Hi, With the car stationary, and the engine off, have someone push your brake pedal, then go to the rear of the car, and count how many, and which brake lights come on. Then pulse the pedal, and see if they all come on at the same time. IF the lower bulbs are both blown the computer cannot see the brake pedal being pushed, and gets confused. IF the pedal switch has gone faulty, it will sometimes delay lighting one of the brake light sets (the side pair or the top single brake lights) with the same result, the computer gets confused. Possible solutions, a pair of brake lights bulbs or a replacement twin circuit brake pedal switch. In Australia we had a recall on the switch, as it turned off esc, cruise control failed to engage, and the brake lights sometimes failed to illuminate.