Hi Tommy,
There are several hybrid battery repair companies that will test and replace faulty cells in you RX's battery pack, here's som links to give you an alternative to the main dealer, if you require:
Northampton - http://www.hybridbatterysolutions.co.uk/?page_id=42
Reading - http://cityautos-reading.co.uk/price.html
Personally, I can't see why the battery pack would stop you totally dead whilst moving, unless the system detected a safety issue with charging (like a short circuit) that could cause big damage to you or the car....
Looking up your error codes, they state:
P3190 Poor Engine Power
P3191 Engine does not Start
P3193 Fuel Run Out
So what gives?