Well the BAS is the Brake Assist System, and the ESP is the Electronic Stability Program much like traction control. You have an intermittent problem and when the problem occurs the light comes on to warn you and a fault code is stored on the BAS or ESP computer.
When you turn the ignition off and then restart the car these two systems do a self test, this happens in micro seconds and if all is well the lights stay off and any previous fault code is deleted.
The big question is when does the light come on, ie when braking, cornering, accellerating etc, this info would give me an idea of what is going wrong.
You need to have the fault codes read out to find out which component is causing the problem, and second hand units, especially control units are no use as they need to be coded using Star diagnostics.
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