Last week my ESP started kicking in once in a while without reason. Sometimes the light comes on the dash but with no braking etc, but now it's worse and the actual ESP light comes on and it brakes randomly. Sometimes it happens while driving normally without touching the brake pedal. Often it does it while depressing the rake pedal. It seems worse this week and braking can cause the front wheels to lock up and skid due to the ESP taking over... how ironic, ESP making it more dangerous to drive. I thought I heard my rear disc squeaking, so assuming it was this I stripped it and cleaned everything up. Pads and discs are only about 12 months old so in good condition. I have no sensors in the pads. The pads were indeed tight on the disc, which I was certain was causing the fault with esp. Not so, it's still doing it. Is it likely that sticking pads/discs are causing the esp fault?