Was driving in heavy rain after about a 35 mile commute and put the car in park. After about 5 minutes of sitting in park the car turned completely off by itself for a couple of seconds and restarted. Warning message “engine stopped steering power low” popped up on dash and was visible smoke coming from under the hood with a slight burning smell. This is a first incident for the car as it has been driven for about 2 years with a little over 35,100 miles on it.