"ABS" and "(!)" Warning Lights?

[mgoldhawk]

Living in Zimbabwe, we don't get freezing cold temperatures or really hot temperatures, it's warm, throughout the year. The other day I was driving my Vitz and I noticed the ABS and (!) warning lights came on simultaneously. From previous experiences with my Isuzu truck this means that your brakes are faulty, so I immediately tapped the brake pedal and there was a normal response. I pulled over onto the shoulder, re-started the car and everything returned to normal. Bearing in mind I was driving on a space saver.
Could this be a confusion between the speed sensors or do I have to get the ABS system checked?
I have read on the other topics and people have had the same problem but theirs was snow related, and as I stated, we don't get snow here.