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You may need to adjust the cable for your hand brake. The driver's side is too tight and the passenger side is too loose. Best thing to do is drop the hand brake (e-brake) down, loosen the adjuster on the drum, then lift the hand brake until you hear 5 clicks. Then adjust the handbrake cable on both sides until the disk just stops.
Take the vehicle to Autozone, Oreilly's, NAPA, they will put a "CODE READER" on your vehicle for FREE to help diagnose the problem. They will also show you where the part is on the vehicle and loan tools but they cannot replace the part for you.
Sounds like a sensor either on the pad or on the mastercylinder.
I recommend you get a Haynes repair manual on your vehicle as there are several adjustments you may need to look at. If this is the first time you have had this problem and have less than 50,000 miles on the brake pads then it is most likely the cable and there are a couple of places to adjust in most cases. If you have 50,000 or more miles on those read pads you may need to replace the rear brake pads. The manual will help you in doing this repair correctly.
I has a clicking/knocking noise on one of my 407 (54 plate) front wheels after a change of brake pads. On investigation I found that the bracket to which the caliper hydraulic hose was fixed (at the lower end of the suspension strut) had been bent downward and was catching the CV boot clip. I bent it back up and the noise went. It is possible (if the brake caliper is not supported during pad change) to bend the bracket supporting the hydraulic hose. It could also interfere with the ABS wheel sensor bracket - check. Simply jack-up and support the car on the side with the noise and turn the wheel by hand to see what gives (don't go under the car until it is supported safely)..