Im having the same an issue with my Kia..the dorr light comes on and makes a beeping noise while driving.. i was wondering how i could fix it. Any suggestion would be helpful. Thanks

It appears that one of the door operated switches is making contact even though the door is closed. This is indicated by the interior light coming on and the beeping noise is alerting that the vehicle has a door not closed properly when the vehicle is in motion.

It could mean the door catch is slightly out of adjustment allowing door to sit slightly away from body. Try checking each door for a loose fit by pushing the closed door in, especially the driver's which gets the most use. There should be only a little movement as the sealing rubbers are squeezed a little more. If door catches are tight then it may be that the rubber pad attached to the door that pushes on the door switch button has compressed and is allowing switch to make contact.