[DayvG]

5AS retrofit requires some FDL codings particularly for the ICM, just VO coding the modules is not enough to activate it correctly

That’s good to know, I’m running out of suggestions haha

Also I notice OP's car is 2013 the ICM needs to be from a later car 2014 + so requires changing.

That would make sense. I’m assuming because the ICM will send braking signals to the DSC. I had already retrofitted ACC to my F10 before I fitted the KAFAS2 so already had the correct part. 

If I’m not mistaken the collision/pedestrian detection will automatically brake the car if required I’ve attached the parts list for the ICM high. Part 9. Looks like more work for the OP.