This started a few months after I bought the car - the lights for the collision avoidance system came on. The lane departure system and now the brake systems all intermittently light up. When you are attempting to turn and this happens, it jerks the steering wheel to pull the car straight. Since this problem does not happen at the dealership, they say there is no way to fix it. At times the car is not driveable because it is so bad. Then for six months it is perfectly fine with no issues. I am hoping someone else has had luck with experiencing this problem and can fix it.