Audi Repair: Audi A4 warning lights, abs braking system, wheel sensors

Question
Hi, I have an 02 Audi A4SE and an orange traingle warning light has suddenly appeared along with an orange ABS light.  The ESP button won't turn on either. The lights go out when I restart the engine but come on again when I have to brake.  I had a look in the manual and it said it was something to do with the braking system and to consult an audi dealer.  Is this something major and can I carry on driving for now?

Thanks

Answer
It sounds like one of your wheel sensors may be malfunctioning.  While it will not cause imminent damage to anything, your braking system is not fully optimized, and anti-lock braking is not functional.  I would not recommend driving for any length of time with this system in 'limp-home' mode.  You can go to an import specialist or a dealer to get the problem identified.  Get an estimate first, and if the price is too high, get another to verify that the diagnosis was correct.  Usually all that needs replacing is the wheel sensor or a relay.  The ABS braking system is very robust, and major components rarely go bad.  let me know how you get on,  Jan