Hi,
Mine also does the same

Bloody annoying the hell out of me.............
However, I have found the following info:-
peterb wrote:All RS6 cars supplied through Audi UK had the option of a standard Tracker at zero cost. I paid to upgrade to Horizon.
The description of the 'anti-hijack' facility mentioned above is a little confused - it's actually three different features which can all be enabled independently:
1) Beep on locking
2) 2-stage unlocking (driver's door on first press, then rest of doors)
3) Lock on speed (all doors lock when the road speed reaches 15kph, and unlock when the key is removed form ignition)
On cars built up to July 2003, this latter feature is not reliable - it may not always activate. There is later firmware for the central locking controller which fixes it.
These features can all be enabled, very easily, with VAG-COM. If you come along to a Windsor meet (always last Wednesday of the month), I can do it for you.
peterb wrote:Has anyone else enabled the automatic door locking feature and found that after some time that it stops functioning? This has been annoying me for some time - the only way of re-enabling the feature is to unset and reset it.
Browsing through ELSA last week, I discovered that this is known problem - a fault in the software (v D37) in the central locking control module.
Of course, even though it's a known issue, the dealer still insisted that I took the car in for them to look at, which I did this morning (together with printouts from ELSA!). The car is now booked back in on Thursday, to have the module changed.
This fault may apply to all A6 derivatives (2002 onwards?) with a production date earlier than July 2003 (VIN 4B3N099686).
I have asked my local Stealer about this & although they could not confirm about this update, all they said was to book the car in ~ But at £110 ph it can wait.
I have found that if it stops working that disconnecting tha battery for about 5mins seems to sort it out......
Cheers,