98 BMW 528i abs /traction control/tranny problem-auto

Having a problem with tranny (auto),it's in limp mode,ABS and Traction control light's are on came on couple days ago and transmission went into limp mode at same time,it drive's only in 1st gear,reverse works,also when taking off in in 1st gear( D) rpm's goes up and stay's in 1st,but if i change to (D3) ,and right back to D will change to 2nd gear,and if i stop ,then all over again ,sometime would go out of limp mode by it's self for like 1 minute whille in D,anyone have any idea what could be ?
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