beeping sound

Are the blinkers and hazards turned off ? Could it be the "key in ignition" alarm or seat belt alarm ? If the seat sensor relay, senses weight in a seat but no one is there, it could be a worn out weight sensor, a package over 30 pounds on the seat or your dog is sitting there causing the alarm to go off (click seat belt in). Most of the alarms or chimes are located in the fuse block of the car.

I truly hope that by now 3 years later you have solved your problem. But in case anybody else wanders here...I had exact same problem as you describe it this week on my Accord (130k miles). Out of the blue no apparent reason. I thought about what changed - I had plugged in my son's weird charger into (what we used to call) the cigarette lighter....this charger looks like an outlet, takes anything you plug into it....anyway I removed it and the beeping stopped.

when driving my 2015 honda pilot i hear a beep noise randomly

As previously stated.... I hope you’ve moved on by now. I came on here looking for the answer one day because my 2005 accord LX 2.4 started beeping out of no where when I started it. The beeps were consistent with any flashing lights so I didn’t think much f it but it worried me. However I found that if you turn your key to the on position for about five seconds before you actually start it. It seems to stop beeping. Hopefully this is useful.

If the ignition is not starting and you get a 6 beep, your fob battery is likely dead/dying. Test by putting the fob right next to the ignition button and try again. If it starts up, simply replace the button the next chance you get (it's likely a CR2032 coin battery). Replace the coin battery by removing the actual key, split the fob in two, replace the battery (+ side out), do all steps in reverse and test "hands free" entry and ignition. Good luck!