The esp bas, abs, traction & brake light come on when I drive

Possible failed abs sensor have scanned with a scanner with abs capibality

As with ALL warning lights, the first step is getting the trouble codes read.

This video is for a liberty, but all Jeeps should be similiar.
Jeep Liberty How to fix Traction ABS EST Light Codes C1240 C123F Also a guy in a forum says that it might involve a recall of the DCX recall applying to ABS modules on many Chrysler, Dodge, & Jeep products including the Commander. I'd call your dealer and ask, they might fix it for free if it's a recall. http://www.jeepcommander.com/forums/5-general-commander-discussion/1483-esp-bas-traction-control-light-staying.html

Brake light switch problem may cause the ESP / BAS lights to illuminate.

Common symptoms of a bad
Mercedes brake light switch.

• Car stuck in Park.
• ABS ESP ETS lights come on.
• Can not move the shifter from Park to Drive.
• Brakes Defective Warning on Instrument Cluster
• Car won't shift gears. Stuck in 2nd gear, limp mode.
• Brake lights don't work. (Brake light switch can still be defective even if the brake lights work. Checking the brake light operation is not a good test.)
• ESP, BAS, ABS lights turn on. Car won't shift properly. Stuck in gear.

TEST: To test your new brake light switch: Turn you car off to reset the ABS light. apply the parking brake. and start the car in neutral or park without using the brake. if the problem is the brake light switch... the light will only come on when you press the brake pedal.

If you replaced the brake light switch and the light is still on you should check a few other things such as:

• Fuses and Relays
• ABS pump
• ABS wheel speed sensor
• Brake Fluid Level
• Get an advanced scanner to read trouble codes.

NOTE: ** You may need a MBZ scan tool to reset the error code which was stored in the ECU because of the bad brake light switch.

See a repair shop that does brakes. Be prepared to pay for a diagnostic fee to find problem.
That's an ABS light.

It's probably a faulty ABS sensor /cable on one of the wheels.

Have the brakes inspected for worn out brake pads causing a metal to metal scrape of the pad and brake rotor.

It is safe to drive. You need a scan tool to get a code out of it. Could be as simple as a wheel speed sensor going bad. All of these lights will work together normally. The traction control uses the ABS to gain traction, and the Brake Assist System is part of the stability control. Also uses the ABS.

ESP = Electronic Stability Program
BAS = Brake Assist System

This is the Brake Assistance/Electronic Stablilty malfunction light, it is the equivalent of an ABS (antilock brake) / electronic suspension control (traction control, rollover control, electronic suspension control) light. It basically means you have a problem in either your electronic ABS, traction control, or some other advanced electronic suspension control problem... Your car is fine to drive like it is, unless you detect some other driveability issue other than the dash light... (99.9% of the time it's something irrelevant and maybe stupid; that's what you get for driving electronic cars...) Your best bet to get rid of the light would be to get the car to an auto shop with a reader that can read ABS/EBS, brake and suspension codes to really find out why the light is on (usually a wheel speed sensor, or something like it...)