ABS

The ABS is controlled by the wheel speed sensors.

If you have one tire that is low on air it can cause the speed sensors to read out of limit and disengage the ABS.

It can also be caused by either a bad connector or wire to the speed sensors in the hub of each wheel.

Lastly if a sensor is damaged. it can cause this problem.

Step 1; Fill all your tires to the recommended pressure (35 psi) and monitor.

Step 2 if the fault returns, see if it happens while you are turning. If you are turning and the fault happens, this would indicate it was probably one of the the front connectors or wires. Otherwise have someone check the continuity of all the wires that goes to the sensors.

GA from me for a good answer, but you missed one small point, different tyres (diameter) or one or two worn out with 2 new ones can also cause this on an ABS that was never correctly designed/setup...

I always stay with the same tyres or replace all 4, many people do not do that.....

What the original poster did not say was, does the light come on while driving only or braking and driving??