Brake Abs Warning Light problems of the 2014 Hyundai Elantra

The esc (traction control) randomly comes on while cruising at highway speeds on straight, level, dry roads (often on interstates). Sometimes the abs lights also light up. Brakes are applied and power to the engine is suspended making the can nearly impossible to control properly. My car has been in the shop now under warranty for over 60 consecutive days and the dealership and Hyundai cannot determine the reason for this malfunction. After repeated requests to have the car repaired under warranty, this car has been in an accident and I have asked Hyundai to determine the relevance of this repeated malfunction in the accident where the car would not stop quickly enough to avoid another motorist. This car was purchased used with 20,185 miles on it and currently has around 22k miles and is under a bumper to bumper warranty.