For all the guys who have thousands of miles under their belts their suggestions are right on, as usual. But as a somewhat newer rider, active for just 2 years now, I can remember a similar sensation at higher highway speeds when cornering or taking a curve. I felt the bike was in control and not me.
With more experience now, I have control and I think it's all about "the line." You set a line, or arc or radius, on a curve, and the bike holds "the line" as you control the bike. If you don't control the bike, it finds it's own "line" and can "float" you right into another traffic lane. I found it a scary and very uncomfortable feeling, needless to say.
I suggest some practice, a conscious effort to hold "a line" on a curve to get the feel of it. Putting the front wheel in position, body position, a bit of lean, it's all a dance.
All this said, if it happens on a straight run of highway, well, never mind and regardless, check your suspension points.