I was driving home from work during 5pm rush hour. I was coming up on a stop light going about 30mph and was trying to slowly come to a stop but noticed that my car wasn't slowing down so I tried to brake harder by pushing on the brake pedal but the pedal resisted my foot pressure so I pressed harder on the pedal but the car took over the braking and started to beep the collision warning. I was not in control of the braking system the car would not stop. The car wasnt allowing me to brake. I heard all kinds of beeping from the car as everything happened so fast. I ended up rear ending someone. Max speed was roughly 30mph and air bag did not deploy.