I have a 98 3.5 rl and the manual says to use gas with an octane rating of at least 91.
It means you have a fault somewhere - Honda's and Acura's are notorious for this problem, and sometimes all it takes to fix it is having the seat belt catch replaced (Seat belt clasps are also wired to the SRS system) Ask the advice of the Honda/Acura Dealer.
Ask your Acura dealer if they can fix it under an extended warranty. The first time this light came on, I did not have to pay anything. It turned out to be a seat belt catch problem. The next time it came on two years later, they wanted $129 just to look at it, so I drive with it on.
"One could find and see an Acura RL in person by visiting Acura dealerships, and used car lots to view a 2011 Acura RL, but the 2012 Acura RL has yet to be released."