Toyota Avensis Cutting Out

[dobbey1]

Hello i hope someone can help me, i own a toyota avensis on an 03 plate, with an D4D diesel engine , it has in intermittant fault where it will just cut out, when on the motorway traveling around 70 mph, when it cuts out the TLC and VSC warning lights will come on and i have to pull onto the hard shoulder, i then turn the ignition off and then back on and the car starts up straight away, im left with the TLC and VSC on all the time, after about a week after this fault occurrs the lights go out on the dash display, i have taken it to a toyota dealer, and they said it had stored these codes

C0371 Yaw rate sensor

C1201 Brake Boost sensor

C0125 Valve relay circuit open

it would appear that these faults are brake issue faults which i asume would not cause the car to cut out like it does, the toyota dealer told me it was coz i had gone over some speed bumps, well if the car cant go over speed humps what can, at that point i took it out of the toyota dealer, so now i am trying to see if anyone else has had a similar problem and could anyone help in this matter , this fault will only happen every 2/3 months.

all advise would be greatly appreciated