Brakes surging while driving. Peterbilt 348. Help!

2013 Peterbilt 348. Allison 6 speed automatic. Randomly my brakes will surge or pulsate usually two or 3 times. I can hear the puffs of air just like when you press the brake and let off. This normally happens while turning or in a curve. Yesterday it happened when I was going 50 mph around a curve and it's like someone yanking the steering wheel. Very scary because it's random. It almost feels like the abs coming on but I'm not pressing the brake.

I already know this is going to be a problem that's going to be hard for shops to diagnose and fix.

Anybody have any experience with this? What can cause my brakes to come on without pressing the brake pedal? My air pressure is normal. I do not have a trailer. This is a straight truck.

Any help or knowledge would be awesome thanks.

 

More information. My ATC light is on no matter what I do to the switch. I don't know if this has anything to do with it.

 

No problems with the brake pedal

 

I think the truck thinks one of the wheels is spinning and applying the brakes to it.

 

Can ATC or abs be disabled in the insite program?