Hello and welcome to JustAnswer!
It means that the ABS module has seen a problem somewhere in the system and set a fault code. Whatever the problem is it is affecting the ESP and Brake Assist systems.
The first thing that will need to be done is use a capable scan tool to see what fault codes are stored in the modules on the vehicle. There are quite a few things that will turn these warning lights on and the stored codes will point in the direction to start diagnosis. If you aren't seeing an ABS light also then there is a good chance the problem is a failed steering angle sensor, which is in the steering column under the wheel.