I also had this occur to me a few weeks ago, same code, cause unknown. I had checked everything out, wheel speed sensors, wiring etc to no avail. In my case I could reset the code/erase and it would come back after moving a short distance. It eventually cleared itself after so many successful run cycles or miles. don't know which, but it has stayed off for at least 2 weeks since clearing itself. Would recommend you live with it for a while before sinking a lot of $ into it. The ABS control module is in the $600-900 range new.