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My PDC sometimes beep where there were nothing in front or behind my car. Especially at high ambient temperature (above 75 F). The only thing that can stop the beep was by pressing the PDC button or drive it above certain speed (20 mph if I am not wrong).
I then took it to the dealer. They ran a computer diagnostic to my X5 and found that the 4 "monkeys"... Oops, I mean the 4 front sensors are broken. Replaced the sensors and fixed the problem.
So if your PDC sensors are clean but you hear beep where there is nothing around you, defenetly there is a problem with the Sensor. GO tO your dealer and have them replaced the bad sensor(s)
My 2 cents.
RayMan