While dirving with eyesight engaged with lane assist, I frequently get a beep and see the white and green car and lane symbols alternate on the console. The steering wheel seems to jar a bit and there is a very slight steering adjustment, before returning back to normal. At first I thought it was simply a lack of clearly defined lines on the road. But that does not always appear to be the case. Even with clear lines, this phenomenon occurs. I then thought it might be when I went over a bump, but it happens on a smooth road also. The manual is not clear on why this may be occuring.

Sounds like it may need to go to the dealer. Was the windshield replaced recently?