I got similar error 2 days ago in my 7 series. Although it was red and said I should stop. Also got weird noise coming from the steering. My problem was mainly because the cold bugs somehow the hydraulic oil. Maybe since my garage is underground and extremely tight I have to make many many maneuvers. Anyway once the car warms up and restart it no problem whatsoever. Actually, I had this last year again when it was -10 Celsius and the car was outside. Then the dealership told me the reason is the cold and also low hydraulic oil level.
I guess that if you still get errors once your car is warmed up and then restarted maybe it is something more serious or just sensors unable to deal with the cold
