I had a big surprise when the front car stopped and I changed my lane to the right and my vehicle (2020 Clarity) hit the brakes in emergency. I heard the warning beep of collision prevention system when I was almost in the right lane and it was all clear in front of me. I was lucky the vehicle behind me had a good distance to stop too. I had to get out and apologize for my car's behaviour, but the other vehicle's driver looked at me like I was saying crazy things. After that incident I set the collision safety distance to the minimum possible. I think the Honda should work on it's system to eliminate the lag and set the correction fast when the radar gets an "all clear" reading. Imagine if there would be ice on the road and the vehicle decides to hit the brakes? I would lose control completely, because stepping on the gas pedal changes nothing. Maybe I should keep this feature off in winters.