Air Conditioning problem
2002 Mercedes Benz E500 V8 Two Wheel Drive Automatic 100000 miles

hello and thank you.
i have a 2002 e55.the problem is after i start my car and drive for a while the esp light comes on to visit a work shop,at the same time my AC shuts off then it comes back on.if i shut off the engine and turn it back on the problem will go away then it comes back.please tell me what the problem might be.
thanks