Chair of the bench Mark Oxenham said the prosecution had not proved their case beyond reasonable doubt “that the defendant was not in fear of death or fear of serious injury to himself or his companions”.
But he added that Berahino’s girlfriend had driven the car immediately beforehand and “could have continued the journey away from the scene”.
The court heard Berahino, 25, had previous convictions for drink-driving in 2015 and being drunk in charge of a vehicle in 2012.
Magistrates have adjourned sentencing for probation reports to be prepared.
His barrister Garry Green said Berahino, who plays international football for Barundi, is due to appear in the African Cup of Nations this summer.
He said he is due to leave the country for a training camp on May 20 and could be away until July 13.