I am trying to figure out how to get to the mechanic (mercedes mechanic) and will post.
My w163 did a similar weird thing, besides displaying those warning lights, it would automatically apply a single wheel brake full force, scaring the tar out of me.
Thankfully it was always at less than 20 mph, and just one wheel. But boy oh boy just like Ghost Braking.
My solution was just as Witek said, open underhood relay box, locate relay "K25" and remove it from socket.
This disables ABS pump which SHOULD stop your sudden full force brake application.
Doing this stopped my 'auto braking on 1 wheel'. My situation happened 500 miles from home !
I traced it down via scanning codes to a defective Yaw Sensor (aka Turn Rate Sensor).
Maybe this is your issue, only a scan will tell.
I only found a Yaw Sensor on Ebay, fwiw. MB doesn't offer them anymore but used market supplies them in decent #'s.
Hope this helps.
David in East Texas