I have 2001 Audi A6 2.7t Quattro. Recently, the ABS light and traction light has been coming on. While its on, the car will stutter while driving between 40-80. At times, it will be an odle and the rpms will start jocking up and down random times. And lastly, when I put it in cruise control, the EPC light will come on and then it will shut off the car and I have to pull to the side and turn it off and on again. Then it will be good. What do you guys think the problem is?