Originally Posted by SCarGuy

The car has no way to differentiate between a maneuver you feel is safe and prudent, and an imminent collision

If you are going to frequently be in heavy urban/traffic areas, probably best to set warning level to late, and ensure your foot is on the brake and you are making the maneuvers - this may still trigger the red triangle on the dash, but, the car won't look to auto-stop if it sees you are in control of the situation. At least that is how it's treated me thusfar when in the city (Philly)