edgies

I am new here and I have a 2000 ML 320 with the BAS ESP light coming on intermittently . When it is on , everything is fine . When it goes out and you go around a corner at normal speed the anti lock brakes pulse on and off . If you corner really slow it is fine and it seems worse on left turns . I was thinking it s a roll over stability sensor or shock absorbers . But the shocks seem ok otherwise . Any ideas would be greatly appreciated . Ed Gies