This can occur after periods of constant speed if one of the tracks on the pedal actuator have a loss of signal due to dirt or wear, only once the system can verify the actuator position for both tracks (one the resistance increases the other it decreases)will it recover the signal and allow the ecu to know if the pedal is being depressed or released.
It can potentially get worse although once it becomes persistent it will give a fault code. and the engine will not respond at all.