I own a 2000 Mercedes ML320 - while driving a few years ago on cruise control doing 65 miles per hour the truck jammed on the brakes. It took me to just about a complete stop from 65 miles per hour on a major highway route 287 in NJ. When I called and was put on with a customer service specialist to troubleshoot the problem he asked "how far did you skid" and laughed. I brought it to the dealer and they drove it around for two weeks and told me it does not do this when they try it. It was raining at the time so I waited until it rained again and tried it again. I did it at a lower speed in a safer situation and it did it again. They replaced the yaw sensor but we are not trusting the cruise control and never used it again. Well, now for the last few months the truck locks up one or more wheels randomly at high and low speeds. Sometimes for only a few seconds and other times longer. Sometimes the system fails and turns the light on and other times it just recovers and starts driving again. It happens on dry days just driving in a straight line. When only one wheel locks up it pulls the truck in that direction and has almost caused me and my wife to crash. It is random it might happen three times in a day or not at all for a week. We have experienced this at least 10 times in the last two months. It did not show a code until last week. The truck was never in a accident so it can not be from damage! it is still in this state at this time and no work has been done to correct it as of yet. Code: C1120 esp yaw rate sensor N/64 or signal Mercedes tries to pretend this problem does not exist but when someone gets hurt badly they will not be able to ignore it! any system that faults by forcing the car to a stop is a scary design flaw! I found this from web search your NHTSA action number : PE07007 thanks, edwin wendell

- Livingston, NJ, USA