Stopped at a red light and when it turned green I realized the engine had turned off. It would crank but not start. Pushed the car off to a side road and looked under the hood, couple minutes later it started with the check engine light on. Drove it home and parked it. Connected my code reader and got P0 335, crank shaft position sensor. Replaced the sensor and all is well including the BAS/ESP indicator stays off now. FYI