The most common cause of what you are experiencing is loss of signal from one of the front wheel speed sensors. The sensors are part of the wheel bearing/hub assembly. If you pull a front tire off and examine the wheel hub behind the rotor you will see a wire going to an electrical connector on the hub assembly. This wire carries the signal from the WSS. Check the wire for damage, clean the connector, apply some dielectric grease and put it back together. You might get lucky.
If the easy fix doesn't get it, you will have to get full scan done by someone with a Tech 2 scanner, which pretty much means you have to go to a dealer. The diagnostic trouble codes you are looking for are not detected by most scanners. Your problem can actually be coming from one (or more) of a number of sources including wheel sensors, steering wheel position sensor, accelerometer, or yaw sensors. The best, cheapest, and most effective way to narrow it down to the source is to get the Tech 2 scan. The DTC will point the way to the fix.
Keep us in the loop as you progress with this and we can walk you through it.
2001 Bonneville SSEi (retired at 365,000 Kms.)
2014 Jeep Grand Cherokee Overland (yes, I know its not a GM)