What did you do during the time your car was beeping and as you saw the grand Cherokee ditch into the median, and as your hurtled towards the corolla? I know it happened fast, but surely you had time to respond. I don't ask to be snarky, I'm just curious whether or not you took over, or if you let the car perform on its own.
I've gotten the "beep beep beep" of an imminent collision before when not paying attention in stop and go traffic, and man, I was laying on that brake pedal immediately. I'm curios as to how you responded.
It all happened so fast, I didn't have time to do anything before all came to stop. I set my ATCC to +4 car length with AutoSteer.