You will need to check if there is a fault with your front and rear abs wheel sensors. Hook it up to a scanner, reset all the codes. Drive it and see what resets.
Check all your wheel sensors by removing and visually inspecting the units. Wipe any grime or grease off them then replace. Check all the ABS sensor cables make sure they aren't broken or damaged in any way. Replace any suspect ones.
Last of all check all your fuses.