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

[B177y]

Once you revert all your module configs to factory If you're trying to troubleshoot you can go change the one setting for the steering wheel buttons in the SCCM to make the buttons work.

Just got home and did this. Regular cruise is working again with the new switch. Thank you.

Sponsored

 

[ZSC100]

Just got home and did this. Regular cruise is working again with the new switch. Thank you.

Make yourself a spreadsheet comparing each and every config setting from your factory to what you suspect is needed based on the DIY you're following. Put them in order of trial and you will find the ONE that's causing you the problem. This is the only organized way to ask for help here so others can have a chance at understanding what is causing the problem.

If you want an example/template here is the one I made when I was pioneering adding passive entry:

 

[B177y]

Happy soon to be New Year and thank you to everyone that has given advice and troubleshooting while I work through this project. I love this forum!

I will be tagging everyone that I have seen on this thread and others that have completed the ACC/LKA mod with 2024 model years or Pro trims or both. @hturnerfamily @Fxnitro @tannerk89 @fluiddynamics

I have narrowed down what I think may have been a cause of all of the errors I was receiving after making all of the Forscan changes last night. Any forscan advice will be greatly appreciated.

When I initially tried to write the changes to the IPMA, I got an error message on forscan that said "incompatible configuration unable to write" or something like that. It was in red lettering, which I have never before seen in Forscan. After that, I tried writing the changes for each section individually. There are two lines that I think may be causing my issues:

IPMA
706-02-01 *xxx xxxx xx-- (3 to 7)
Mine was a "2" and this is where I got the incompatible error. I programmed the rest of the IPMA without issue, and left this as a 2 because there was nothing that I could do otherwise, it was getting late, and figured that I would give it a shot see what happens. Well, I saw what happens, not good.

There was another IPMA line that is different but it didn't cause the incompatible configuration error when I tried to write.

IPMA
706-16-01 xxx* xxxx xx-- (9 to B)
Mine was "A", I changed to "B" and it wrote without an error, but I wanted to include this in case it is relevant.

All of the other Forscan changes matched the change sheet by @hturnerfamily and in the OP.

One or both of these lines are my best guess for what caused all of my error codes. I was getting "Front camera error, service required", "Lane keeping unavailable, service required", and "Pre-collision assist not available" messages on the dash every 2-3 minutes. I even got the Pre-collision message on my FordPass app.

While I was writing this, @ZSC100 sent me the spreadsheet comparison suggestion. I will attempt this next weekend when I am off again unless an obvious solution arises before then.

 

[Scot Graham]

This guide will assist you in adding the radar unit and Forscan values to add Adaptive cruise control with Stop and Go, along with Lane Keeping. Please do not attempt without understanding how Forscan works, I ran into some issues that can disable the truck if you are not careful. Okay, lets get to it.

These are the parts I bought. I used Tasca website to get the first three parts and the steering wheel buttons from eBay

• Sensor Assembly: ML3Z-9E731-G
• Mounting Bolts(3x): W720714S450B
• Wiring Harness: ML3Z-15K867-NA
• Steering wheel buttons: ML3Z-9C888-D

Disassembling the bumper is what took me the longest. I plan on making a video on this when I help my friend do this mod to his lightning. For now, heres a quick overview. Before starting anything, unplug the 12v battery. This is necessary before removing the airbag in the steering wheel.

Basically you remove all the bolts holding the frunk tub in. There's just one connector providing the power and lights to the tub so its pretty easy to remove. After that, remove the bottom three screws in the wheel wells that hold the trim on. You should be able to start popping trim off until you get to the bumper itself.

The bumper itself actually was easy once I figured it out. There are only 6 21mm nuts holding it to the chassis. Once those are removed it comes right off.

The new harness has an extra plug on each end that is used for fog lights. My XLT does not have fog lights so I just taped them off.

Well I had the bumper off, I unplugged the speaker for the frunk.... Unrelated but a nice mod.

Bumper back on with the radar installed.

The steering wheel buttons need to be replaced if you want to be able to change your follow distance. Otherwise its locked to level 3 I believe. Its not much more work so I recommend it. Pop the top trim of the steering wheel column off, tilt the wheel to an angle, then use a screwdriver to unlock the airbag. Watch a video online, its hard to explain. Once that is done, there are two screws holding the trim on. Remove those and pop the trim off to access the button. FYI the new button wont work till you reprogram the truck with Forscan.

Okay now to the fun part... Here are the forscan values I put together. I highly recomend reading through the master list if you have a different model year or trim level than me. I have also made a few forscan changes before this mod so my settings may be different.

These two spreadsheets are for reference only, follow the changes I list below:
ACC Add Changes
Livnitup's FORScan - 2021-23 F150

Forscan changes for 2022 Lightning XLT. If the values are different on your truck, refer to Livnitup's FORScan spreadsheet above.

SCCM *Only if you swap the left hand steering wheel switch for the one that includes the follow distance change
724-03-01 03xx xxxx

ABS
760-03-01 *xxx -- (4 to C)

IPC
720-01-01 x*xx xxxx xx-- (C to F)
720-01-02 xxxx *x-- (4 to 8)
720-03-01 x*xx xxxx xx-- (0 to 5)
720-03-02 xx*x xx-- (4 to C)
720-09-01 *xxx xxxx xx-- (A to B)
720-09-01 xxxx xxxx *x-- (1 to 9)
720-09-02 *xxx xx-- (0 to 2 or 1 to 3)
720-10-01 x*xx xxxx xx-- (A to B)

BCM
726-16-01 xxxx x*** xx-- (384 to 390)

IMPORTANT: Disconnect FORScan and turn the truck completely off, then back on. Reconnect FORScan BUT do not use the saved profile. Let it rescan for all modules.

Connect to IPMA and take a screenshot of the following values
706-19-01 xxxx xxxx xx--
706-19-02 xxxx xxxx xx--
706-19-03 xxxx xxxx xx--
706-19-04 xxxx --

Connect to the CCM module and input those values into these spaces.
764-01-01 xxxx xxxx xx--
764-01-02 xxxx xxxx xx--
764-01-03 xxxx xxxx xx--
764-01-04 xxxx --

APIM
7D0-05-01 *xxx xxxx xx-- (0 to 2)
7D0-05-01 xx*x xxxx xx-- (0 to 8)
7D0-09-01 *xxx xxxx xx-- (4 to 6 OR 5 to 7)
7D0-09-01 xxxx *xxx xx-- (2 to 4)
7D0-09-01 xxxx xxxx x*-- (set to B)
7D0-09-02 xxx* xxxx xx-- (4 to E or 5 to F)
7D0-09-02 xxxx x*xx xx-- (4 to 7)
7D0-09-02 xxxx xxxx x*-- (5 to D)
7D0-09-04 xxxx xxxx *x-- (0 to 6)

IPMA
706-01-01 *xxx xxxx xx-- (0 to 8)
706-01-01 xx*x xxxx xx-- (0 to 5)
706-01-01 xxx* xxxx xx-- (0 to 8)
706-01-01 xxxx xxxx x*-- (A to E)
706-02-01 *xxx xxxx xx-- (3 to 7)
706-02-02 x**x xxxx xx--(04 to 05)
706-16-01 *xxx xxxx xx-- (0 to 1)
706-16-01 xxx* xxxx xx-- (9 to B)

PSCM
730-02-02 xxxx **xx xx-- (00 to FF)
730-02-02 xxxx xx** xx-- (00 to FF)
730-02-03 **xx xxxx xx-- (00 to FF)

Okay, once again disconnect FORScan and turn the truck completely off, then back on. Reconnect FORScan BUT do not use the saved profile. Let it rescan for all modules. Once the scan is done, go to the DTC button on the left and CLEAR ALL DTC. This is very important. Cycle the engine after doing so.

Theoretically you will have a few errors on the screen such as front braking disabled or something like that. These are all related to the radar not being calibrated. You will use FORScan to calibrate.

-Go to the wrench icon on the left to get to the service menu.
-Select C-CM Calibration.
-You will now need to drive around in traffic while following some vehicles and let the truck calibrate.
-Once calibration has finished, the errors on the screen should disappear after a power cycling.
-Theoretically everything should be working. If not, post here and Ill try to help.

Good luck!

I live in Bend. My 24 XLT Lightning arrived without "Forward Sensing System" i.e. front proximity sensors. Given your knowledge as evidenced by this post, do you think the following is possible with FORScan? Simply removing the NL3Z15k867F and replacing with the NL3Z15K867G W/Front Park Aid, W/O Auto Park, W/O Adaptive Cruise. Adding the 4 proximity sensors, then using FORScan to recognize the sensors and enabling the front parking sensors? Ford says it cannot be done by the dealer service department. My question is do you think FORScan can enable these parts? Thanks in advance!!

 

[B177y]

Make yourself a spreadsheet comparing each and every config setting from your factory to what you suspect is needed based on the DIY you're following. Put them in order of trial and you will find the ONE that's causing you the problem. This is the only organized way to ask for help here so others can have a chance at understanding what is causing the problem.

Here is my attempt to organize the Forscan changes into a spreadsheet.

-
EDIT - ADDING INFO:
I have reverted all of my values to stock except for having glare-free lights and changing the number of turn-signal blinks for a lane change. I need assistance with deciphering the forscan changes to activate the ACC/LKA where my stock values do not match what the original DIY guide suggests. 2024 Pro SSV 110A, Ext Range, Max Tow, Tow tech
-

The page labeled "Final" is the sheet from @Brotato OP's Post "ACC Add Changes" with my markups where my values are different.

The page labeled "Sheet 1" is the master forscan references from @Livnitup . I pasted only the relevant sections, it is not the entire spreadsheet.

I have marked the "ACC Add Changes" (labeled "Final") where my values differ and what I think are the correct new values for my truck. I have 5 values that are different than the original modifications. Any proofread of these values would be greatly appreciated as this is my first attempt at having to translate the master forscan spreadsheet values.

I am clueless on the APIM value of 7D0-05-01 xx*x xxx xx-- as my current value (1) is not listed in Livinitups's master sheet, and changing it to the suggested value wouldn't write and gave me an "Incompatible configuration" error in Forscan Any advice on this section is welcomed.

EDIT: I received the "Incompatible configuration" error for the IPMA 706-02-01 section, but I believe that I found my error - please proofread spreadsheet to see if you agree.

Please let me know if you need more information to assist. Thank you!

 

[bmwhitetx]

I am clueless on the APIM value of 7D0-05-01 xx*x xxx xx-- as my current value (1) is not listed in Livinitups's master sheet, and changing it to the suggested value wouldn't write and gave me an "Incompatible configuration" error in Forscan Any advice on this section is welcomed.

I recently developed a tool that lets me examine AB for many vehicles at once. Not sure if this will help you but here are the parameters for a variety of Lightnings and a few ICE trucks.

Year	Model	7D0-05-01	706-02-01
2022	Lariat ER	2D96-0000-00A0	7373-FFCC-8142
2022	Pro SR	0D06-0000-00F0	3267-E0DC-0166
2022	XLT SR 311A	0D06-0000-00F0	336B-FFDC-41CA
2022	Lariat SR 510A	2D96-0000-00A0	7373-FFDC-8152
2022	Lariat ER	2D86-0000-0090	7373-FFCC-8142
2023	Pro SR	0D06-0400-00F4	336B-FFCC-41BA
2023	XLT SR 311A	0D16-0400-0004	336B-FFDC-41CA
2023	Lariat SR 510A	2D86-0400-0094	7373-FFCC-8142
2023	Lariat ER	2D96-0400-00A4	7373-FFCC-8142
2023	Lariat ER	2D96-0400-00A4	7373-FFCC-8142
2023	Lariat ER	2D86-0400-0094	7373-FFCC-8142
2024	XLT SR 311A	0D16-0400-0004	2B67-FFCC-016E
2024	Lariat ER	2D86-0400-0094	6B6B-FFCC-41F2
2024	Flash	2D96-0400-00A4	6B6B-FFCC-41F2
2024	Plat ER	2D86-0400-0094	6B6B-FFCC-41F2
2022	Tremor	2186-0000-0084	7373-FFCC-8142
2023	Lariat PB	2196-0400-0098	736B-FFCC-41FA
2024	Plat PB	2196-0400-0098	6B6B-FFCC-41F2

 

[B177y]

I recently developed a tool that lets me examine AB for many vehicles at once. Not sure if this will help you but here are the parameters for a variety of Lightnings and a few ICE trucks.

Year	Model	7D0-05-01	706-02-01
2022	Lariat ER	2D96-0000-00A0	7373-FFCC-8142
2022	Pro SR	0D06-0000-00F0	3267-E0DC-0166
2022	XLT SR 311A	0D06-0000-00F0	336B-FFDC-41CA
2022	Lariat SR 510A	2D96-0000-00A0	7373-FFDC-8152
2022	Lariat ER	2D86-0000-0090	7373-FFCC-8142
2023	Pro SR	0D06-0400-00F4	336B-FFCC-41BA
2023	XLT SR 311A	0D16-0400-0004	336B-FFDC-41CA
2023	Lariat SR 510A	2D86-0400-0094	7373-FFCC-8142
2023	Lariat ER	2D96-0400-00A4	7373-FFCC-8142
2023	Lariat ER	2D96-0400-00A4	7373-FFCC-8142
2023	Lariat ER	2D86-0400-0094	7373-FFCC-8142
2024	XLT SR 311A	0D16-0400-0004	2B67-FFCC-016E
2024	Lariat ER	2D86-0400-0094	6B6B-FFCC-41F2
2024	Flash	2D96-0400-00A4	6B6B-FFCC-41F2
2024	Plat ER	2D86-0400-0094	6B6B-FFCC-41F2
2022	Tremor	2186-0000-0084	7373-FFCC-8142
2023	Lariat PB	2196-0400-0098	736B-FFCC-41FA
2024	Plat PB	2196-0400-0098	6B6B-FFCC-41F2

Thanks!

My current config for 7DO-05-01 matches the 2024 XLT SR 311A with the first block being 0D16. Does this table mean that I should try leaving that configuration as it is currently?

The same with IPMA 706-02-01, first block on my truck is 2B67. Leave it as-is?

 

[B177y]

@bmwhitetx - I should add information to my post above, #545.

I currently have reverted all forscan changes to stock from my backups. I went through the values today and looked at what I have that differs from the DIY spreadsheet in the OP, ie. when the guide says to change an "A to B" but I have a "6". Looking for info and a proofread on what I need to change my current values to to activate my ACC/LKA.

I think your sheet is showing me the as-built values, correct? I currently have all of my as-built values in place, except for adding glare-free lights and changed the number of lane-change blinks.

 

[bmwhitetx]

@bmwhitetx - I should add information to my post above, #545.
I think your sheet is showing me the as-built values, correct? I currently have all of my as-built values in place, except for adding glare-free lights and changed the number of lane-change blinks.

I just found a bunch of Lightnings on CarFax and then downloaded their AB from the Motorcraft website. Ultimately I plan to add more Lightnings and also note any pertinent options they have like ProPower, Tow Tech, etc.

As for what you should have, I can't answer as I'm not familiar with this mod. Just thought it might be helpful to see what other trucks have for those parameters. You might ask @Livnitup about the APIM one and why there are just a handful of values there. Good luck.

 

[regentscholar]

As much as I'd like to do this mod on my '23 Pro SR base, I just don't trust myself to not mess it up.
Anyone know any 3rd party auto shops on west coast that would be able to do this labor now?

 

[ZSC100]

As much as I'd like to do this mod on my '23 Pro SR base, I just don't trust myself to not mess it up.
Anyone know any 3rd party auto shops on west coast that would be able to do this labor now?

Any legit ASME mechanic familiar with Ford, especially one with FDRS experience, should be able to be directed to this forum and be able to perform anything any of us owners have done.

 

[B177y]

Okay.... The waiting starts.....

Programming went much better this time! Everything seems to be working correctly and all error messages are gone after the CCM calibration. I still get the "Adaptive cruise not available" message when trying to engage, but I'll try again in 90 minutes or so after the rest period like others have had to do.

I learned a ton about forscan under the guidance of everyone, thank you for your help and patience.

 

[B177y]

Success!

Two weekends, lots of stupid mistakes, and then finally ACC and LKA success with all of the credit given to this community.

Go slowly, double and triple check you work, don't rush, and make backups of all of the Forscan modules before you start tinkering. I made backups, but I need to heed the rest of my own advice

I did not have any existing wiring to complete this, so I used the method of running 4 new wires from the IPMA to the new CCM ala @Azgunguy , @ZSC100 , @tannerk89 , & @rio .

I have attached the forscan values that I needed to use for my truck which are highlighted in yellow, in contrast to the OP from @Brotato . In discussion with @ZSC100 it seems like the 2024's have some different values. Please learn how to use the master forscan spreadsheet from @Livnitup . This is what I skipped on my first attempt at programming and I then needed to revert everything with my forscan backups.

I learned a TON about the truck and forscan from this mod. It is a PITA, but it's really rewarding when it's all finished and working correctly.

 

[dr1983]

This guide will assist you in adding the radar unit and Forscan values to add Adaptive cruise control with Stop and Go, along with Lane Keeping. Please do not attempt without understanding how Forscan works, I ran into some issues that can disable the truck if you are not careful. Okay, lets get to it.

These are the parts I bought. I used Tasca website to get the first three parts and the steering wheel buttons from eBay

• Sensor Assembly: ML3Z-9E731-G
• Mounting Bolts(3x): W720714S450B
• Wiring Harness: ML3Z-15K867-NA
• Steering wheel buttons: ML3Z-9C888-D

Disassembling the bumper is what took me the longest. I plan on making a video on this when I help my friend do this mod to his lightning. For now, heres a quick overview. Before starting anything, unplug the 12v battery. This is necessary before removing the airbag in the steering wheel.

Basically you remove all the bolts holding the frunk tub in. There's just one connector providing the power and lights to the tub so its pretty easy to remove. After that, remove the bottom three screws in the wheel wells that hold the trim on. You should be able to start popping trim off until you get to the bumper itself.

The bumper itself actually was easy once I figured it out. There are only 6 21mm nuts holding it to the chassis. Once those are removed it comes right off.

The new harness has an extra plug on each end that is used for fog lights. My XLT does not have fog lights so I just taped them off.

Well I had the bumper off, I unplugged the speaker for the frunk.... Unrelated but a nice mod.

Bumper back on with the radar installed.

The steering wheel buttons need to be replaced if you want to be able to change your follow distance. Otherwise its locked to level 3 I believe. Its not much more work so I recommend it. Pop the top trim of the steering wheel column off, tilt the wheel to an angle, then use a screwdriver to unlock the airbag. Watch a video online, its hard to explain. Once that is done, there are two screws holding the trim on. Remove those and pop the trim off to access the button. FYI the new button wont work till you reprogram the truck with Forscan.

Okay now to the fun part... Here are the forscan values I put together. I highly recomend reading through the master list if you have a different model year or trim level than me. I have also made a few forscan changes before this mod so my settings may be different.

These two spreadsheets are for reference only, follow the changes I list below:
ACC Add Changes
Livnitup's FORScan - 2021-23 F150

Forscan changes for 2022 Lightning XLT. If the values are different on your truck, refer to Livnitup's FORScan spreadsheet above.

SCCM *Only if you swap the left hand steering wheel switch for the one that includes the follow distance change
724-03-01 03xx xxxx

ABS
760-03-01 *xxx -- (4 to C)

IPC
720-01-01 x*xx xxxx xx-- (C to F)
720-01-02 xxxx *x-- (4 to 8)
720-03-01 x*xx xxxx xx-- (0 to 5)
720-03-02 xx*x xx-- (4 to C)
720-09-01 *xxx xxxx xx-- (A to B)
720-09-01 xxxx xxxx *x-- (1 to 9)
720-09-02 *xxx xx-- (0 to 2 or 1 to 3)
720-10-01 x*xx xxxx xx-- (A to B)

BCM
726-16-01 xxxx x*** xx-- (384 to 390)

IMPORTANT: Disconnect FORScan and turn the truck completely off, then back on. Reconnect FORScan BUT do not use the saved profile. Let it rescan for all modules.

Connect to IPMA and take a screenshot of the following values
706-19-01 xxxx xxxx xx--
706-19-02 xxxx xxxx xx--
706-19-03 xxxx xxxx xx--
706-19-04 xxxx --

Connect to the CCM module and input those values into these spaces.
764-01-01 xxxx xxxx xx--
764-01-02 xxxx xxxx xx--
764-01-03 xxxx xxxx xx--
764-01-04 xxxx --

APIM
7D0-05-01 *xxx xxxx xx-- (0 to 2)
7D0-05-01 xx*x xxxx xx-- (0 to 8)
7D0-09-01 *xxx xxxx xx-- (4 to 6 OR 5 to 7)
7D0-09-01 xxxx *xxx xx-- (2 to 4)
7D0-09-01 xxxx xxxx x*-- (set to B)
7D0-09-02 xxx* xxxx xx-- (4 to E or 5 to F)
7D0-09-02 xxxx x*xx xx-- (4 to 7)
7D0-09-02 xxxx xxxx x*-- (5 to D)
7D0-09-04 xxxx xxxx *x-- (0 to 6)

IPMA
706-01-01 *xxx xxxx xx-- (0 to 8)
706-01-01 xx*x xxxx xx-- (0 to 5)
706-01-01 xxx* xxxx xx-- (0 to 8)
706-01-01 xxxx xxxx x*-- (A to E)
706-02-01 *xxx xxxx xx-- (3 to 7)
706-02-02 x**x xxxx xx--(04 to 05)
706-16-01 *xxx xxxx xx-- (0 to 1)
706-16-01 xxx* xxxx xx-- (9 to B)

PSCM
730-02-02 xxxx **xx xx-- (00 to FF)
730-02-02 xxxx xx** xx-- (00 to FF)
730-02-03 **xx xxxx xx-- (00 to FF)

Okay, once again disconnect FORScan and turn the truck completely off, then back on. Reconnect FORScan BUT do not use the saved profile. Let it rescan for all modules. Once the scan is done, go to the DTC button on the left and CLEAR ALL DTC. This is very important. Cycle the engine after doing so.

Theoretically you will have a few errors on the screen such as front braking disabled or something like that. These are all related to the radar not being calibrated. You will use FORScan to calibrate.

-Go to the wrench icon on the left to get to the service menu.
-Select C-CM Calibration.
-You will now need to drive around in traffic while following some vehicles and let the truck calibrate.
-Once calibration has finished, the errors on the screen should disappear after a power cycling.
-Theoretically everything should be working. If not, post here and Ill try to help.

Good luck!

Forscan no longer works, i ordered the obd link ex and ask for a license. Forscan no longer has license

 

[B177y]

Forscan no longer works, i ordered the obd link ex and ask for a license. Forscan no longer has license

Does this option still work?

"Get Free Extended Licence"?

Sponsored