ESP &ESP Off warning lights

[Piff]

Not sure if this is the right place to post this one - Mods, please move if necessary.
About 5 miles from home today, on dual carriageway at 65/70mph the yellow ESP warning triangle and ESP Off light came on.
HOLD function & ATTENTION ASSIST stopped working and from reading the handbook a number of other brake related functions would have stopped.
At subsequent junctions it seemed to have lost power, maybe pulling away in 2nd or 3rd gear.
At home 5 mins later, turned off the engine, removed key, put key back in & restarted - ESP & ESP Off lights had gone.

Any ideas as to the cause?
Any ideas as to the solution & likely cost?

Thanks in advance

 

[PobodY]

My guess would be a an error in one of the wheel speed sensors. - If the car thinks it can't accurately read the wheel speeds, it can't use ESP or any of the related systems (e.g. ABS).

Either not a real fault, or caused by something intermittent like cack on the redactor ring, so it didn't come back when you turned the ignition back on. - You should find it has still stored some kind of code, and that might tell you what the problem was.

 

[Piff]

At the time removed the wheels & gave a good hosing around the brakes.
Re-occurred a couple of weeks ago. Into indi for diagnosis. Turns out to be accelerator pedal sensor requiring new accelerator pedal.