My mother has a '99 E430, and her owner's manual states that should the voltage drop below a certain level, the BAS / ESP lamps will illuminate.

Cycling the wheel from left to right helps the system "relearn" and the lights go off.

A new battery solved the problem.

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Paul S.

2001 E430, Bourdeaux Red, Oyster interior.
79,200 miles.

1973 280SE 4.5, 170,000 miles. 568 Signal Red, Black MB Tex. "The Red Baron".