Hi there! I got the same on my A6 2000. out of the blue two signals ABS and "brakes" start to flash and give chime. It keeps flashing for 1-2 minutes and then disappears. I added brake fluid (DOT4) up to the max level. Checked underneath-no leaks at all. Then it gone for a day, today after driving 1.5 hrs it signaled again. When arrived home checked brake reservoir - it's full, no leaks underneath. So i think it's electronics. BTW, breaks work excellent, i just put 2600 miles in 4 days, now audi got 173K...Any simple actions that can fix the problem? Do not want spend money at dealer. Thanx.

 

You'll need to pull codes. See my post earlier in this thread for what I found.

 

Brakes brakes braks. Check if yours are worn down, just for the heck of it. On my 2002 2.7t last week they were worn while I was checking for the problem. The fluid was low as a result. I replaced the brakes, bled the new ones, topped off the reservoir. The beeping finally shut up.

If your skeptical, go into a shuck's auto parts store. Then rent out a code reader ($200 refundable down payment for safety reasons) Plug it in and let it work it's magic. Hey its a free diagnostic.

Keep us posted.