2002 SUNFIRE Firm Braking issue

Hello I have a 2002 Pontiac Sunfire with a braking issue at high speeds. I will be driving home and the front brakes will start to engage at high speeds sparaticaly. I have replaced the calipers, Rotors, and Pads. I do have an ABS light on and the traction control wont work anymore. The only way to stop them from rubbing is to hit the brakes again and they will go back to their normal position. The pedal gets really hard as well. Any ideas? Thanks in Advance.