I just had the same problem with my 99 GS 400. Its extremely cold here (winnipeg canada - highs had been in the -25 to -32 C range for the past couple of weeks) an I initially thought it may have something to do with that. But I also had noticed a driveline noise coming from behind me.
The wheels had been put on recently. I checked them all and the left rear was loose. After I tightened it I got back in the car and the check engine lights and VSC lights were all gone. No problems since then.
So, obviously an issue with any of the wheel sensors will cause this problem. If it happens to you check to make sure you don't have a loose wheel before driving the car further!
Kevin
