There is a fix in your owners manual. I'm not sure what page its on but it involves turning the steering wheel, on a flat surface full to the left and full to the right and back to center, I believe the key has to be in the on position. This should reset the BAS/ESP system.
I'll find the page when I get home this evening. Mine did the same thing and it takes a while (few hrs) to clear itself. Did your spoiler go up when this happened? Mine did and I got a flashing warning light on the dash.
Same thing happened in our Mercedes and they just placed the steering angle sensor. Hope yours is the easier fix. Welcome to the forum.

Pat