Intermittent beep on dash board

[sbeleca]

Hi all,
Recently I have this intermittent beep on the left hand side of the dash board on my E53. I believe it has to do with the parking sensor system, which was never functional when it got cold out.
Once it starts, and it can start during driving or it can be there when I open the car door to start driving, it goes on even if I shut the engine and leave the car. It’ll stop after a little while.
How would I stop this annoying beep without visiting a dealer? I would appreciate anyone’s help on this.
Thanks