The ESP and BAS warning lights may illuminate due to a failed brake light switch. Replacement of the failed switch should correct this concern.
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Repairpal verified 2003 Mercedes-Benz SL500 problems
This vehicle has sensotronic brake control (SBC). If the SBC light on the dash illuminates, have the brakes checked. If the SBC is not working, limited brake pressure is delivered to the front brakes, increasing the distance it takes to stop. The SBC hydraulic unit has a specific service life programmed into the control module; follow the manufacturer's recommended service procedure for proper maintenance of the SBC.