@Diehammer You must have automatic activation of ParkPilot turned on in your car settings. This activates automatically if you drive towards an object (such as traffic) below a speed 6-9mph. Take a look in the manual, it explains it all and it's activation conditions etc...if it's bothering you just switch off automatic activation. It's perfectly normal, there's nothing wrong with the car.
Tbh I've found you need to be pretty close to the object in front before it starts warning you. I rarely hear it in traffic, you must be pulling up very close to the car in front!
EDIT:
Here's the section..

It activates when you are less than 50cm from the object in front...just leave a bit more room and it shouldn't bother you.