ABS
Mine started doing this as well. I believe it could be a damaged or dirty sensor. Normal braking won't be affected, but you won't have anti lock braking if it's on. I haven't looked into the fix but if you search I am sure you find a lot of info on it.
*Edit - Found this on another forum
The Anti-lock yellow warning light comes on when the ABS computer detects a fault within the anti lock brake system. Usually this is because a wheel sensor is giving the computer a value out of range.. The sensor could be damaged or just dirty (with metal particles from normal wear and tear). The ABS sensors work by magnetically sensing the geared teeth on the ABS tone ring (installed in each front wheel and the rear diff ). If the sensor collects too much metal debris it will go blind and no longer detect movement (sends a constant lock up signal to the ABS computer)
Note: When the yellow anti-lock warning light is on it indicates anti-lock braking (brake pulsing) is disabled , but NORMAL breaking is completely unaffected.
Each time the vehicle is started the ABS computer initializes itself (checks for problems and if none are found the ABS light stays off). Since the vehicle is NOT moving the sensors (even the ones partially blind) will all report the same (correct) lock up condition. When you start to drive a failing sensor will be reporting incorrect wheel speeds (compared to the other sensors and the ABS computer will throw an error code and turn on the ABS light). Obviously it depends on how bad a sensor is before the light comes on.
*Edit - Found this on another forum
The Anti-lock yellow warning light comes on when the ABS computer detects a fault within the anti lock brake system. Usually this is because a wheel sensor is giving the computer a value out of range.. The sensor could be damaged or just dirty (with metal particles from normal wear and tear). The ABS sensors work by magnetically sensing the geared teeth on the ABS tone ring (installed in each front wheel and the rear diff ). If the sensor collects too much metal debris it will go blind and no longer detect movement (sends a constant lock up signal to the ABS computer)
Note: When the yellow anti-lock warning light is on it indicates anti-lock braking (brake pulsing) is disabled , but NORMAL breaking is completely unaffected.
Each time the vehicle is started the ABS computer initializes itself (checks for problems and if none are found the ABS light stays off). Since the vehicle is NOT moving the sensors (even the ones partially blind) will all report the same (correct) lock up condition. When you start to drive a failing sensor will be reporting incorrect wheel speeds (compared to the other sensors and the ABS computer will throw an error code and turn on the ABS light). Obviously it depends on how bad a sensor is before the light comes on.

