I have an A4 2L tdi 2006, this morning when I switched on the engine came on the red warning light brake on and off beeping and after few minutes of drive the ESP came on aswell and it stays on even if I turn the engine off and back on. Checked the brake fluid and its almost max. Can someone help me please.

 

If possible pull any error codes. Generally this light is tied to a failure in the traction control system or ABS. Could be just a faulty sensor, but without more information you probably will need to have a shop take a look.

 

Thanks for the reply, the brake warning light turned off later on, only the ESP stays on non-stop but I will go to plug the car and clear the faults. Probably it was a sensor.