ABS is supposed to engage only when a wheel is about to lock - usually on a slippery surface. If it activates on dry pavement during normal braking, something is off. Here is why ABS false-triggers on dry roads.
A faulty wheel-speed sensor
The most common cause is a wheel-speed sensor sending a bad signal, so the ABS computer thinks a wheel suddenly slowed (locked) and pulses the brakes; see how ABS works. It often shows up as ABS grabbing at low speed just before stopping.
A damaged tone ring
If the toothed tone (reluctor) ring is cracked, rusty, or has debris, the sensor reads an erratic speed and the ABS reacts; see ABS warning light. A damaged ring is a classic cause of false ABS on dry roads.
Normal on loose surfaces
ABS legitimately activating on gravel, sand, or over a bump is normal - the wheel really did slip; see ABS on gravel. That is different from false triggering on clean dry pavement.
What to do
Have the ABS codes read to find the suspect wheel, then inspect that sensor and tone ring; a bad sensor or ring is usually the fix. Keep the base brakes strong with quality pads and hardware.