ABS problematic in my 2009 Prius

In rain, snow, or icy conditions, my ABS always goes on. When it goes on it's not just for a second. It lasts for quite a while and when it's on I have no control of the car. I can't use the gas pedal or the brake pedal. My car is just stuck. It seems to make a dangerous situation even worse. I've looked all over to see if there have been any recalls for this problem but have found nothing. I'd appreciate any advice you may have.