Sounds like one of the sensors at the tires is not working right. Its actually better if the light stays on. With it turning on and off will make it harder for you to stop cause the computer does not know what to do. Check brake fulid level. If it stays on you will have normal brakes. Have the sensors checked or replaced. ABS was design for panic stops so you don't lock up the tires an skid.
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I have the error code 1120 that says the TPS sensor is giving out to high of a voltage. I replaced the sensor and it still says the same thing. I also failed my inspection for emissions.
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