It could be a number of things. It needs a diagnostic check to find out the nature of any fault codes that may have been stored, which should help pinpoint what may be wrong. Not necessarily something that I'd abandon a trip over. You should still have full normal braking ability, it's just the ABS and ESC that may not work if required. Plenty of vehicles still on the road that had neither of those options fitted from new. It could be something very minor, and if the warning lights are no longer illuminated it may just have been a temporary glitch. I had the same message come up once several years ago whilst driving up the M74. I hadn't even touched the brakes when it came up, but the warning went out a couple of minutes later and has never reappeared. No faults stored a couple of months later when I got home, and other than cleaning pads and calipers, no work done to the brakes since and passed the MOT every year.