I just saw this subject and thought I'd add my experience on ACC for a 2011 Taurus. The early ACC was musch quicker to cut out in wet weather than my '13 Explorer, and the Taurus eventually began giving the error mentioned above in clear dry conditions. Dealer cleaned, reconnected and worked on it 3 times with no luck. It was finally replaced under extended warranty and the new part is much more reliable than the original, so it has obviously been impoved. Glad I had the warranty as it would have been a $1,200 bill otherwise. I think the tech was finally able to find a TSB on this problem, put no code was ever put out. I had to take pictures of the problem displayed on the message center since the control reset each time the engine was restarted.