Beeping noise while driving

The normal reason for thee beeps is to tell you that it is in full EV mode if you are under 41 mph. However that should only happen when the screen switches to EV and the engine shuts off, not constantly.
The next reason is that the vehicle thinks you exited the vehicle with it in ready mode but the fob is with you.
The second one can happen if there is a cell phone close to the fob OR the fob has a weak battery or is inside something that blocks the signal, like one of the wallets or purses that has a lining that prevents ID theft.

Another possibility is a bad door latch switch that makes the car think a door is open.

There is also the possibility that it is something to do with the EV controller getting a false signal, for that you would need a factory scan tool and access to OEM programming options so you could test the system.

Actually it is 2 beeps sorry about the mistake.

It sounds like you need to run the codes to see what is going on.

Here is a guide to show you how.

https://www.2carpros.com/articles/checking-a-service-engine-soon-or-check-engine-light-on-or-flashing

Please run this test and get back to us we are interested to see what it is.

Cheers, Ken

There is no check engine light and I have used multiple code readers and no codes show

It sounds like a warning for the main (big) battery can you roll through the information screens to see of anything is red?

. The Hv battery was replaced about 2 years ago, so I did not think that could be a cause. I will definitely check and post an update.

Please let us know what happens, we are interested to see what it is.

Cheers, Ken