Abs and TC lights come on when braking and turning at the same time?

In my 2006 Equinox the brake pads and rotors definitely need replaced but also the ABS and TC lights come on when braking while turning unless I break very very slowly. I pull over turn the car off and back on and the lights go off until it happens again. The brake pads and rotors need replaced and because of financial reasons I've had to put this off longer than should be. I'm just wondering if replacing pads and rotors will correct the problem with the anti-lock brake and tread control?