ABS kicks in at low speed - ABS-DSC and brake lights pop on

[woudybee1971]

I have a weird thing going on with my X5 (E53) 3.0i;
ABS system seems to be activated while braking at very low speed (vibrating brake pedal). Also; when slowely accellerating, the left front wheel tends to block, making a hell of a noise (as if someone sticks a bar in my left front wheel). The moment the car speeds up, the problem disappears and the ABS-DSC and brake lights pop up (Yellow color).
At that moment the ABS and DSC are not working.

I read many posts to find similar problems but not really found any.
I read about steering sensors, ABS sensors.

Any experience with this problem?

Thank you all!