If you are sure that it is the ABS that is activating rather than a warped or glazed disk that is causing the pedal to pulsate, I would first check to ensure that all tires are inflated the proper pressure. A tire that is low will turn at a diffrent speed and the computer may see that as a condition to activate the ABS. Is the tread on all the tires good? If the ABS light is on have the code checked. If you can get to them, make sure that there is not some debris hampering the front sensors. Also is your speedo working properly? These are a few things that I can think of off the top of my head.