Okay, I'll try to explain this as thoroughly as possible since I know next to nothing about brakes. I was driving around one day when I started hearing an audible scraping sound coming from my back wheel, but only at certain speeds. If I pressed the brakes, the noise would stop until I let go again. The ABS light also came on. I stopped the car at my destination and came back and it was no longer making the noise and the ABS light was off. A month or so later, I was driving and after about 50 miles the brakes started making the noise again but the ABS light wasn't on. Then a few days later I was driving and the ABS light came on again out of nowhere, but with no noise. Turned the car off and it was fine again. Then today I was driving and I left a business and started driving home and the light came on again. I shut the car off at a red light and turned it back on again and the light went off. I got onto the freeway, drove towards my house and when I got off the exit and went to push my brakes at the red light, the ABS was engaging and causing my car to do the grabbing/pulsating normally accompanied by a loss of traction causing the ABS to go on and make the wheels not lock up. Then the ABS light came on again right after it did that. Went home again, then went up the road and the light came on... again. I'm thinking it might be a sensor of some sort but I wonder with the noise that happened a few months ago, if there's something else wrong? The brakes themselves are not that old. A year ago, there was approx. 80% brake pad left according to Acura when they checked them for me. Any thoughts?