Can be several different things...
A misadjusted brake (stop) lamp switch
Leaking vacuum resevoir
Defective one-way vacuum check valve
Speed control servo cable or attachment at either end
Failed speed control servo
steering wheel mounted switch pods
I've read that many failures are due to a vacuum resevoir leak..or the vacuum lines going to it...it is a plastic storage tank located behind the right front bumper end cap.