Those lights appear when the communication between the engine, transmission and ABS system fails. The car will work(as you can witness) but all the safety systems are disabled or working in emergency mode.
To find out what exactly failed the error codes will have to be read at an Audi service shop that has a VAG diagnostic machine. This is a very complicated procedure that can be done only by experienced mechanics - a visit to a dealer or a well equipped Audi certified shop is mandatory and must be done as soon as possible.