chances are its the wheel sensors. mine does the same thing. I replaced the front two, but good luck doin the back ones. It's a whole assembly, you strip a bolt, your screwed. So i just left those, still does it. Finally i just took out the light in the dash for the abs.
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2003 Grand Prix GT
1993 Cavalier 2.2L
Aint the relay, because i can hear it clickin to turn on. However, i only have the problem when it turns on, (which is when i go over about 30km.) . I did some research, and figure that there is something wrong with the hydaulic pump. So i guess i will just leave it since it's too much work to replace.
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2003 Grand Prix GT
1993 Cavalier 2.2L
Check to make sure that your rear brake shoes and adjuster springs are not in backwards! Mine were and making my abs light come on. It won't hurt to look! I own a 1994 Chevrolet Cavalier RS with 2.2 liter 3 speed automatic,i have the exact specifications