Check precrash safety and check parking brake.

Hi everyone. I have a 2016 Toyota Avensis 1.8 petrol VVT-i.

When driving from work the other day my car suddenly got an error message: Check precrash safety and check parking brake.

The car does not respond when giving gas and will slowly stop. Ignition is on. Then I stop the car and wait 10-15 mins.

Will start it again and sometimes the error is gone but other times a need to stop it again.

When the error is gone I can drive the car normally again.

This has now happend 3 times this year. Anyone else here who has experienced this problem?

Is this a software problem. What do you think?

I had this earlier in year jan feb , I undid terminals on Battery and left for 30 minutes and it reset itself straight away - my warning was on all time and in limp mode 

But what is causing this? How to fix this permantily?