I heard the noise in my own car this last week, and never gave it much thought. It (mine) was 4 knocks, "Knock....kno, knock, knock".
I believe it's the fuel tank vent valve, which is part of the evap monitoring system, located in your fuel tank. There's a pressure sensor on the fuel pump and it measures pressure, then modulates the opening and closing of the of the vent valve.
It only does it after being started cold, (and only once after being started), or after a long period of sitting.
Here's the system's discription, and how it works:
EVAP System Operation
The evaporative emission (EVAP) control system limits fuel vapors from escaping into the atmosphere. Fuel tank vapors are allowed to move from the fuel tank, due to pressure in the tank, through the vapor pipe, into the EVAP canister. Carbon in the canister absorbs and stores the fuel vapors. Excess pressure is vented through the vent line and EVAP canister vent solenoid valve to atmosphere. The EVAP canister stores the fuel vapors until the engine is able to use them. At an appropriate time, the control module will command the EVAP canister purge solenoid valve ON, open, allowing engine vacuum to be applied to the EVAP canister. With the EVAP canister vent solenoid valve OFF, open, fresh air will be drawn through the solenoid valve and vent line to the EVAP canister. Fresh air is drawn through the canister, pulling fuel vapors from the carbon. The air/fuel vapor mixture continues through the EVAP purge pipe and EVAP canister purge solenoid valve into the intake manifold to be consumed during normal combustion. The control module uses several tests to determine if the EVAP system is leaking.