Brake Light On problems of the 2001 Mercedes Benz ML320

I am having safety issues with my 2001 Mercedes Benz ml 320 with a esp bas light coming on and locking front brake causing the abs to come on and stop SUV. To avoid an accident and almost getting rear ended with my kids in car. Contacted mercedes dealer and cant guarantee what problem is already changed brake light switch 2 times said it could be abs pump {800} or wheel speed sensors {1200} or yaw sensor, ignition switch, maybe even computer but said they could not guarantee to fix this problem. Mercedes benz should have a recall on this issue it has been going on for years some one is going to get killed. Spoke to benz at corporate and they only say bring it to the dealer who does not know how to fix this problem. Hope I can get a answer to this situation.

Then on Dec 28, 2012 I was driving back from sacramento, CA to my home in san leandro, CA. I was on the 580 freeway in livermore going around 75 miles in the fast lane and the car suddenly braked on its own. This time it was a sudden and severe braking action. It caused the tires and brakes to smoke. My two children were in the car with me. What I noticed this time was the upside down exclamation light on the dash came on right as the car was braking. The bas/esp light came on. I drove about 40 mph to get my family home. I didn't drive the car for the rest of the weekend. My advisor at mb of pleasanton. He told me it was the brake light switch. The car has been doing this on and off since Nov 2012. It will go several months without this "self-braking" action then it will do it on and off for weeks. I am so scared to drive it and even more afraid when I have my kids in the car. Recently (April 2014) I was almost rear ended by a big rig on the freeway as a result of the sudden braking. I took it to smythe european in san jose. They said it was the yaw sensor and that needed to be fixed. My this time I have replaced brakes and tires as a result of the wear from the braking. I was told I would need back tires too. The yaw sensor was replaced. I got my car back on a Friday (April 25th) and it drove fine. On Monday(April 28th) I was going to lunch and the car braked on its own. Fortunately I was only going about 5 mph bc I was at the light. I called my mechanic and was told that if its still braking it must be the aam and that's an additional $1000 repair. Mercedes benz is aware of this problem but since no one has died yet, it is not being handled properly. I need help and resolution before the fatality is me, my family or someone else's family.

: the contact stated while driving 10 mph, the abs activated without the brake pedal being depressed. This stopped the vehicle, and caused a complete stalling of the engine and electrical system. There were no warnings prior to the incident. The vehicle was taken to a service dealer, who determined that the yaw rate sensor had malfunctioned. This was the fourth instance of the problem occurring. The manufacturer was also notified. The consumer stated emergency brake systlem light illuminated and suddenly her speed was reduced from 70 mph to 0 and then the brakes locked. Updated 01/19/07.