IMA light is on on 2000 Honda Insight

vehicle stutter steps at various speeds, does fine when accelerating

Asked by for the 2000 Honda Insight
My vehicle bucks and stutters @ 59-65-does ok @70-maintenance light is on-then oil light comes on when it does this and it decelerates when bucking-so i have to pull
over to the shoulder of the road..what is your diagnosis Doctor Repair Pal?