I have yet to get a warning or any sign that the collision avoidance is working on my 85D. On my 2014 Audi A7, its pretty sensitive and will alert then brake. On my 85D I have been in a few situations that I know would have triggered the Audi system but didnt get a peep out of my Tesla. I have it set for early warning and the emergency brake feature is on, has anyone had their collision avoidance activate? My cruise works fine, so I assume my sensors are working correctly.