I've had it happen a few times. Often comes up when people in front of you are pulling off the road and you start accelerating to go past them when they are gone. The warning triangle and beep is the first warning, then the brakes will activate for 1/2 second or so as a warning, and if no action is taken after that it'll brake as much as it can to avoid the collision. I've only ever got to the second stage and it does shock you a bit! There's a a left-hand corner with a right turning on my way from home, and the turning has a filter lane. Often when there is a car sitting in the filter lane and you are going past it thinks that you're going to hit the car for a bit and panics sometimes, not very often though.