sounds like a bad wheel hub/wheel speed sensor, its in the hub one piece unit.

you can also check the plugs at the hub, take them off clean them a dab of di electrical grease on the plug ends, and check the wires for damage, they snap on to the lca's and get messed up sometimes.


you can also take the car to a shop that can scan abs codes, most of the time its not a free scan unless they are doing the repair work them self's. but the scan will tell you just what needs to be replaced or repaired.