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My brake warning light is coming on at random, brakes are all good, fluid is full, only other symptom and I am not sure it is related. My door ajar light came on 3 hours into a road trip, stayed on about a minute and went out. I was getting a check engine light when I would pass a car, pulled the COP's cleaned the connections and it went away.
The only experience I've had with the brake warning light was after my parking brake was engaged, it froze, and would not disengage fully thus still tripping the sensor/light indicator.
The sensor for the indicator is VERY sensitive. I did two things that day:
1. Manually pulled up on the parking brake pedal to make sure it was a high as possible...it was
2. Got out of the truck, went to the driver's side rear wheel well and manually pulled on the parking brake cable to cycle the brake. Got back in the truck...no light.
Just my $.02 and not sure if your problem is related.
I honestly don't mean to impune you in any way, but I do want to make sure that you've pulled on the release handle for the e-brake. My light comes on if I breathe on the pedal wrong. I've caught the e-brake pedal with a pant leg and triggered the light.
Again, just suggesting. I wish I could be of more help.