I posted this over at the reddit page, but I figured I would cross post here in case there's some of you that don't follow reddit. I know the manual states that the car veer and beep when a side collision is eminent, and tonight I experienced it. I didn't realize I was so close to the rail! It is a tight (under construction off-ramp) and I disable AP at about 27 secs, at about 47 Secs you hear the car mute the radio, veer and beep. The steering wheel was firmly pulled to the right avoiding the rail, at which time I pulled back fearing it would hit the barrier, and it broke loose the same way the steering does when you disable AP with the steering wheel.