On the way home today (luckily, the end of my road) the ESP light came on on the dash, followed by the engine cutting out. Restarted the car, cut out again, restarted the car and used the throttle to keep the engine running. ESP light will not go out and if off throttle, the engine has a bad misfire, then cuts out after 10 seconds or so. If you use a bit of throttle, there is still a bad misfire, but doesn't cut out. Engine Management Light has not come on, so not sure where to start. Car is 2005 A3 3.2, done 63000 miles. Help please!