ABS light on

I drove the car, suddenly the abs light is on and hand brake light is on as well.
there is noisy sound, I felt the brake is not so sensitive, but still worked.
after 30 seconds, the lights and the sound all gone. The car become normal.
so I keep drove, few minutes later, the sound and lights came again. This time it is about 60 seconds.
on my way home, it happened about 7 times.
I try to use scanner to read the fault code, but nothing in the computer.
which part should I check?