Hi there, I know there have been some other posts on this issue- but has anyone got a definitive answer on how to fix? About three months ago the warning light came on and I experienced some feedback through the pedal every now and again (typically going into parks or when car was on a slight downward angle)- I was all tee'd up to get it looked at when it cleared up- and I didn't exeprience anything like it again............until yesterday. Same story- warning light came on, feedback through pedal when approaching gutter- but again normal braking function elsewhere. Does anyonw know what the problem is? ABS sensor? Software upgraded? And how much it is going to cost me to get fixed????? Any help would be great!