You have a weak or bad ABS sensor on one of the hubs. They are built into the hub and are not individually replaceable. Also rust buildup around the sensor will cause this same problem. To stop the ABS from kicking in untill repair just pull the fuse.
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1. I would not be concerned because if there was a failure in the ABS you would definitely get an ABS warning light and the ABS and most likely the stability control/traction control systems (with added warning lights) will all switch off .
2. You can test if the ABS is operational. On a very quiet damp surface, straight, wide road( with NO other cars around), apply your brakes hard from a very low speed - up to 20 mph ONLY driving in a straight line - until the car stops. The front brakes should attempt to lock up under hard braking and if the ABS is operational you will feel it kick in and the brake pedal will pulsate as the ABS constantly allows brake pressure and then releases it to prevent the wheels from locking up on the damp road. If the ABS does not kick in be ready to release the brake pedal quickly to allow the wheels to rotate so you can steer the car safely. Without the ABS the front wheels should begin to lock up on the damp road surface due to the low level of tire grip. ONLY test this at very low speed and ONLY when driving in a straight line on a straight section of wide road with no other vehicles around.
There's a service bulliten about that problem with rust build-up on the front hubs pushing the sensors out of posistion [ most common on the pickups in areas that use road salt ], it happens mostly at very low speed. The best way to find out the problem is to have the system scanned.
Sounds like a bad ABS sensor in the system. The quick fix is to locate the ABS fuse in your fuse panel, remove this fuse and abs is disabled. Your brake will function normal and it is safe to drive w/o abs until you can have it checked out, keep in mind you will lock you brakes under heavy braking conditions.