Was driving 50 miles per hour when the car slammed on the brakes, nearly getting me rear ended. The throttle would not respond until the car was doing maybe5 miles per hour — on an interstate! The BAS/ESP light was on solid. I got onto an off ramp, called the dealer, was told it could be several causes, drove home carefully, and took it to the dealer. The dealer found nothing. Several times since, the car was being driven at speeds in the 20-30 miles per hour range, and the system would slam on the brakes and pull hard to the left. I could smell the brake dust in the car. Other times, it will ALMOST engage (ESP light flashes as well) then backs off.