My car had these lights come on,this is the 3rd time this happened to me. The first 2 times it came on I was driving and my car came outta gear by itself and didn't come back until after I turned it off after letting it set for 5min. The 3rd time it happened I just started my car and it was on. I could use the shifter to shift up or down but no gear was highlighted and my car wouldn't go in gear. This was strange this time because it didn't cut off until I unplugged the battery for 5min

 

Many systems are designed today to place a vehicle in "Limp mode" when a problem is detected so as to prevent the vehicle component from self destruction. Just what is causing the problem if your vehicle is a late model, many times can be found with a scan tool. It doesn't sound like anything serious , but a thorough check of all systems is required to pin down the area. Have the vehicle checked for any codes in it's computer. Sometimes a poor connection can do this.