Esp light stays on and nobody can seem to fix it even audi

Lateral Acceleration Sensor
1j0907651A
http://www.ecstuning.com/Search/1j0907651A/
$165

Got exactly the same problem at the moment. When the ignition is turned off the system resets itself and the light goes out but after a short time of driving it is back on again. Just had the problem diagnosed at a local garage. Apparantly a sensor in the esp system is faulty and needs replacing. Having the job done next week so can't give you any more info only that the sensor costs around £100 plus vat.