I had a similar problem in that if I took a corner hard the ABS would light up...
So, I pulled the tyres off and gave the general area a good clean , reset the computer and off I went... all fixed. Don't know if it was either of those things or just a fluke but I haven't had the problem in a few months now.
I found that I had a lot of oil on the front right drive shaft area from a leak the previous owner must of had, so maybe you have the same? Probably worth a clean under there anyway.