I'm guessing since I haven't played with mine that much yet, that once the ICE is activated, the computer wants to run it a bit prior to shutting it off again. Short duration runs with a cold engine are not great for longevity as combustion produces some water vapor, and if things don't get hot enough, it stays in the oil pan and exhaust system rather than drying itself out.
It's normal in sport mode for the ICE to turn on. In other modes, you have to exceed some power demand threshold, or decreased battery capacity before it will turn on. That demand could be accelerating to pass, starting up on a steep grade, or exceeding a certain speed. Throw in if you have a destination set in the nav, and that can complicate things some.
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