I had this happen to me once.
IS220d - Was driving along, 70mph - Warning light came on and VSC light on and CHECK ENGINE on dash. Car went to limp mode, I pulled over and had a quick google, and was amazed to discover it could be the Filler cap causing the issue. Advice stated to remove filler cap, clean and reseat on thread so it fully closes. Had some wd40 in boot and a rag so cleaned cap and fuel opening restarted car and to my amazement it was OK!
Never had the error since and i am 8 months in to ownership.