Only two times has my 2013 Sig "scared" me kind of like you described: one was failing to stop with wet brakes (fixed by Tesla, detailed in other threads) and the second was when a friend was test driving my car, were stopped waiting to right turn at a red light, and suddenly it kept forward. Afterwards we determined he probably "resumed" cruise control instead of the turn signal by reaching for the wrong stalk.
Since then I double check that cruise is OFF, not just paused, before letting anybody else drive. Possibility here?