Other than my rushing up on a car that's turning in front of me, I had BRAKE! come up once for what I think was no apparent reason. I was heading into a sharp curve, and the manual says that under that condition, it's possible the system saw something in front of the car but not on the road.
Page 9-12 in the manual explains how to temporarily deactivate it. There are no adjustments that I see. It likely comes back on every time you start the car ("temporarily" deactivate.)
The system itself is discussed in the manual starting on Pg 4-167.