[Zempman]

This has happened twice now. I was driving along 20 mph,dry pavement and started to slowly apply brakes to slow down and all of the sudden, the brake pedal goes to the floor and the brakes apply really hard and jolt the car. And as quickly as the hard braking jolt happens, they release and no more problems. I have to disclose that my BAS/ESP light has been on intermittently for several months now. However, everything has been working properly as far as I know. Cruise control works, ABS works, ESP works(yellow caution light lights when traction is lost). Any ideas??