This alert has been setting due to either the brake pedal switch not being installed properly or defective switches. The switch is a two part switch where one portion of the switch sends brake signals to the Gateway, electronic stability program (ESP) module, and the rear drive unit while the other brake signal is sent directly to the rear drive unit for regeneration purposes. When the brake signal at the rear drive unit is not the same as the signal at the ESP module, this alert is triggered.