Just watched the video - that is indeed exactly like the beeping that mine makes. Mine is an earlier 'white lens' 2014 model though so the dashboard graphics are not quite the same. I've just noticed that when I lock my PHEV's doors (and the wing mirrors close-up) this very same beep does, as I've previously mentioned, occur 8 times (possibly 9 - the noise of the mirror motors may hide the first beep) and precisely coincides with the flashing of the red light that is located in the central dash area (under the central air vents), directly to the left and in the same dispay 'insert' (UK RHD car) as the passenger airbag warning light (ie. is the passenger airbag on or off).
No idea what this red light actually indicates but as it flashes when everything is locked up and switched off, I've always assumed it's the alarm 'on' indicator. There is a B/W graphic in the owner's book that does show the passenger airbag warning light, with this red light also shown, but no explanation as to what the red light is for, only information about the on or off airbag warning light. Whether this mystery red light flashes in unison with the mystery beeping when it occurs, I've never noticed. I'll see if it does next time it does it.
UPDATE: Yes, red light does flash in unison with beep when it occurs, but only if the doors are locked. If doors are unlocked then red light doesn't flash at all. Beeping does almost always stop when door or tailgate is opened.