Brakes Failed problems of the 2005 Lincoln LS

I am having a problem with my 2005 Lincoln Ls v8 with advance trac. While driving the vehicle the abs system engages under normal dry driving conditions and stays on for over one minute. You can hear something like a motor and clicking leading up to the incident and this happens even when you are not on the brakes. When you do go to apply the brakes it is like you are on ice. The check advance trac light appears and the yellow trac control button flashes and than stays on solid. Even when the car has come to a complete stop and than you proceed to drive it will do it again until the car is shut off and restarted. The system "acts" up out of the blue and you really never know when the brakes are going to fail. The vehicle has been taken to the dealer many times and they were able to see all the lights on the dash, but are not able to fix the problem. They have pulled codes for the problem but Ford only advised them to reprogram the computer. They have done this multiple time and the problem is still not fixed. Ford is giving me the run around and said they are not going to do anything for me. This is a very serious safety concern. The last time it happened I was getting off the highway and I nearly crashed my vehicle. I want to document this and try to find out if this is a widespread problem.