Error Lights on Dash: ABS, VSC and Master Warning Light

While driving downhill on a very windy road in the mountains today, I experienced an unexpected issue. The Master Warning light came on, followed by the ABS and VSC lights on the dash. Also my display screen showed the word "problem" while the car began a continuous beeping alarm. Simultaneously, the brakes began to "chirp" when pressure was applied to the brake pedal. It was not a metallic or scraping sound, but more of an electronic sound. I pulled over and turned off the car, checked under the hood for fluid leakage and everything looked fine. When I restarted the car, the master warning light came back on but the other two lights did not. The brakes seem to operate as usual, but almost randomly the "chirping" sound returns when the pedal is pressed. Otherwise everything seems fine. I'm hesitant to go to the dealer and spend a fortune for a diagnosis, so any recommendations would be greatly appreciated.

 

Hi thanks,

We were up pretty high where the air was pretty cool. I'd say it was in the mid 70's. The mileage is around 127,000 on it.

As to getting the car codes read, can you suggest a cheap or free place to go? I haven't done that yet but it needs to be done. Thanks for any advice you can offer!

 

Okay that's great,

But now the lights have all gone off and there is no more chirping coming from my brakes. Is it still worth it to go have a code read? Or will it not show up unless lights are on?

I also checked the oil since some similar threads recommended that... it was low but still within range. Not sure if since I was driving downhill for such a prolonged time, that maybe the cars system thought I was low on oil? I topped it off anyway, but the light went off before I got to that point.

Appreciate all your help.