Hello I had a great day, the BCI Malfunction has been fixed. Three things; replace BOTH switches on the break pedal, break switch and cruise switch. Also go to the two sonar boxes in the rear of the vehicle, they are off set in the rear end. Lightly knock on the area around it and see if rock and debris falls out. Also look for the boxes and make sure they are not covered in mud. If the are clean them gently. Lastly, one note in the manual, make sure all of the air in your tires is correctly filled, strange but it say the BCI can malfunction if the are under inflated. Good luck but I'm hyped, right now the car actually drives and breaks better and the collision warnings are working properly. BTW this only cost me a little over $100.
Also the old switches replaced were blued (high heat) and burnt, obviosly a fault in the switches design and function.