My brake lights won't go off even when I cut off the engine, I'm getting a message that says trac off and anti lock in yellow on the left side

Now you diagnose the ABS Braking System issues

if your car has an automatic trassmision , the problem is the clutcht not the ABS

When you are talking about "indicators" we could assuming that your are refer about signal lights. This work with "flashers" devices.

For 1996 Audi A4 2.8L SFI 6cyl the Flasher is located in front seating area, driver side, under dash, behind dash lower panel, mounted above driver side of steering column.

About generic fuses, open the driver side door. Remove panel on left side of dash. Fuse box is behind panel:

Fuse # / Description / Amps
1 / Heated washer jets / 5
2 / Turn signals flasher unit / 10
3 / Headlight washer, illumination of glove compartment, engine compartment, climate control, automatic transmission, instrument cluster / 5
4 / License plate light / 5
5 / Instrument cluster, seat heating, test connection for cruise control, bulb monitor for auto-check control, Automatic transmission display, switch lighting, mirror switches and actuators, airbag warning light, outside temperature indicator, Climate control / 10
6 / Central locking system / 5
7 / Anti-lock brake system / 10
8 / Vacant
9 / Mirror heating / 10
10 / Vacant
11 / Cruise control (automatic transmission) / 5
12 / On board diagnostic system / 10
13 / Brake lights / 10
14 / Interior lights, reading lights, anti-theft alarm system, vanity mirror / 10
15 / Instrument cluster, power windows, climate control, automatic transmission / 10
16 / Anti-lock brake system, Anti-Slip-Regulation / 5
17 / Heated door locks / 10
18 / High beam right / 10
19 / High beam left / 10
20 / Low beam right / 15
21 / Low beam left / 15
22 / Tail and side marker right / 5
23 / Tail and side marker left / 5
24 / Wiper and washer system / 25
25 / Blower for heating, climate control / 30
26 / Rear window defogger, mirror heating / 30
27 / Rear window wiper / 15
28 / Fuel pump / 15
29 / Engine timing / 20
30 / Sun roof / 20
31 / Tail lights, cruise control, automatic transmission / 15
32 / Engine timing / 20
33 / Cigarette lighter / 15
34 / Engine timing / 15
35 / Trailer receptacle / 30
36 / Fog lights / 15
37 / Radio / 20
38 / Luggage compartment light, central locking system / 15
39 / Emergency flasher / 15
40 / Horn / 25
41 / Anti-lock brake system / 25
42 / Vacant
43 / Vacant
44 / Seat heating / 30

Hope this helps (remember to rate and comme this free answeer).

These are either Brake Pad wear sensor or Anti Lock Brake Wires.

Anti Lock ABS system will be inop' if ABS wires broken.

ABS Lamp will be on too.

I just put in new fron pads in my 2000 buick century and the track off and the anti lock brake light and the service engine soon stays on

WHEN BOTH ANTI LOCK AND TRAC LIGHT ON YOU HAVE PROBLEM IN ABS BRAKE AND TRAC SYSTEM.THE DEALERSHIP HAS TO FIX THEY HAVE DIAGNOSTIC EQUIPMENT TO WORK ON IT.THE ONLY THING YOU CAN CHECK MAKE SURE ALTERNATOR OUT PUT VOLTAGE WITH ENGINE RUNNING IS 13.5 TO 14.5 VOLTS.BECAUSE IF ALTERNATOR OUT PUT LOW BOTH LIGHTS WILL COME ON ALSO CHECK THE ABS RELAY.

Fuses: Fuse arrangement in fuse panel, behind instrument cluster, left
Fuse Arrangement In Fuse Panel

1 - Heated washer jets 5A 2 - Turn signals 10A 3 - Headlight washer (relay), illumination for glove
compartment, climate control, Automatic Transmission, instrument cluster 5A 4 - License plate light 5A 5 - Instrument cluster, seat heating, test connection
for cruise control, bulb monitor for auto-check display, Automatic Transmission display, switch
lighting, mirror switches and actuators, airbag
warning light, outside temperature indicator,
climate control 10A 6 - Central locking system 5A 7 - Anti-lock brake system (ABS) 10A 8 - Vacant 9 - Mirror heating 10A 10 - Vacant 11 - Cruise control (Automatic Transmission) 5A 12 - On board diagnostic system 10A 13 - Brake lights 10A 14 - Interior lights, reading lights, anti-theft alarm system, vanity mirror 10A 15 - Instrument cluster, power windows, climate control, automatic transmission 10A 16 - Anti-lock brake system (ABS), Anti-Slip Regulation (ASR) 5A 17 - Heated door locks 10A 18 - High-beam, right 10A 19 - High-beam, left 10A 20 - Low-beam, right 15A 21 - Low-beam, left 15A 22 - Side marker and tail light, right 5A 23 - Side marker and tail light, left 5A 24 - Wiper and washer system 25A 25 - Blower for heating, climate control 30A 26 - Rear window defogger, mirror heating 30A 27 - Rear window wiper 15A 28 - Fuel Pump 15A 29 - Engine timing 30A 30 - Sun roof 20A 31 - Tail lights, cruise control, automatic transmission 15A 32 - Engine timing 20A 33 - Cigarette lighter 15A 34 - Engine timing 15A 35 - Trailer recptacle 30A 36 - Fog lights 15A 37 - Radio 20A 38 - Luggage compartment light, central locking system 15A 39 - Emergency flasher system 15A 40 - Horn 25A 41 - Anti-lock brake system (ABS) 25A 42 - Vacant 43 - Vacant

Anti-Lock Control —Vehicles Built After 03/2002 The 3-channel anti-lock brake system consists of the following components:

• front wheel speed sensors
• front wheel speed sensor rings
• hydraulic control unit (HCU)
• Anti-lock brake control module (ECU)
• rear wheel speed sensor
• rear wheel speed sensor rings
• yellow anti-lock brake warning indicator

The 4-channel anti-lock brake system with traction control and stability assist system consists of the following components:

• active brake booster with integral solenoid
• brake booster release switch
• front wheel speed sensors
• front wheel speed sensor rings
• hydraulic control unit (HCU)
• stability assist module (ECU)
• stability assist event indicator
• lateral accelerometer
• longitudinal accelerometer (4x4)
• rear wheel speed sensors
• rear wheel speed sensor rings
• steering wheel position sensor
• yaw rate sensor
• yellow anti-lock brake warning indicator
• brake pressure transducer
• traction control switch

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I suspect the abs issue is causing the speed control not to work if it happened at the same time the cruise control stopped working. When the yellow ABS light comes on, it means the ABS is dactivated. You may have a faulty accelerometer which senses acceleration and yaw (side to side lean). I have not seen a bad one but you said it is sensitive to acceleration.
I would unplug it and see what happens. The connector should have a small tab to depress so you can pull the connector out.
Here is where it is:

Accelerometer Removal and Installation

1. NOTE: The accelerometer is located under the center, rear passenger seat carpet. (I think you have to remove seat for access).
   Cut the carpeting along the perforations.

1. Disconnect the electrical connector.

1. Remove the nuts and remove the accelerometer.

Have dealer hook up tester and pull fault codes if you can't find an easy solution.
Some background info

A malfunction in the anti-lock brake system will cause the anti-lock brake control module to shut off or inhibit the system. However, normal power-assisted braking remains.

Malfunctions are indicated by the yellow ABS warning indicator in the instrument cluster.

The anti-lock brake system is self-monitoring. When the ignition switch is turned to the RUN position, the anti-lock brake control module will carry out a preliminary self-check on the anti-lock electrical system indicated by a three-second illumination of the yellow ABS warning indicator in the instrument cluster.

During vehicle operation, including normal and anti-lock braking, the anti-lock brake control module monitors all electrical anti-lock functions and some hydraulic operations.

Each time the vehicle is driven, as soon as vehicle speed reaches approximately 20 km/h (12mph), the anti-lock brake control module turns on the pump motor for approximately one-half second. At this time, a mechanical noise may be heard. This is a normal function of the self-check by the anti-lock brake control module.

Pedal pulsation coupled with noise while braking on loose gravel, bumps, wet or snowy roads is normal and indicates correct functioning of the anti-lock brake system.

Warning Lamp Indicator
The anti-lock brake system (ABS) uses the yellow ABS warning indicator to alert the driver of a malfunctions in the ABS.
The yellow ABS warning indicator will come on to warn the driver that the ABS has been turned off due to a symptom that exists in the ABS. Normal power assist braking remains but wheels can lock during a panic stop while the yellow ABS warning indicator is illuminated.

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Please report back, I am curious if that is what it is. Good luck

Anti-Lock and Trac Off lights are lit on my 1999 Alero, as well. They usually come on after about 5 minutes of driving, but are not always on when I start the car.

i recently had this problem too, except i had all the lights on (ABS, service vehicle, trac-off, AND service engine) they are all easy to fix without spending more than 20-30$ for labour (depending how much your mechanic charges you) mine did it for free and he found out why the engine light is on afterwards too. so to fix all these lights (abs, trac-off, and service vehicle you MUST get another ABS cable (i went to a garage, they were towing a GM vehicle to the junk yard so i grabbed some scissors and cut BOTH abs cables on each side (good thing i did because one was bad) and braught them to my mechanic. the reason the lights come on is probably a defect or in my case my mechanic said it was salt buildup in the wires (on the drivers side) so he cut the wire off and rewired the new one and BOOM all the lights came off (service vehicle, abs, and trac-off) now for my service engine it says catalytic converter but im trying to put some fuel system cleaner to help it out i read somewhere that this is a defect of the car, so if you dont have that light yet, SELL your car ASAP for as much as you can get for it (after fixing the lights of course) and always google (car name+recalls) in the search bar to see what youre getting into, take care