I would take it to your dealer or a good local shop and have the brakes looked at. They can plug it in to see which codes are showing up. This may be a sign of uneven wear on the pads.

 

Is the car telling you to brake for collision avoidance?

 

Sure sounds like it. And probably the vibration is not the steering, it is the anti-lock braking.

@FHNejad The Collision Mitigation judges a car in front of you slowing down to a speed slower than yours (closing in)... if they do that quickly it will trigger the Collision Mitigation and brake for you. Look in the manual, you can adjust how far ahead to look (close, medium, far) ... Also pay attention the next time it happens and there are no vehicles in front of you slowing down. Every once it will get a false trigger if you are on a curve and a car gets into a turning lane that is opposite direction of the curve... It also sometimes gets a false trigger with intersections up a hill, and sometimes railroad track crossings down a hill. Some other triggers can happen, it is a bit old implementation and flakey.

 

Welcome to Honda's collision warning (CMBS) system. If it thinks you're going to hit a object in front of you it will flash BRAKE!! beep and vibrate the steering wheel. Some have better luck with it than others, it's not a very good system. CMBS in my 2022 was very touchy around 2 lane roads with curves, it would constantly alert at oncoming traffic around curves in the road.

In the vehicle settings you can adjust the warning distance to I believe "short" which sometimes helps a bit.