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This happened to me also. This is pretty common in the winter. You can google low tire pressure in cold weather....there's a lot written about it.
Basically I'd recommend testing your tire pressure. I bet one tire is a bit low. When the temps drop, so does the pressure in your tire. If it dips below the TPMS threshold, you will get that alarm. I think they recommend 32 PSI for my tires, so whatever the threshold is (let's say 28 PSI), if it dips below 28, I'll get an alarm. Mine actually told me which tire it was. Once I added air to it, the alarm cleared.
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