Never had this message (complete with emergency beeping) come up before this road trip. I've had it five times now this week. Two times, Autopilot was doing fine but then steered hard right for some reason, sending me out of the lane. One time for seemingly no reason (car was in lane). The weirdest part is that two times it happened when autopilot wasn't engaged -- I was changing lanes, with the turn signal on! Anyone seeing this more often as a possible issue from whatever the latest update is? I'm on 17.4.14 with AP1 hardware. I've logged the times and dates in case that's important to Tesla if I have to bring it in.