Only one incident almost caused an accident (there are a total of 5 different incidents that have happened however). I was pulling out of a parking lot into traffic. The light was green in the direction i was trying to travel, and there was traffic coming but they were far enough away that i could have safely turned into the lane and moved with traffic if the car would have accelerated as was expected. Instead, the collision system deemed that there was an impending collision about to happen and would not allow me to accelerate. On coming traffic had to swerve to avoid hitting me, which thankfully there was no car in the second lane and they were safely able to avoid hitting me. The car was taken to the dealer and the form that is included was supplied to the dealer and subsequently to toyota engineers. After 4 weeks, the dealer returned the car because toyota engineers stated that the pcs system is acting as intended, and there is nothing wrong with the system