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Are there vehicles in front of you when this happens? Some vehicles are fitted with a 'Lane Departure' system that warns you if your too close as you pass a parked car or high kerb. Waiting in traffic can also sometimes trigger this warning beep. This feature uses the same sensors as your front parking system. Some vehicles will allow you to turn this off if you go into the vehicles settings.
I think on the Outlander pressing and holding the "ASC OFF" button down for 3 to 5 seconds turns this off. Do the same thing again to turn it back on. Try it and see if it stops the beep the next time you are out in traffic.
Check for power with IGN on. The computer provides the ground in most cases. But there are other wiring variations. Since we have no idea what vehicle you're talking about, that's the most advice we can give.
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What happens when you signal for the left lane change? Have you had any wiring done to tow a trailer? If the opposite lights signal it sounds like the wires got crossed.
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