Usually, this sound is the brake wear sensors built into the brake pad - these are small bits of metal that will ride on the brake rotor giving an audible signal to check and /or replace the disc brake pads.
Check the many different on-line auto parts sources; such as - www.autopartswarehouse.com, www.partsgeek.com and www.rockauto.com for the replacement parts. For example, they (RockAuto) list the replacement disc brake pads from around $5.99 for the front axle set.

If the vehicle has anti-lock brakes (ABS), then the rotors must also be the ABS style - for the simple reason of safety; you do not want to disable the ABS system by using the incorrect replacement rotors.
Try the many on-line auto parts sources, such as; www.autopartswarehouse.com, www.partsgeek.com and www.rockauto.com for the replacement parts. For example, they (RockAuto) lists the replacement brake rotors (ABS style) from around $10.00 each (rear) and from around $13.00 each for the front. This is not expensive - nor are they difficult to replace.
Simply retract the brake pads, unbolt / remove the brake caliper, and remove the brake rotor - it merely slides over the wheell hub and wheel studs.

Yes you do have to.

See this http://www.alldatapro.com/

To replace the rotors does not require disassembly of the hub. The rotors are free floating except retained by a set screw with a phillips Stove head bolt

You might check all of you brake lights and make sure there is not any water in a socket. I had a car that was blowing a fuse when the lights were turned on and once I pulled out the light bulbs and cleaned the contacts off, the problem went away. Must have had enough moisture or debris that was causing the short.

Hello
knowing what code was stored in the SRS system would be helpful. I have seen an overcharging alternator due to a faulty voltage regulator cause the SRS light to illuminate. Check to see if alternator voltage is not above 14.50 volts. Otherwise you will need to pull the code out with an appropriate scan tool and diagnose from there. Hope this helps.
Joe Boulay
Automotive Technician & Author
joe@joeboulay.com
www.joeboulay.com

Would have to say it's time for a brake job . The pads are worn out . Drive it for long like that and it will cost more and more . Merry Cristmas

Most likely the brake pads are worn. You'll need to have the front wheels / front end raised off the ground (support with jack stands). Remove the front wheels to inspect the brake pads and rotors condition and for excess wear / metal-on-metal grinding.
Try the 'How-To-Guides' feature on the AutoMD website for the specific steps to inspect and repair the front disc brakes. Try the many on-line auto parts sources, such as; www.autopartswarehouse.com or www.rockauto.com for the replacement parts. For example they (RockAuto) list the brake pads from around $8.65 (per axle set) and the front rotors for around $16.00 each for your vehicle.

Try the 'How-To-Guides' feature on the AutoMD website for the brake pads replacement / brake service steps. Try the many on-line auto parts sources; such as - www.autopartswarehouse.com or www.rockauto.com for the replacement parts. For example,they (RockAuto) list the front disc brake pads (axle set) for around $6.30 for your vehicle. Be sure to purchase a good quality, brand name brake pad.

Sensor (wheel sensor) ABS wiring loose or faulty.

First step - raise the vehicle (support with jack stands) to inspect the brakes and steering bushings to see the condition. Use the 'How-To-Guides' feature on the AutoMD website as your guide to describe the inspection steps.
Try the many on-line auto parts sources, such as; www.autopartswarehouse.com or www.rockauto.com for the replacement parts, such as the brake and steering components

With the loss of braking when the engine is 'on' this indicates a faulty power brake brake booster. Try the many on-line auto parts sources, such as; www.autopartswarehouse.com or www.rockauto.com for the replacement parts.