Ok. I only have the US ordering guides, so options may be different. I just looked at 2016 F31 Ordering guide and see 5AG is blind spot vs 5AD is lane deviation. 5AS Active Driving Assistant includes Lane Departure Warning, Forward Collision Warning, Pedestrian Warning and City Collision Mitigation. 5DF is ACC with Stop and Go vs 544 Cruise Control with Braking Function.
You could try using TokenMaster's
NCD / CAFD tool (SVT-CAFD Resource) to add different options and see which ECU's and FDL's are affected for other possible parameters to check.
I have Frontal Collision Warning from factory (red car, auditory beeps, & braking), but I coded Distance Info which provides a different kind of warning (yellow triangle warning).