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I think you should go for repair manual first for your vehicle after that it will be easy for you to solve the problem. Check the link may be you will get something useful here 2002 BMW 318i Workshop Service Repair Manual
Do you have the correct bulbs? Did you check to see whether any of the other front lights are out? I don't know which instrument panel you have but have a walk around the car with the lights on and see if any of the lights are actually out..
Suggest you go to some of the BMW forum sites for more detailed responses. This could be speed sensors located at the wheel hub area or an ABS module. The wires run up near and along where the brake pad sensor wires are located. Sensors aren't too hard to change and aren't too costly, the module, on the other hand is expensive.
BMW Owners manual. 1998 BMW 318i 4DR E36 BMW
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BMW 323is 2DR E36 ...data.bmrparts.com/bmwparts/1610.html have just checked this site out and the have a manual for yr bmw - hope this will help-