WHILE DRIVING, NOTICED THAT THE VEHICLE DECELERATED QUICKLY WHEN LETTING OFF THE ACCELERATOR. RETURNED HOME AND AFTER EXITING THE VEHICLE FOUND FLAMES IN THE AREA OF THE LEFT, FRONT WHEEL. THE BRAKE ROTORS ON BOTH LEFT AND RIGHT FRONT WERE GLOWING RED HOT. ROOT CAUSE WAS FOUND TO BE A YAW RATE SENSOR FAILURE CAUSED A COMPUTER TO APPLY THE BRAKES AND LEAVE THEM APPLIED WHILE DRIVING. *TR