I find that some days I love the system and others I want to rip it off and throw it out the window. On the highway it is awesome and I would not want to be without it, but around town, the collision avoidance feature sometimes drives me nuts.
A specific example would be at a 4 way stop in a congested area by a junior college near my house, you pretty much have to start through the intersection as soon as the cross traffic goes otherwise people in the cross traffic lanes feel entitled to just go. As I start through the intersection, the ES system picks up the back end of the car that just crossed in front of me, beeps at me, applies the brakes and limits the throttle. If I was to wait for the car to go by far enough to not upset the ES system, I would never be able to leave the stop sign.
Granted this seems to be a fairly rare situation where the system is an issue, I am sure it would not bother me as much if I did not have to pass through this intersection twice a day Monday through Friday.
One other time that the system freaked out was on the freeway on the way to work when an empty garbage bag blew out of the bed of a truck ahead of me. The ES cameras picked up the large object in my path and applied the brakes as I was driving down the freeway.