2006 lexus is250

Question

i had a problem yesterday with 2006 is250, i made a right turn fast and all of sudden the car was shaking and wont go faster than 20 mph and i pulled of the road and it said check engine and ESV than i turned off the engine for few minutes and stated again and started to drive and went back to normal wantt o know about ESV and what happend,
please whoever know what happend her eis

Mike