It does self cancel, unless the sensor is at fault - which was the problem on my first A2.
Having changed the sensor, the light still came on intermittently, so Audi changed the clocks under warranty. I'm not for one minute suggesting that you need to change the clocks, but if you've double checked the amount of oil with the dipstick, on level ground, and the light is still on, I would look at the sensor in the first instance (check the wiring from the sensor for continuity) and take it from there.
Cheers,
Mike