One problem related to warning light on has been reported for the 2002 Ford Taurus. The most recently reported issues are listed below. Please also check out the statistics and reliability analysis of the 2002 Ford Taurus based on all problems reported for the 2002 Taurus.
Car was not moving, waiting for a traffic light to turn left in a long line of cars when side airbags unexpectedly deployed followed by the the front driver-side air bag. Luckily I was not injured, though disoriented, deaf and blind for a minute or so from the explosions and smoke in the car the yellow air bag sensor warning light was turning on and off for a year so I am guilty of poor maintenance , but talking to my friends I found out that it is not that uncommon and I think that something needs to be done since next time this explosion can happen to somebody else while driving on a highway.