i have had the same problem with my 02, it happens seldom, but every once and a while. does the 02 A4 have any recalls?

 

Clean and re-install your throttle body, that will fix it.

 

Disconnect the battery and reset the throttle body. Make sure you have the radio code.

 

i had the same problem and took it to the dealer under warrenty and the had to relearn the computer. Its called throttle adaptaion. the eccel pedal is drive by wire so sometimes the ecu can get out of sync with the throttle body for odd reasons and when you press on the throttle and tell it one thing and the computer is telling the throttle plate something else something else. this seems to be common with the B6. If its still under warenty i would take it to the dealer

 

BTW no matter what you people say there is no better service tech than the dealer as far as this stuff....talk to independent shops and see what they say about a B6 or B7s or any new model of any brand..............nothing cuz they dont know

 

Just an update....no codes to speak of. Cleaned the TB and reset the computer....all seems to be well so far. BTW the TB was filthy!!! thanks for all the advice.......

 

Any chance that this could happen with a B5? Having a very similar issue here and happens when engine is cool.