I had something similar on a trip to wales a while back. Scary because it was raining and three warning lights came on. Are any of them red? That would be serious. For me, it was the ABS sensor on one of the wheels. Given that the ABS, ESP and TP systems are all linked closely, a fault in any one system could disrupt all of them.
Have a look at the VCDS register and see if anyone is close enough for you to have a diagnostic scan done.