Hi,
I need some help regarding my 2006 Audi A6 3.2 quattro.

Every time I drive my car I get the following warning message while I'm driving: Parking brake mulfunction and than a couple of seconds later "abs and esp mulfunction"
When I turn off the engine and restart the car the warnjng message disappears and would only come back after 20-30 minutes.Sometimes the message does not come back for hours.

The car drives fine and the parking brake seems to work as well.
Does anyone know what kind of problem this is and how to fix it?

Thanks in advance,

 

ABS and ESP light on....... What could it be??