My AP2 S60 has does this intermittently. I'll be stopped behind a car at a light. The gray fwd collision band shoes on the dash. The light changes, the car ahead starts to go, I take my foot off the brake, then the gray band does the IMPENDING COLLISION!! thing and changes to yellow and red and finally STOP!! Then disappears. During this time the distance between my car and the one ahead of us has actually increased. To me it is almost an aliasing thing; the sampling is thinking the car is approaching when it is in fact moving away. I thought that 2.52.120 may have fixed it, but then it happened a few times today. I thought for a while that it was only happening with cars that have ultrasonics, but not so. It's of no consequence now, but I hope they figure it out before automatic emergency braking is implemented. I've tried making bug reports, but can't figure out how to do that with voice commands.