It means there is a fault stored in the computer memory that needs to be identified and fixed.
Have the code read or take it to advance auto and they will lend you the reader so you can plug into the diagnostic port under the dash and read the code.
The code reader can then be used to reset the check engine light and turn it off.
Try disconnecting the batt for 20 mins.
SOURCE: 2002 suzuki grand vitara brake warning goes on and off
Do you have a brake fluid accumulator(ABS)? If yes, the pistons/pulsing assembly are worn, and may need to be replaced.
If not, you may have a vacuum leak in the power booster (located on the firewall). Check all hose and clamps for a tight fit/cracks,etc. Vacuum leaks cause intermittent brake failure lights.
You may want to park the vehicle on a clean surface, pump the brakes a few times, and check for brake fluid leaks. If there is a leaking wheel cylinder (back brakes) , caliper (front brakes), or brake line, you will be able to see it.
Leaks cause pressure loss, and, thus, the brake warning light will illuminate.
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