I seem to have hit a bug in the Prius firmware. I had a passenger in the back seat. She got out and closed the door. I think she closed it as I was already driving off. The yellow triangle with the ! in it turned on and a loud beep started, but there was no indication that the door was not closed properly, which was my first thought. Nothing I tried got rid of the warnings, until I stopped the car and power cycled it. Rebooting cleared the problem. Has anyone else run into something like this? Oh, and how do we get firmware updates?