Your car would beep if the door, trunk, or hood are not properly shut. Since it’s every time this likely isn’t the culprit, but double-check your hood is properly closed just in case.
The issue can also be with your car battery. It may be weak, dying, or have a bad cell. If you think this is the case,take your car to a mechanic to have the battery checked.
If you live in cold temperatures, your car may also be beeping to warn you of icy road conditions. If this is the case, there’s no need to take your car in—it’s working fine!