Mazda Millenia S stalling and stopping on the road. Why?

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What could be the reason for a 1999 Mazda Millenia S to always be stopping on the road? It would stop dead for a few minutes, sometimes at stop lights (when we're waiting for the light to change) and sometimes on the road as it is being driven. When it stops, we would wait a few minutes and then have to restart it and it usually starts driving again, but as we're driving it again, it would stop again, like when we get to another stop light or sometimes on the highway/road. Not long ago, this happened, it stopped a few times and then afterwards it didn't stop until we got home. A mechanic has suggested it is the car's Idle Motor Valve (If I remember the name correctly) that is the problem, like maybe we need to get a new one for the car or something. What exactly is it, and could it be the main cause of the problem, or could be other reasons why this car always stops on the road? We've checked the engine, it is fine. But we always get a signal in the car, there's a light that always goes on saying, "check engine." Before the light used to only go off and on, now it is always on when the car's being driven. We don't know whether this is related to the problem of the car stalling and stopping on the road. Could it be? Why would it be saying to check the engine? We've gone to a mecanic and he put the car on the computer (I'm not sure what the term is) and I'm not sure what else he did, but he told relative of mine who was there that the problem is fixed. My relative drove the car home only for it to stall and stop as usual. We called the mechanic the next day and he said the problem is now the oxygen sensor. I don't know if he really knows what he's talking about. We're going to get it checked from other places, I just wanted to see if anyone has a clue what might be wrong.
 
is a sign of bad coil when one runs til its hot and then dies and then you have to wait a few minute and it restarts... so id have someone check it out
 
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