1996 Jeep Grand Cherokee need Help bad!!?

[bloodvors]

the check engine light constantly turns on always showing change 02 sensor and we do and when the check engine light goes on it usually comes with other problems like when u push the break and are coming to a stop the jeep feels like its gonna die out or when your driving it'll just randomly start jerkin forward and back if anyone has a solution or any ideas on what it could be please reply thanks