abs coming on at low speed no dash light and vagcom comes back with no errors!!! HELP!!

I am getting abs rumble every now and then at low speed breaking. As it was icy last month I ignored it. Now everything is dry I am still getting abs at low speed breaking but the dash light is not lit. also if i keep breaking the break pedal will force my leg up off the pedal. I have an up to date vagcom of my own so have tried error codes and there is none on abs. also had the live abs sensors measuring my speed through vagcom and they all read the same, and are all working.

HELP please

Steve