2000 Ranger 4x4 trouble with ABS engaging

The ABS kicks in when I'm slowing down and turning right. I feel like I'm not going to be able to stop. My ABS light does not come on, so I'm not sure if replacing the sensor would help at all.

Any ideas?

i had the same problem i think one of the hubs is bad with the sensor in it i looked in my owners manual and took 2 fuses out from the box under the hood 1 was a small 1 and a large 1 i now have reg brakes with no problems but my abs light stays on