Electronic Parking Brake Malfunction Warning Light

[Gopopracing]

2018 BMW X5 with 40,000 miles. My "Parking Brake Malfunction Warning Light" comes on intermittently when I first open a door on my vehicle. It appears usually after the vehicle has set over night. I would appreciate any thoughts as to the cause and fix. I'm thinking possible weak auxillary battery or corroded connections at the electric parking brake actuator. Any suggestions and trouble shooting assistance would be appreciated.