Other Fuel System Pump problems of the 2002 Audi A6

This car has been great to me. Aside from a fuel pump going, just recently I was driving on the freeway and the car died. The epc light on the dash popped up and luckily I was able to coast to the side of the road. I attempted to start the car several times before calling aaa (15-20 min) while on the phone with aaa I attempted to start the car again and it fired right up. Thinking it was just a one time issue I got back on the freeway where 10 mile or so later same the same thing happened. Another 20 min of waiting before it cranked again at this point I was in a b ad area with my family and everyone was getting nervous. After it started the epc light stayed on this time and I experienced loss of power and the car coughed and stumbled terribly when I needed it most. I managed to make it home and let the car sit for a day. Hoped in and it cranked right up. No problems 15 miles later it happened again. After talking with other valued Audi owners and looking over the Audi owner forums. I have found this to be a quite common problem with the Audi across the range of there a series from 1997-2011. Please help!.