If there is a loose connection behind the bumper then u would hear a continuous tone.
Worth checking earths are ok too and as spook says. But the buzzer is encased in plastic so it is free to vibrate anywhere. Loose wire in the boot and/or faulty buzzer/control box.
-phone-
Am I wrong and it was probably a crisp packet/bird?
On a serious note, I've actually got the same problem been happening for a few weeks now. My eardrums have gone with that contionusly annoying beeeeep. Look forward to the final outcome to fix it. I think mine happened when I changed the lights to p1's.