2016 Nissan Rogue Collision Avoidance Problems

When I driving in the freeway my car began to slow down, even when is visible cars in front me and back were present. The car slowing down for it's own , which didn't not give rear drivers an opportunity to slow down in time I had to stop completely and needless braking can cause collisions, that was very scary for my and my family.

The warnings shown in the attached picture came on for no reason all at once then after a restart of the engine, they all disappeared except the check engine light. OBDII code reader shows the code P2004, but after clearing the code with the OBDII tool, the check engine light doesn't come back, which should mean the problem P2004 does not exist anymore.

2016 nissan rogue sl AWD forward emergency breaking system gives warning when there is nothing in front of the vehicle. This happens sporadically, day or night, wet or dry atmosphere, and at multiple locations (straight stretchs of highway, 4 way intersections, stoplights, railroad crossings, bridges/overpasses).