When we assent to the combination of that bare impression with a valued judgment, such as that driver is a rude, obnoxious, bad human being, and is a threat to me, then we create psychological distress. The stoics call this an instance of pathos, a negative emotion. Most importantly, the stoics teach us that this bad emotion isn't the product of the original event itself. Instead, the negative emotion arises as a result of assenting to the judgment about that event. If you had stopped withassent to the impression of immediate danger and breaked accordingly, thenegative emotion would not have arisen.