Yeah the beeping signifies stability control.

Note that VDIM is quite advanced and doesn't allow the car to step out of line. VSC does. You can fishtail in VSC but you'll get back in line.

Check this link out for a video of the different Toyota safety features:
http://www.nihoncar.com/en/review-33...e%2C+HDTV.html

Load the first video.

Mods: EV mod, VVT-i emblem, sport pedals, OEM cargo mat, JDM Prius interior footwell lighting, DICE iPod kit, OEM all-weather mats, LED licence plate lights, Phillips Vision Plus