Brake Control Warning Light Remains ON [08/2013 - ]: Description
WARNING: This page is about a different car, the 2014 Lexus ES 300h. However, it is still accessible from the selected car via links, so may be relevant.
The skid control ECU (brake booster with master cylinder assembly) is connected to the combination meter assembly via CAN communication.
If the skid control ECU stores a DTC, the brake warning light / yellow (minor malfunction) comes on in the combination meter assembly.