I am going to start from the beginning.

About 4 days ago when I started my car the red light on the spoiler switch blinked about 5 times and went off. Everything worked normal with no issues.

About 3 days ago my light indicator came on with my headlights. This has happened every once in a while with my HID's, but usually it will go out if I turn the lights off and on. It will not go off.

Today the BAS/ESP light came on when I started the car. I turned the wheel to reset it and it went off. The light indicator was also on. I drove half a mile and parked the car. When I came out the car started fine. I backed out and put it in gear to go. I drove 20 feet and the car shuddered and made a grinding sound the esp light flashed a few times and my brake light was on even though the brake was not on. I stopped and saw that the BAS/ESP light was on again.

I put the car in 2nd gear and slowly drove in the parking lot to see what happened. I was able to limp it home. Halfway home the esp light flashed again and the car started shuddering and grinding again. The car came to a complete stop. I cannot reset the BAS/ESP now.

I have read a post on here where the problem was a faulty ground. Do you think this could all be cause by a bad battery. I have the original equipment battery. (before you slam me, I know I should have changed it long before now) I am going to change the battery out tomorrow. This is the first place to start.

What else do you think could be causing all of this, and is it possible that they are all related somehow?