Worn pads don't light up the ABS warning light. The pads have their own warning light.
In theory the ABS light goes on by a low voltage. Restarting "resets" this. It could indicate a coming problem with the alternator (worn brushes?). Checking the voltage at the battery WITH engine running could eventually exclude this : you shoulr read 13.5 - 14 volt.
But a notissed cleaning the surface of the sensors helped to!
There are 3 of them : one on both front axles and one at the right front side of the differencial of the rear axle.