I was driving to work in Eco pro mode and once i entered the highway, i tried to catch up on speed so I moved the gear to DS from D position and all of a sudden the car jammed up, started shaking and a signal came up in the iDrive saying Drivetrain malfunction, drive moderately, and the car wouldn't allow me to exceed 50 mls/h. The car kept shaking till I took the next exit. It was very dangerous as I entered the highway with that speed and there was a bunch of cars going at least 75 mls/hr that had to leave the lane I'm on. Darn it. The engine light is on now. I parked the car and I'm at work now. WTF!!