truly test i.e. Pre-Collision Avoidance without endangering me and the general public. I also plan to regresssion test Pro-Trailer Backup and Assist and Trailer Side view to be sure nothing I did keeps these from continuing to function (they worked before adding Co-Pilot Assist 2.0 Active or whatever the set of features that we hacked in is called.

One last comment to comtimplate...I don't have Blue Cruise but from what I read having what we have and say using a weight (see previous posts) seems to be preferred by most. After getting used to it enough to trust it various SoCal traffic sitiuations, I can recommend it.

You don't need to have connected nav for IACC to work, it reads signs main from vision and what it can see. However there must be something it still uses in the background nav wise, as in certain places it will ghost change speed, usually always decrease slightly, out of the blue, so not sure if its thinks it sees something, or that is something in the nav map where it thinks it needs to change speed

You really need to look at enabling Predictive Speed Assist then in the APIM if you have the latest software as that is a new feature I just discovered and thanks to the latest definitions of the Forscan sheet, we know where to enable it now. This does a much better job or looking ahead and slows you down to the speed limit sign at the sign, it doesn't wait until you cross it, then slows you down.


7D0-09-05xxxxxxxx2x--

@superfordman I'll give that a try. It's not on the spreadsheet. Do you happen to know what the latest software version is?. I should have it, because being the trusting fool that I am, I allow auto updates. while I sleep ?


I haven't messed around with enabling it but I know others have in some other threads successfully. You need trailer backup assist to use it and interactive with it. My 21 never had TBA so I never messed around with it, then my 23 came with it already enabled.

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