I've experienced more and more of these events, many of them where there was no vehicle, or even object, anywhere within a range that could reasonably be considered worthy of a warning. (Road surface excepted, of course.)
The most frequent of them seem to occur in roughly the same general area along my routine commute path, and either in the pre-dawn/very early morning, or well after sunset. (I frequently do the same commute during daylight hours, and it seems as if there are less events then.)
I'm beginning to suspect an atmospheric condition (think temperature gradient or fog) may be causing a false trigger of the internal algorithm. If so, it seems likely that either:
1) all Benz autos (with this feature) would suffer the same/similar problem
2) ICE vehicle engine heat might prevent the same false trigger
3) it was necessary to modify the algorithm for the EV and they didn't do enough real world testing (e.g., under similar climate conditions) to catch the problem before launch
If a techspert was to tell me it was related to passenger weight/balance, i wouldn't be shocked because it also seems to occur more when i have a passenger in the front seat.