I have an ESP warning on the dash,having read various pieces of info on this I have tracked down,what I think is the Lateral Sensor,in the boot. Can anyone help re which part is the possible problem, and in fact which is the sensor. I have two sets of wires one set,which has 5 wires, going via a plug into an enamelled type of box, plus an open terminal board which has two smaller plugs going into it. If indeed this lot in boot, is the sensor,can someone tell me what to look for next, and hopefully clear the warning.