Paul,
I had the same problem on my 2001 sport tourer.
Go to the site www.dashwarninglights.co.uk. Peter the guy who runs DWLs is really helpful with diagnostics on this problem. We found that the ABS was faulty. I replaced it with a unit from a car breakers, which I found using a search site called 1stchoice. Peter fitted the ABS which was perfect but the ESP light came on. Diagnostics on this revealed that the problem was the new ABS unit did not recgnise the steering angle sensor. Currently this can only be reset by a Renault main dealer which cost around £60.
Best of luck,
Roger H.
Roger higgins, October 2008