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I would think that there is a build up of rust on the abs sensor or its target ( a ring of raised metal casltations on the driveshaft) the noise is the rust rubbing away but as there is a metallic build up it clogs the unit and does not send the correct output to the abs computer. Jack up the corner where the noise is and check/ clean. If the car has drum brakes and the noise is from the rear you'll have to strip down the drum.
Hope this helps
Currently in gordonpringle's garage:
espace mk3 2.2 dti, renault 17TS, renault 17ts11, renault scenic 1.9 tdi, renault scenic 1.4 16v, renault clio 1.5 dci