w211 esp and hdlight cornering problem

Hi to all
Recently put a new ECU on my car but 2 multfunctions still coming up.
Some time ESP problem comes together with Head Light cornering problem
I notice last night ESP coming up while the light beams go from one site to other repeatedly (left-right and back),,,
Whats that? is it related to each other?:confused:

Thank you for any idea

A.