I have a 2006 Taurus SEL. After driving around for a while, mainly stop-and-go city driving, the ABS light comes on occasionally, then beeps, then the check brake system LED and the brake light will come on (all usually while slowing down approaching an intersection). Sometimes a staticky flash of all the dash lights will occur and the car will stall. I took the car to a Ford dealership three months. They couldn't find problems in the ABS wheel sensors or wires. They disconnected the sensors, cleaned them up and reattached. The problem went away for three months, but is now back worse than ever. Could you tell me some possible culprits? Low battery voltage? Corroded connections?