Wheel speed sensor or steering angle sensor. All those systems need both to work. It's very common for these to fail.
'06 Arctic Metallic 325i | Sport Package | 6MT | Dinan Stage III suspension | Dinan exhaust | 330i manifold swap! Click here!
| Active Autowerke tune | 135i Brake Calipers | Deiselboost caliper brackets | E46 M3 front rotors