Once, when I removed the brake-calipers from my parents 07 prius, the same lights came on. There was nothing wrong with the car, but the computers were confused because I had removed the brakes and then put them back on. All I had to do was go down to Toyota and they reset the electronics with a special diagnostics-tool. Didn't take any time at all and didn't cost anything.
Be careful while driving though, because you'll most likely have to press harder on the brake-pedal as well as be cautious to the front wheels locking if you break really hard, rendering your steering useless.
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