I had the exact same problem earlier this year. Had to put the vehicle in Neutral and goose the throttle when coming to a stoplight. Multiple error messages would come up in the cluster that would disappear after restarting.

I replaced the ICV and it ran like a champ afterwards.

Pretty easy install - maybe 15-20 minutes. http://www.xoutpost.com/articles/x5/...ode-p0505.html