2002/E320, When starting car, runs ruff, ideals and then cuts off and has the error in lower left of dish (BSR/ESP) light on..please advise..[:@][:@]

 

turn-out to be a sensor behind the wheels, that if you hit a pot hole it can set-off a sensor you must turn the steering wheel all the way to the left and this will also reset the sensor..long story its fix..without a trip to the shop..