EPS/ABS Lights

[grahamchet]

I have Audi estate, petrol, August 2002, automatic. For some time now the EPS/ABS warning lights come on but only when I am stationary like at traffic lights. The lights will stay on and the car drives perfectly normally and the brakes are fine. It never happens when the car is moving. If I turn off and start the engine again the lights are off. I can drive for 3/4 weeks and everything is OK then this happens several times in one day. Being an automatic I have to depress the brake pedal when I start the engine. When I release the brake pedal after having the problem with the warning lights there is a grating that comes from around the pedal area - like a damaged piston releasing. Any help would be appreciated.

Graham

[Adman]

Have you checked brake pads? Happened to me when I had my B7. Light would only come on in the wet. When i checked it was the front brake pads were worn.