ESP Warning Light: Causes and Solutions

Hello everyone, I'm having a problem with the ESP in my Sharan, manufactured in 2001 with the AUY engine. The ESP is activating itself, braking the car seemingly at random, and it starts braking while I'm driving. I've had this problem for a while, and it hasn't bothered me too much until now, but I can just turn it off and keep driving.

This morning, things went a little differently: The ESP started braking, so I turned it off. After about 50 meters, I turned it back on . Then, after about 500 meters, the ESP started acting up again, with short braking attempts, and the ESP light came on , but it then turned itself off . It would be nice... After about 30 seconds, I noticed a smell of smoke - I turned around... and saw smoke coming from under the driver's seat .

Does anyone have a clue where I need to start??? }

Well, when there's smoke, you should be able to see something. Just take out the seat and have a look. Maybe there's a frayed wire harness or something like that...