I had this problem 3 years ago.I replaced the nearside front ABS sensor bought from paddock and then got a dealer to run a diagnostics check.
This reset the computer and the lights went out.
Total cost of fix under €90.00.
a front Hub incl bearing and sensor will cost around £140 plus vat.
It may be something more serious but the front nearside wheel gets most of the punishment from potholes etc so that was the one I looked at first.
Hope this helps.