I had to stop suddenly on the way to work this morning, and when I hit the brakes expecting the ABS to do all the work, instead the car made a grinding sound and I could feel a grinding sensation thought he pedal, the car felt like it was on ice. Luckily it did stop in time, but the breaking was very poor. I tested the brakes at the next clear bit of road and they were fine? Has anyone else had this problem? I have an 02 Sri-T.