Hear a thud when I brake and DSC light is on?

[mrgeemoney]

For a while now I always heard a thud when I would hit the brakes. I wouldn't have to hit them hard but when I hit them sharp or quick I would hear this thud and feel a thud. Today the DSC, ABS and brake lights all came on yellow and stayed on. Can someone tell me what thie might be and what to I have to replace?

[AlpineSixAndSeven]

year model? mileage?

[mrgeemoney]

I have a 2001 X5 with 90,000 miles. I have an X5 and every time I press on the brakes the brakes jerk back and forth, I feel the brake pedal under my foot pumping and vibrating too. The front tires jerks back and forth also when I hit the brakes and you can see the front wheels move when you drive slow and apply the brakes lightly. The ABS, brake and DSC lights come on and stay on sometimes. Once these lights come on the car no longer jerks when I step on the brakes. I changed both control arms bushing because they were much worn and one was damaged, the problem was solved for a while but it started happening again. Right now I don’t know what to do, do I change the bushings again, does my X5 need an alignment or I have to change something else?

[AlpineSixAndSeven]

who changed the bushings? if you did it yourself did make sure the car was on level ground and the suspention was settled?