I rear-ended into a Camry last Saturday. Adaptive cruise control was on, but I was also fully participating. ACC was working all fine, decelerating correctly until a few seconds before the accident. I realized something wrong, kicked the brake to the end, but felt little deceleration at all. The only good things are that nobody was hurt and that I have collision insurance. The ABS noise in video is different from what I heard on any other cars. Per my memory, ABS should work at a much higher frequency. Maybe Clarity has different brake system? A short video recording ABS on your clarity in function is greatly appreciated. Please PM me if you don't mind. I'm not trying to escape from liability, but I really need to know if my car is safe to drive.