Same thing has happened to me. FSD sounded the alarm and hard braked on a dark two lane highway. I couldn’t see why until I fully passed someone dressed in dark

Same thing has happened to me. FSD sounded the alarm and hard braked on a dark two lane highway. I couldn’t see why until I fully passed someone dressed in dark clothing who had just crossed the road. I was paying full attention and never saw them. They were probably a couple hundred feet from the front of my car.