Hello,
It looks like you should review the "Check Control" chapter in the
manual (page #70). There must be an extended (explanatory, recommendation) message available through the iDrive. After that you should address someone who can read and interpret computer error codes (besides those iDrive messages): a dedicated/official BMW workshop/service.
From your description it seems to be some DSC failure: you can try to reduce the warning frequency by limiting (use "DTC") or disabling (use "DSC OFF") the DSC (the manual linked earlier, page #98).
This affects driving safety!