It'* possible you have a hub sensor going bad/or possibly some rust build up inside the hub causing it to hiccup like that. It'* really difficult to determine which hub it is that'* causing this without expensive diagnostic equipment. But, it can be done using a decent DVM and lifting each wheel off the ground so you can at least spin it by hand. But, again, you could test each wheel and find nothing wrong, but it will do it again the second you leave the driveway.(Murphy'* Law)
It may get worse on you. It could start to activate while your trying to slow down to a stop. Only way to prevent this is to pull the main ABS fuse(which will cause the ABS light to come on) but, you won't have to worry about it stopping you too quick.
1997 Pontiac Bonneville SEi-SCRAPYARD
2000 Chevrolet Blazer LT 4X4 4.3L
2002 Chevrolet *-10 LS Ext Cab 4X4 5.7 V8