Yep I've often noticed this as well - it has many many times detected humans that I can't even see (and I like to sit in the front), especially at night.

Sometimes it would detect something and I think "huh? Must be a false positive?" but sure enough it turns out that there really was someone standing behind a tree or just barely visible around a corner etc.

Sure none of those have run out in front of us, but the fact it is spotting them and tracking their movement before I am even aware they're there is impressive and reassuring.