From the description of the problem it sounds as if it just like my Audi A4 was in heavy rain. If I started and drove at expressway speeds in heavy rain without using the brakes at all the FIRST time I applied them there was a distinct delay while the water cleared. After that first time they worked perfectly even if I didn't use them for several Km in the rain.
Now I know it is not the same thing as the Prius but certainly it always gave me a fright the first few times.