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I love this project, props and special thanks to OP for all the work and time invested in this. I have a 2019 Lariat F150 501A, no technology package, however today I was able to add Lane Keep Assist to it via Forscan.
The 2019s have standard pre-collision detection so the IPMA is good for LKA as well.
I modified the following:
IPC: 720-02-01: xxEx-xxxx-xxxx
IPMA: 706-01-01: xxxx-99Cx-xxxx
PSCM: 730-02-01: xxxx-x1xx-xxxx
PSCM: 730-01-01: xxxx-xxxx-x1xx
These will give you access to the configuration in the dashboard, however to engage LKA you would need to press the button (that trucks with LKA have pre-wired) but we don't have that button, so we must short briefly pins 5 and 12 of the IPMA harness (SEE PIC) and that will instantly engage LKA. Same procedure to disengage, so you can hardwire a button here if you will be toggling it on and off, or you can just short it until it's on and it will stay on.
I'm very happy with this mod, especially since it took a very short amount of time to perform, and it gives me a great feature that I wanted for long trips.
I hope OP keeps doing progress with phoenixpilot and the F150, can't wait to try it.
I love this project, props and special thanks to OP for all the work and time invested in this. I have a 2019 Lariat F150 501A, no technology package, however today I was able to add Lane Keep Assist to it via Forscan.
The 2019s have standard pre-collision detection so the IPMA is good for LKA as well.
I modified the following:
IPC: 720-02-01: xxEx-xxxx-xxxx
IPMA: 706-01-01: xxxx-99Cx-xxxx
PSCM: 730-02-01: xxxx-x1xx-xxxx
PSCM: 730-01-01: xxxx-xxxx-x1xx
These will give you access to the configuration in the dashboard, however to engage LKA you would need to press the button (that trucks with LKA have pre-wired) but we don't have that button, so we must short briefly pins 5 and 12 of the IPMA harness (SEE PIC) and that will instantly engage LKA. Same procedure to disengage, so you can hardwire a button here if you will be toggling it on and off, or you can just short it until it's on and it will stay on.
I'm very happy with this mod, especially since it took a very short amount of time to perform, and it gives me a great feature that I wanted for long trips.
I hope OP keeps doing progress with phoenixpilot and the F150, can't wait to try it.
I’ve been wanting to add this to my truck for awhile now. This is exactly what I’ve been looking for, thanks! I plan to integrate PhoenixPilot into my truck soon!
I’ve been wanting to add this to my truck for awhile now. This is exactly what I’ve been looking for, thanks! I plan to integrate PhoenixPilot into my truck soon!
Is there an implementation guide that I’m missing? I’m also ready to give it a shot, but I’m not sure how of how I get underway. Can someone help me with that?
If you're talking about implementing PhoenixPilot, I'm right there with you, I can't wait till we can all do it with an easy to get harness, and dying to know what Edward's up to these days, and how the project is coming along.
If you're talking about implementing Lane Keep Assist, then it's pretty straight forward:
2019s and above have standard pre-collision assist so the IPMA is also compatible with LKA.
First check that you have a model with a camera on the windshield, then pull the cover from it, this can be done with your bare hands, you will see the IPMA, that is the part with the green connector on it, check the part number, the one on the pic is compatible: KL3T-19H406-CE (this may vary depending on your truck's year).
Once you've determined you have an IPMA that is compatible with LKA, you need to modify some values with FORSCAN, you will need a windows laptop, download FORSCAN, apply for a free trial license and then, look for a couple of tutorials on youtube on how to use it, it is quite simple for these purposes.
Once on Forscan, you have to modify the following values:
Once you've done that and you have restarted your vehicle, you will be able to see the lane keep assist settings on your dashboard's menu, however you won't be able to turn it on because you don't have a button on your truck.
So the last step is activating LKA, with your vehicle turned on, momentarily bridge the 2 pins (5 and 12) as seen on my original post. you don't permanently bridge them, just short them for 1 second and you will see LKA show up as activated on your dashboard, and voila feature is fully usable.
If you want to be able to turn it on and off, just hardwire a button between those pins. I didn't do that, I just run with it on all the time.
If you're talking about implementing PhoenixPilot, I'm right there with you, I can't wait till we can all do it with an easy to get harness, and dying to know what Edward's up to these days, and how the project is coming along.
-SNIP-
Sorry, I was talking about phoenixpilot. Deep into 2022, and I'm ready to buy some hardware and try it out. We already have a Tesla Model 3 with the Full Self Driving package. Using the LKA, ACC and Park Assist in my Platinum now feels like child's play in comparison.
I would love to test this out and make the custom connectors. I have an F150 limited. Where can I get information what it needs access to so I can make the connectors?
Heyo! Zorro here. I'm taking this project on and will be publishing my results.
Ford APS info:
Steering wheel angle and maximum angular rate: full range (±570°), tenth of a degree resolution, maximum 1000°/s.
The steering ratio is dynamically adjusted by an OEM system and cannot be directly observed. Experiments have shown a range between 14.0 and 21.0.
4.5 Nm filtered torque, and the value can be changed via the DbwConfig GUI. Higher thresholds are not attainable because the OEM vehicle enforces the 4.5 Nm threshold
– Filtered torque must satisfy the following inequality to engage steering:
-1.5 Nm ≤ TORQUE ≤ 1.5 Nm
– Steering wheel angle velocity must satisfy the following inequality to engage steering:
-50°/s ≤ VELOCITY ≤ 50°/s
– These restrictions may make it difficult to engage steering while driving in a sharp
turn
– These values are set by the OEM, and cannot be changed.
I worked on the Tesla port for OP and it's funny that APS commands are so frowned upon when Tesla is more "dangerous" and supported upstream. I'm very excited to get this working on my '16 F150 XL (non 502a). I do need to add ACC however, hopefully it's as easy as slapping the radar and buttons on, wiring to CAN even if I don't have the factory wiring harness.
Awesome to hear. I've since traded my 2015 F150 Platinum for a 2020 Escape Hybrid Titanium. It has updated driver assist, so LKA with Lane Centering, ACC (with stop and go) and Park Assist.
Hopefully your research will still be able to help me with the current vehicle.
Awesome to hear. I've since traded my 2015 F150 Platinum for a 2020 Escape Hybrid Titanium. It has updated driver assist, so LKA with Lane Centering, ACC (with stop and go) and Park Assist.
Hopefully your research will still be able to help me with the current vehicle.
I added LKA to my 2019 Lariat
