The self check is suppose to function only once when the vehicle is started as it goes through 15-20 MPH. Duration should be only a second or two at most. I am having the self check cyle almost every time the vehicle passes through 15-20 MPH whether I am acelerating or braking. The check cycle is getting "stuck on" lasting for up to 10 seconds and activating the brakes making for some very quick stops and hard acelerations. Not a problem if you are driving on a highway all the time, but very annoying around town.