I just changed the battery, (not sure if this has anything to do with the problem) When I am driving down the road and take a left turn the door ajar warning light comes on, and I get a single beep. None of my doors are open and all of the fuses have been checked. None of the door sensors seem to broken, they all push in and out easily. The trunk sensor also seems to be working. This has been going on for a few weeks.