Right I've looked through most of the internet and tried to find a fix to this but can't! Basically I have the common problem of the "beep" and the dsc + amber handbrake light coming on! I've cleaned the wheel speed sensor and had the codes read one of the codes was for the rear right sensor and the other was for a lack of voltage? Haven't got the exact codes handy though, so I've cleaned that numerous times and replaced it with a used wheel speed sensor! It could come on and then after 5 minutes of driving I turn off and on the car and it's gone! I'm going to check the battery tomorrow but anyone any ideas? After I disconnect and reconnect the sensor it tends to go out for maybe a day! Really appreciate any help as my heads wrecked trying to figure this out!!