Brake pedal vibrates then warning lights come on

[Squiggy]

Occasionally when I am driving I notice feedback from the brake pedal. Feels like a short 'vibration' or 'grinding' under my foot. Then the warning lights come on; Brake, ABS, Traction Control. Usually the lights stay on until I restart the car. The brakes seem fine, although I have not tested the traction control on wet roads. This all began several months ago before I replaced the brake pads and rotors. Thought that might help, but the problem has persisted. Sometimes the warning lights come on when I start the car, but usually not. Curious what you guys think it might be. Thanks