The most important thing here is not to panic, but to act. The probability of a collapse depends on your region: if you live in a karst area (southern Russia, the Urals, parts of Siberia) or on the site of old industrial excavations, the risk is higher. But even in geologically stable areas there can be hidden problems with underground utilities or groundwater. Start by getting information about your property - talk to your neighbors, find out if there have been any incidents here, check maps of the area online.
Next comes exactly what was mentioned above - ground-penetrating radar surveying. It's not expensive compared to the risk of losing your house, though in calm areas you can start with a simpler visual inspection: look for subsidence, soil cracks, areas where water pools longer than usual, strange depressions near the foundation. If you find anything suspicious at all, call in the specialists.
Here's what people often overlook: keep an eye on your property's drainage system. If groundwater isn't draining properly, it gradually erodes the soil from inside, and collapse won't happen all at once - there will be warning signs. Direct rainwater away from the house, clean your gutters, check your drainage pipes. At my dacha I found a weak spot precisely because I noticed the ground near the foundation apron starting to settle by a couple of centimeters - a clear signal :)