Two things come to mind.
There is the haptic vibration through the steering wheel if the car thinks you are straying across the white line into the centre of the road or off into the verge, it only lasts as long as you are in the warning zone, it is a distinct vibration through the steering wheel with an accompanying low volume noise rather like a knocking sound. It is part of the active lane keeping assist system.
Below a cut and paste from the online guide:-
”You are warned by vibrations in the steering wheel in the following circumstances:
- Active Lane Keeping Assist detects a lane marking.
- A front wheel drives over this lane marking. “
On gravel even at very low speeds if you brake a bit more heavily or forcibly the ABS seems to kick in and the car has a sensation of a wheel locking up, I have a small gravel ramp I negotiate when entering my driveway and can induce the sensation easily. It is of no concern to me and is not a fault as far as I am aware just the systems kicking in.