Every so often the vehicles AEB, FCW, LDW system malfunctions and causes the CEL( Check Engine Light ) to come on. The car also looses Traction Control and begins to sound like the tires are grinding on the pavement. This then puts the motor in a limp mode/ Safe Mode. During this time the vehicle DS NOT Have power and reduces speed to 50MPH, the vehicle then revs at 2.5-5.5RPM trying to catch/ hold speed. The vehicle begins to shake when this happens. The power windows also dont work after this happens.