Air Brake Abs Warning Light problems of the 2002 Toyota Sequoia

Tl the contact owns a 2002 Toyota Sequoia. The contact stated while driving 55 mph, the abs warning light was illuminated and the vehicle began to decelerate independently. The contact parked on the side of the road and restarted the vehicle within two minutes, and continued driving to his destination. The contact stated he continued to experience the failure. The vehicle was not diagnosed nor repaired. A dealer was not contacted. The manufacturer had not been informed of failure. The failure mileage was approximately 165,000.