When accelerating slowly from stop. Similar problem happened last week. Took car to dealer and they checked for causes of these warning lights (went off While awaiting service check). They kept it overnite and went thru several tests next day and claimed car was OK. But problem reappeared 5 days later. WHATS UP!
BAS/ESP lights flash & stay on; grinding noise and shudder in throttle pedal. on 2001 Mercedes-Benz SLK320
by chapeka in Lake Forest, CA on April 22, 2013
ANSWER by sweetieheard on October 14, 2015
check the YAW sensor! The same thing has been occuring to me. I researched it and had someone check it for me. The YAW sensor senses extreme turns and thinks it is preventing the Mercedes from going into a roll, so it applies the emergency braking system. It is scary. I think the repairs will run about $750. I tried to order the part from another vendor other than Mercedes but it still has to be programmed at the dealership, thereby cutting out any cost savings. Hope this helps!