I had almost the excact problem. Car might be ok when cold but as it warms up ABS,DSC etc lights come on without fail. Are you experiencing loss of function on your speedo when it happens? Do you have problems with the speed adjustment of your radio volume? Does the car stop changing gears and hold in one?
These are some of the problems I was experiencing with my X5, and not always at the same time. On my car it was the ABS unit that was faulty, luckily it is relatively inexpensive to repair. Therea are a few guys on the net that can do it, a quick search should reveal them.