2009 BMW M3 transmission problems

My 09 BMW m3 with dct is exhibiting gear shifting slowness and power lagging problems after hard braking. The most recent incident was a near rear end collision today that required me to brake hard from 70MPH, to 40, switch lanes and accelerate to avoid being hit by approaching traffic from behind. When I attempted to accelerate, the car did not respond for what seemed like a couple seconds. The lag was long enough that the car behind me was forced to leave the road to avoid hitting me.

The problem occurs when you slow down- like for a turn, but do not come to a complete stop. The dct transmission seems to have trouble figuring out what gear to select because when you step on the gas to accelerate, there is a very significant delay in the onset of power- up to 2-3 seconds. By this time, the driver is usually really digging into the throttle. The transmission finally picks a gear, which results in the car suddenly lurching forward, sometimes invoking the anti-skid control. The occurs frequently.