When I turn heavy or accelerate hard in my Skoda Fabia the handbrake light flashes approximately 5 times and beeps exactly 3 times.
The brake fluid was running low, during heavy acceleration or turning the fluid will roll away from the sensor, which created the warning.
I topped up with DOT4 brake fluid and the problem has been resolved.
Do not shake the Brake fluid you do not want bubbles dispersed in you brake fluid.
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I had the same issue (leaking rare pipes), Note that the beep is distinct (louder and high pitch) from the normal beeps like belt, handbrake etc. – Aus Nov 25 '16 at 20:58