How to Retrofit ACC (Adaptive Cruise Control) to Bronco Sport -- Modification / Install Guide (DIY Writeup & Video))

[Dude]

Here’s an installation for a First Edition

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[Trist0n]

Here’s an installation for a First Edition

Oh hey its me! Unfortunately I still haven't been able to get TSR working....working with OP to diff out why he has TSR but not lane keep working, and why I have lane keep but not TSR working xD I'll be going back through and doing a writeup on my changes eventually

I should note that while it WILL come to a full stop...without the electric brake boost its juttery and has a hard time doing so. It's no big deal since it slows wayyyyy down easily for slow creeping traffic.

If you do this mod you'll also encounter an issue where periodically on startup the ABS module goes 'wait, I dont have a brake booster, I cant do ACC!' and due to the DTC it throws ACC will disable itself. A quick power cycle fixes the issue. This seems to be improving over time for some reason....initially it was every few startups, but now I haven't seen it in some time.

 

[nih96]

Hey folks! I finally figured out how to get both TSR and Lane Centering working. You don't need to change the ABS booster. As I'm still doing some driving test. I will post the right setting tomorrow.

 

[nih96]

Hey all! After ~500 miles of testing and recalibrating the lane centering, I can confirm it works great!

Here are the settings in IPMA

I'm using the latest Forscan and now after the database update, I think it is pretty reliable!

The key is IPMA settings, your IPC setting is just a conduit to show, and IPC will still rely on IPMA status.

You may need or don't need a lane detection calibration, there is a service function in Forscan. I did it because just wanted to make sure it was all good.

After these settings, your DTC will stop complaining, sometime AIPM will complain about the settings wrong, but that does not hurt (And definitely won't show up if you need an SMOG test...)

 

[Trist0n]

Hey all! After ~500 miles of testing and recalibrating the lane centering, I can confirm it works great!

Here are the settings in IPMA

I'm using the latest Forscan and now after the database update, I think it is pretty reliable!

The key is IPMA settings, your IPC setting is just a conduit to show, and IPC will still rely on IPMA status.

You may need or don't need a lane detection calibration, there is a service function in Forscan. I did it because just wanted to make sure it was all good.

After these settings, your DTC will stop complaining, sometime AIPM will complain about the settings wrong, but that does not hurt (And definitely won't show up if you need an SMOG test...)

do you happen to have the full changes list for the other modules? I keep meaning to go back and document every change I made, but I’m forgetful

 

[Dawk]

do you happen to have the full changes list for the other modules? I keep meaning to go back and document every change I made, but I’m forgetful

Hey all! After ~500 miles of testing and recalibrating the lane centering, I can confirm it works great!

Here are the settings in IPMA

I'm using the latest Forscan and now after the database update, I think it is pretty reliable!

The key is IPMA settings, your IPC setting is just a conduit to show, and IPC will still rely on IPMA status.

You may need or don't need a lane detection calibration, there is a service function in Forscan. I did it because just wanted to make sure it was all good.

After these settings, your DTC will stop complaining, sometime AIPM will complain about the settings wrong, but that does not hurt (And definitely won't show up if you need an SMOG test...)

Many thanks for the update! I will echo the hope that we can get the other changes you made to for the complete setup.

A quick aside, if we wanted to replace the brake booster for the smooth stop and go braking, would that require any changes in forscan?

thanks again!

 

[nih96]

Many thanks for the update! I will echo the hope that we can get the other changes you made to for the complete setup.

A quick aside, if we wanted to replace the brake booster for the smooth stop and go braking, would that require any changes in forscan?

thanks again!

Yes there is some ABS settings need to change, Since the current forscan is pretty great, so should be OK. But just a note that changing ABS is something safety critical, so be extra cautious when proceeding. I would suggest document the as build as you go, so you can have a traceback

 

[Trist0n]

Howdy all,

I took my config back to stock, then compared it against our Outer banks that had ACC from the factory and changed what was pertinent to Copilot360+. Thankfully, on the latest forscan this can all be done with the easy mode settings, no need to edit as-builts anymore. Reminder that this is built for a First Edition, but should be similar on all other models if not the same. With these settings, you'll get working ACC, Intelligent ACC*, Traffic Sign Recognition, Evasive Steering, Lane keep with the auto steering, and radar assisted collision prevention. There are some caveats*

* There are a few quirks.

• Intelligent ACC 'kinda' works. In my testing, it will use the camera to track speed limits, display them on the dash, and set the speed limit accordingly. If you didn't get ACC from the factory, you also have no nav, so it has no nav data to work with for speed limits. However, it only sets the speed if the speed limit is faster than what you were going.....if you pass a slower speed limit, it will not adjust it downwards. No idea why. I just stick to using ACC, which works normally
• It cannot hold you at a full stop. Being that non-ACC bronco's have a hydraulic brake booster instead of an electric one, it just doesnt have the power to keep you at a full stop. Still works well for slow crawling traffic, just not quite as smoothly as the electric booster ones. Still smooth enough that it's not an annoyance, just know that it will bring you down to like 1 MPH, then flash a 'driver take over' message if you try.
• ACC will periodically disable itself on startup. For the life of me I have not been able to get around this. Remember how you don't have an electric booster? Your ABS module knows this. It will maintain a permeant DTC for having an incompatible configuration that doesn't leave a light or affect anything else, but periodically it will do some kind of startup check when you start the car and feed the IPMA module invalid data and make IPMA throw a DTC. Again, no light or anything, but on that startup, it will result in 'ACC not available' showing on the screen. ACC will be disabled until you restart the car. No codes need to be cleared, just the restart. No combination of options seems to fix this, it's just because ABS is complaining that it doesn't have an electric brake booster. I'm toying with the idea of 'man-in-the-middling' the CAN lines going to IPMA and dropping the invalid traffic to prevent this issue, but that's all I can think of at the moment. Still, ACC is so convenient that periodically having to restart the car after startup is worth it to me. Please let me know if anyone has any ideas on this. The Ford Maverick and Escape guy's encounter the same issue.

Anyway; here's the list of easy mode changes to make.

PSCM
EVASIVE STEERING ASSIST - ENABLED
LANCE CENTERING ASSIST - ENABLED
TRAFFIC JAM ASSIST - ENABLED

IPMA
ADAPTIVE CRUISE CONTROL - ENABLED
ADAPTIVE CRUISE CONTROL TYPE - RADAR FUSION
CUSTOMER PREFERENCES - ACC SELECTED - PERSONAL 1-4/VEHICLE - ENABLED
DISTANCE ALERT - VEHICLE - ENABLED
CUSTOMER PREFERENCES - FCW SENSITIVITY - VEHICLE - NORMAL
CUSTOMER PREFERENCES - TSR - PERSONAL 1-4/VEHICLE - ENABLED
DISTANCE ALERT - ENABLED
PRE-COLLISION ASSIST TYPE - RADAR FUSION
TRAFFIC JAM ASSIST - ENABLED
TRAFFIC SIGN RECOGNITION - SLOIF
TRAFFIC SIGN RECOGNITION MODE - FUSION

BDYCM
CRUISE CONTROL - ADAPTIVE CRUISE CONTROL, STOP AND GO

APIM
DISPLAY SPEED LIMIT - DISABLED (TRAFFIC SIGN RECOGNITION)
ADAPTIVE CRUISE CONTROL - ENABLED
TRAFFIC SIGN RECOGNITION - ENABLED
FORWARD COLLISION WARNING - FCW + FOLLOWING DISTANCE ALERT (FDA)
EVASIVE STEERING ASSIST - ENABLED
ELECTRONIC HORIZON - ENABLED
ADAPTIVE CRUISE CONTROL MENU - ENABLED
TSR NCAP ADAPTATIONS - ENABLED
HS4 NETWORK - ENABLED
INTELLIGENT ADAPTIVE CRUISE CONTROL - ENABLED

ABS
CRUISE CONTROL - ADAPTIVE CRUISE CONTROL, STOPGO

IPC
TRAFFIC JAM ASSIST - ENABLED
ADAPTIVE CRUISE CONTROL - ENABLED
FORWARD COLLISION WARNING - FCW + FOLLOWING DISTANCE ALERT (FDA)
INTELLIGENT ADAPTIVE CRUISE CONTROL SPEED TOLERANCE - ENABLED
ADAPTIVE CRUISE CONTROL MENU - ENABLED
MENU - TRAFFIC SIGN RECOGNITION ACTIVATION - ENABLED
SPEED LIMIT INFORMATION FUNCTION - ENABLED
ADAPTIVE CRUISE CONTROL - ENABLED
EVASIVE STEERING ASSIST - ENABLED

 

[Tickover]

Thanks for all your hard work on this mod. I ordered my 2025 with the tech package so I don't have to go through all this. AND, I know now not to block the wave sensor with a light bar, that I will have to find a better location.

 

[Dude]

Thanks for all your hard work on this mod. I ordered my 2025 with the tech package so I don't have to go through all this. AND, I know now not to block the wave sensor with a light bar, that I will have to find a better location.

2025s should be setup properly with mounting points so light bars designed for that area to fit 2025s should be good to go unless you plan to custom fab your own light bar

Did you order with the optional 4 interior switches?

 

[Tickover]

No mounting points on the new vehicles, it is still up to you. Unfortunately its going to be a while before the after market folks get on the accessory band wagon. The new Bronco Sports seem to have great potential for these accessories.

Yes, I ordered a Sasquatch which comes with the switches.

 

[Dude]

No mounting points on the new vehicles, it is still up to you. Unfortunately its going to be a while before the after market folks get on the accessory band wagon. The new Bronco Sports seem to have great potential for these accessories.

Yes, I ordered a Sasquatch which comes with the switches.

Sorry for the continuing replies about the 2025 Sasquatch but am just wondering what is the point of Ford’s marketing statement: “accessory-ready, you can throw on a light bar, a winch or whatever else suits your off-roading needs”

https://www.edmunds.com/car-news/2025-ford-bronco-sport-first-look.html

“The Sport's Sasquatch … goodies off-roaders will want - The most obvious is the steel front bash plate that extends under the engine bay and the standard triangle-shaped brush guard. The brush guard mounts to the Bronco Sport's two forward recovery points, but since they're accessory-ready, you can throw on a light bar, a winch or whatever else suits your off-roading needs”

 

[Tickover]

Yeah, that's marketing for you. You can't mount a light bar on the front...sort of. A standard one will block either the ACC module or your front facing camera. Rough Country makes a license plate adapter for a small light bar, I am looking into this. You would need to fabricate a winch mounting plate for the front bumper, I'm looking into this also.

I think marketing is talking about the switch panel to hook up all these wonderful accessories they are talking about.

 

[Dude]

Not referring to the 4 switches, Ford is talking about the two forward recovery points which are accessory-ready, you can throw on a light bar, a winch etc. I would guess because of this new design there will be light bars etc coming soon which don’t affect the ACC module and front facing camera.

Or mount your own using provided mounting points

 

[Tickover]

They are definitely pushing the "Bronco Bolts" and there is plenty on the front end so we will see.

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