[Uncle Stinky]

The only feeling you are really going to get throught the brake pedal specifically when the ABS engages is the same vibration from the brakes pulsing asyou are hearing. You won't feel the pedal actually moving under your foot (that I can remember). Yes, ABS, when active, is an annoying, repetative, creaking noise.

 

[Uncle Stinky]

Wheel sensors when beginning to fail sometimes drop their signal at low speeds, causing the computer to interpret a locked up wheel. If you are braking and hit a bump causing the wheel to lose contact with the ground, then ABS may engage. If you think this is not the case, you may have a sensor going bad. Why no ABS light you ask? Because as far as the computer is concerned, a locked up wheel is just another piece of data it uses to make decisions, and not really a problem to report via an MIL light.