Added Adaptive Cruise Control (ACC) to Bronco with High Package using FORScan

Hello,

This is for educational purposes and it’s a thought exercise. Some would even suggest that the only safe way to do it is to do it in Minecraft.

*****This should NOT BE DONE in real life because of the danger that would cause if the systems that control your vehicle malfunction****.

In addition to that you might be voiding your warranty if you modify your car based on information you find online. So that is even more reason for you NOT TO attempt.

I have benefited from a lot of how-tos on the internet so here is my contribution.

If you are like me who ordered the high package and then regret not having ACC this thread might be interesting to you.

Before I start, I am going to give shout out to all the people who helped.

First and foremost, to Forscan team and developers. For $12 license fee they are maintaining a system that you would have to pay hundreds if not more. They provided me with 2 specific version of their software (beta versions) that would change values in PSCM and also calibrate the CCM module.

Shout out to ALLDATA rep guy that gave me a 10 day trial of the professional version of their database. Without that the project would have taken much longer.

To everyone in the f150 forums that did this mod to their cars. Specially to livinitup for decoding a lot of module addresses that are similar in our cars.

Also, to the guys in the ranger5g forum who worked on a similar project for their trucks and it was an inspiration for starting this project. Here is their link.

https://www.ranger5g.com/forum/threads/adding-adaptive-cruise-control.9057/

Now on to the how-to.

****Keep in mind Bronco’s ACC is not the stop&go version. It cuts off at below 10mph (you have to brake to avoid rear ending the front stopped car) and you have to get to 15mph to resume.

There are things that I am skipping such as removing the steering wheel button or splicing a wire because you can find them with a simple google or even youtube search.

Part you need: (cost me about $550, most expensive is the radar I paid under 400 for a brand new unite)

• M2DZ-9C888-CA Switch Assembly
• M2DZ-14C022-A Distance Sensor bracket
• M2DZ-9E731-A Distance Sensor
• W506855-S450X Distance Sensor Screw x3
• M2DZ15A211B Wire Fog Lamp (this is actually the harness that powers the lower radiator shutter and the radar and has the CAN wires for the sensor but its called “Wire Fog Lamp” on parts.ford’s website!

The main wire harness should have the sensor wires but for the life of me I could not locate the correct pins inside the cabin on connector C210 (under the dash passenger side) so I soldered a pair of wires from connector C206 (A pilar passenger side) and brought it out to just under the grill and splice it into the M2DZ15A211B wire harness.

If someone wants to take another shot at it and locate the pins in C210 with pictures, everyone would benefit since they would not have to pull the wire all the way through the engine bay. The pins should be #20 and #4 but I could not get continuity signal from them. I am not sure why.

You can look at the diagram below to understand the issue better and locate the connectors.







Now on to the Forescan changes.

Again, look online for helpful link for Forscan if you don’t know what it is and what it does.

Just a side note here;

There are changes in AIMP module that may not be necessary (or the high package does not come with) however I did not have time and the resources that would require to decode every value change so I transferred over every value that was different in a similar cars like mine with the LUX package and the change would not yield a DTC error.

If someone want to decode them be my guest everyone would benefit from it. As of now I am keeping these changes because everything as far as I know works.

I put a brief description of what the value change does for the addresses that I think I know. If you have time to decode the rest you’re are more than welcome to do it.



Original Value

IPMA 706-01-01 **** 9*** A9** 5-B5

IPMA 706-02-01 **** **** 7F** 60

IPC 720-01-01 *F** **** **** C

IPC 720-01-02 **** 8*** **** 4

IPC 720-02-02 **** *D** **** 9

IPC 720-09-01 1*** **** **** Evasive Steering? 0

PCM 7E0-163-04 **0* **** **** 2

SCCM 724-02-01 **C2 **** **** Steering button BA

BCM 726-16-01 **** ***C **** 8

BCM 726-59-01 **** **** *1** Accident Mitigation?

PSCM 730-02-03 FF** **** **** Evasive Steering? 00

ABS 760-03-01 B*** **** **** 7

CCM 764-01-01 4BVV VVVV VV translate your vin to hex

CCM 764-01-02 VVVV VVVV VV

CCM 764-01-03 VVVV VVVV VV

CCM 764-01-04 VVVV 3500 `00 enter 4 zeros after

CCM 764-01-05 `0000 00** enter 6 zeros

APIM 7D0-01-01 A*8* **** **** 2-0 A =DTC error

APIM 7D0-02-02 *6** **** **** 2

APIM 7D0-09-01 6*** 4*** *E** 4-2-A 6 Easy mode

APIM 7D0-09-02 ***C *E** **** 4-C E Easy mode


WARNNING

This will void your warranty DO NOT DO IT.

EDIT: i copy this text from word so table header is not aligned. original values are the last bits in each line. Most addresses have 12 variables (last 2 are check sums)
this write up is like 99% (not a step by step) intentionaly so if you are interested, you would do some reading on forscan coding and other hands on work that is require for full implementation.

Nice write up. Now on to adding the true stop and go ACC to replace this ancient version we got. It’s been done in Forscan but wasn’t shared.

This is very interesting. Thanks for posting (for at least perspective if nothing else).

I got a Bimmer 4 series back during the pandemic. It was the end of a production run and I was too late for a custom order. I found a new one on a lot, but no ACC. Bought it and I pursued everything into getting ACC installed 'aftermarket'. Nobody would touch it with a 50 foot pole.

I ended up eventually trading it in on one that has it (as well as the color interior that I originally wanted but couldn't get on my first one).

I have a friend who won't even touch any cruise control when they drive. I on the other hand travel enough that I can't live without ACC at this point.

bobthebuilder1 said:

Hello,

This is for educational purposes and it’s a thought exercise. Some would even suggest that the only safe way to do it is to do it in Minecraft.

*****This should NOT BE DONE in real life because of the danger that would cause if the systems that control your vehicle malfunction****.

In addition to that you might be voiding your warranty if you modify your car based on information you find online. So that is even more reason for you NOT TO attempt.

I have benefited from a lot of how-tos on the internet so here is my contribution.

If you are like me who ordered the high package and then regret not having ACC this thread might be interesting to you.

Before I start, I am going to give shout out to all the people who helped.

First and foremost, to Forscan team and developers. For $12 license fee they are maintaining a system that you would have to pay hundreds if not more. They provided me with 2 specific version of their software (beta versions) that would change values in PSCM and also calibrate the CCM module.

Shout out to ALLDATA rep guy that gave me a 10 day trial of the professional version of their database. Without that the project would have taken much longer.

To everyone in the f150 forums that did this mod to their cars. Specially to livinitup for decoding a lot of module addresses that are similar in our cars.

Also, to the guys in the ranger5g forum who worked on a similar project for their trucks and it was an inspiration for starting this project. Here is their link.

https://www.ranger5g.com/forum/threads/adding-adaptive-cruise-control.9057/

Now on to the how-to.

****Keep in mind Bronco’s ACC is not the stop&go version. It cuts off at below 10mph (you have to brake to avoid rear ending the front stopped car) and you have to get to 15mph to resume.

There are things that I am skipping such as removing the steering wheel button or splicing a wire because you can find them with a simple google or even youtube search.

Part you need: (cost me about $550, most expensive is the radar I paid under 400 for a brand new unite)

• M2DZ-9C888-CA Switch Assembly
• M2DZ-14C022-A Distance Sensor bracket
• M2DZ-9E731-A Distance Sensor
• W506855-S450X Distance Sensor Screw x3
• M2DZ15A211B Wire Fog Lamp (this is actually the harness that powers the lower radiator shutter and the radar and has the CAN wires for the sensor but its called “Wire Fog Lamp” on parts.ford’s website!

The main wire harness should have the sensor wires but for the life of me I could not locate the correct pins inside the cabin on connector C210 (under the dash passenger side) so I soldered a pair of wires from connector C206 (A pilar passenger side) and brought it out to just under the grill and splice it into the M2DZ15A211B wire harness.

If someone wants to take another shot at it and locate the pins in C210 with pictures, everyone would benefit since they would not have to pull the wire all the way through the engine bay. The pins should be #20 and #4 but I could not get continuity signal from them. I am not sure why.

You can look at the diagram below to understand the issue better and locate the connectors.

Now on to the Forescan changes.

Again, look online for helpful link for Forscan if you don’t know what it is and what it does.

Just a side note here;

There are changes in AIMP module that may not be necessary (or the high package does not come with) however I did not have time and the resources that would require to decode every value change so I transferred over every value that was different in a similar cars like mine with the LUX package and the change would not yield a DTC error.

If someone want to decode them be my guest everyone would benefit from it. As of now I am keeping these changes because everything as far as I know works.

I put a brief description of what the value change does for the addresses that I think I know. If you have time to decode the rest you’re are more than welcome to do it.



Original Value

IPMA 706-01-01 **** 9*** A9** 5-B5

IPMA 706-02-01 **** **** 7F** 60

IPC 720-01-01 *F** **** **** C

IPC 720-01-02 **** 8*** **** 4

IPC 720-02-02 **** *D** **** 9

IPC 720-09-01 1*** **** **** Evasive Steering? 0

PCM 7E0-163-04 **0* **** **** 2

SCCM 724-02-01 **C2 **** **** Steering button BA

BCM 726-16-01 **** ***C **** 8

BCM 726-59-01 **** **** *1** Accident Mitigation?

PSCM 730-02-03 FF** **** **** Evasive Steering? 00

ABS 760-03-01 B*** **** **** 7

CCM 764-01-01 4BVV VVVV VV translate your vin to hex

CCM 764-01-02 VVVV VVVV VV

CCM 764-01-03 VVVV VVVV VV

CCM 764-01-04 VVVV 3500 `00 enter 4 zeros after

CCM 764-01-05 `0000 00** enter 6 zeros

APIM 7D0-01-01 A*8* **** **** 2-0 A =DTC error

APIM 7D0-02-02 *6** **** **** 2

APIM 7D0-09-01 6*** 4*** *E** 4-2-A 6 Easy mode

APIM 7D0-09-02 ***C *E** **** 4-C E Easy mode


WARNNING

This will void your warranty DO NOT DO IT.

Click to expand...

Nice writeup. I agree with you about voiding warranty.

Well done!

The only time I've ever wanted ACC was during group rides to the trailhead, there's always that one guy that can't figure out how to maintain a steady speed.

Ksjrb03 said:

Nice write up. Now on to adding the true stop and go ACC to replace this ancient version we got. It’s been done in Forscan but wasn’t shared.

Click to expand...

I think the reason our cars were not given the S&G version is because of the availability of the manual transmission. The stop would have stall the car unless they would put a clutch actuator which would make it a cartoonish automatic transmission.

Could Ford give the AT's a full S&G set up? of course but I think it was a economical decision rather than an engineering one to simplify parts and systems variations.

I think S&G on AT can absolutely be done but it may need hardware changes that might be cost prohibitive.

If you have any more info about the person who did it (a link maybe) I would appreciate it if you could share.

Dral97 said:

This is very interesting. Thanks for posting (for at least perspective if nothing else).

I got a Bimmer 4 series back during the pandemic. It was the end of a production run and I was too late for a custom order. I found a new one on a lot, but no ACC. Bought it and I pursued everything into getting ACC installed 'aftermarket'. Nobody would touch it with a 50 foot pole.

I ended up eventually trading it in on one that has it (as well as the color interior that I originally wanted but couldn't get on my first one).

I have a friend who won't even touch any cruise control when they drive. I on the other hand travel enough that I can't live without ACC at this point.

Click to expand...

I also looked at adding it to my CLS550 couple of years ago but the cost of the parts were ridiculous and the process was way more involved and needed programming tools that I did not have access to. so instead I spend the money on tuning and performance upgrade so its now pushing about 600HP to the wheel and roars like m-fer

Yep that's the other thing. Getting the parts and PAYING for the parts. I think for the Bimmer there was a control box/assembly that apparently is on the tougher side to get.

I admit I don't have the expertise to do it myself. The other problem with the Bimmer is if you didn't get it with the option, there were no distance or speed sensors installed.

bobthebuilder1 said:

I think the reason our cars were not given the S&G version is because of the availability of the manual transmission. The stop would have stall the car unless they would put a clutch actuator which would make it a cartoonish automatic transmission.

Could Ford give the AT's a full S&G set up? of course but I think it was a economical decision rather than an engineering one to simplify parts and systems variations.

I think S&G on AT can absolutely be done but it may need hardware changes that might be cost prohibitive.

If you have any more info about the person who did it (a link maybe) I would appreciate it if you could share.

Click to expand...

All of the necessary hardware AND software is there for true stop and go ACC AND true lane centering (vs the lane assist garbage we got). The user who unlocked both of these in Forscan is unfortunately not only gone from the site, all his posts were wiped out too. d2dhanover was a Ford powertrain engineer, and was the main contributor to the Forscan hacks around here before his demise.

Stop and Go ACC and lane centering were left out for easy bullet point upgrades during the mid cycle refresh. The software is there along with the necessary UI. I have seen pics of it working. He was going to release the Forscan changes after he finished cleaning up some final UI settings, then poof.

Dude, this is absolutely ***not** amazing! I ordered a base and for sure will ***not** do this mod! I've only used ACC with rental cars and it is ***not** the shit on long ass haul boring highway drives.
***not** Thanks for your effort and contributions to the community!!

Ksjrb03 said:

All of the necessary hardware AND software is there for true stop and go ACC AND true lane centering (vs the lane assist garbage we got). The user who unlocked both of these in Forscan is unfortunately not only gone from the site, all his posts were wiped out too. d2dhanover was a Ford powertrain engineer, and was the main contributor to the Forscan hacks around here before his demise.

Stop and Go ACC and lane centering were left out for easy bullet point upgrades during the mid cycle refresh. The software is there along with the necessary UI. I have seen pics of it working. He was going to release the Forscan changes after he finished cleaning up some final UI settings, then poof.

Click to expand...

I think there must have been some legal issue with safety and such specially since he was employed by Ford as you say. Also, I think ford maintains this site so putting 2 and 2 together you are asking for a lot of legal issues regarding safety.

I guess I shouldn't be surprised if this post also gets flagged but since I am SCREAMING not to do it in real life, maybe not. who knows.

In terms of hardware/software I want to believe you but the UI gives me only 2 option. I have seen the option in Forscan though. I wish I had access to ford with S&G to see how it behaves and what the options look like in the GUI.

I have driven hondas and VWs with S&G and they also disengage if the stops are more than 3-5 seconds but you can resume from full stop by pressing a button.

At this point the only modules that would need changes for S&G should be the ABS and BCM maybe AIMP and PCM. PCM and ABS are the ones that I would not dare to screw around too much.

Honestly, I am quite happy with this version of ACC . Lane centering I never had a chance to try so I do not have an opinion but this lane keeping is total BS. In general I do not like systems that interfere with my steering (I am not ready to give up full control)

Thanks for taking the time to share this!

I am very interested in what you are able to do with the special beta forscan in PSCM ?

didn't realize I wanted acc until I rented a car with it but without it being an option on high package it was a no go.

JBlanco said:

Dude, this is absolutely ***not** amazing! I ordered a base and for sure will ***not** do this mod! I've only used ACC with rental cars and it is ***not** the shit on long ass haul boring highway drives.
***not** Thanks for your effort and contributions to the community!!

Click to expand...

I am glad that you decided not to do it and this post wasn't helpful at all. But for the base you might need more than that. You must for sure have the IPMA module (the camera on the windshield) and maybe even the bumper sensors.

basically not sure about what comes with base and needs to be added. Oh and also I had to select the option in the center screen GUI after everything was done so the base I know does not come with my version of the center screen and the GUI might be different. I know for example some ford trucks have to select the option in the IPC screen.

Anyways don't get discouraged you might at the end realize its to dangerous to install lol.

So you actually have this working?
You list original values for Forscan but what are the changes?
which version of forscan did you end up finding works?
if your not comfortable writing these particular things in public. Message me. This and the heated wheel are the only things I want out of the lux package. Well besides cooled seats lol. Thanks for the write up. Now we need someone to tackle the heated wheel like they have done on the F series truck or eventually the raptor steering wheel fully working.