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What safety feature kicked in, car nudges itself out of the lane

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With autopilot and cruise control off, I was cruising on the highway at I think about 40-45mph in traffic. One of the motorcycle lane split next to me and had put his bike in front of the RF of my car. After a quick moment, the beep happened, dash flashed red and I felt the car turning the steering wheel to the left a little and pushed me away from the bike. Was that the forward collision avoidance system I was feeling?

Just totally curious
 
With autopilot and cruise control off, I was cruising on the highway at I think about 40-45mph in traffic. One of the motorcycle lane split next to me and had put his bike in front of the RF of my car. After a quick moment, the beep happened, dash flashed red and I felt the car turning the steering wheel to the left a little and pushed me away from the bike. Was that the forward collision avoidance system I was feeling?

Just totally curious
Side collision warning/avoidance. I had it happen a few weeks ago; beeps, red flash and the car shifted slightly left. I looked in my mirror to see the truck that I'd just passed had drifted into my lane and was swerving back into his.
 
I think the same thing happend to me back in February. I was driving on a small snow-packed local road going up to a ski resort here in Norway, and I had milk truck/trailer/rig in front of me. The truck slowed down on a straight stretch and signaled me to pass it.

The road was quite narrow and with the 5 feet high plowing edge on the left hand side perhaps is was a tight squeeze as I came up beside the truck. But all of a sudden, alarm and auto steer kicks in, and controls the car over the entire length of the truck making both left and right corrections, the whole thing lasted perhaps 3 seconds. I was really amazed.

This was on 2017.50 (I still am) and i didn't have Acc or AP activated as I started passing the truck.