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It could be several things. The first thing to do is check your brake fluid level. It must be filled to the full line.
 

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Loose or dirty ABS sensors? Try re-setting the ECU as per the directions on this forum.
 

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Those are the the 2 most common causes, either low brake fluid, or bad wheel sensor. The only way to pinpoint which sensor is bad is to hook up to consult II at dealer.
 
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