you need to read your owners manual. when these three lights are on, the car has gone into "safety mode" and engine performance will be governed.
We can't help you any further until you provide us with the trouble codes that are now set in the ECU. Take it to AutoZone as they will read the codes for free. Port the codes up here and we will be able to better assist you then. There are hundreds of codes and combinations of codes that will set off the warning lights you describe.
Same problem with my 2002 ES300. Three lights came on when it did not properly warm up.