Toyota 2004 Camry shuddering then stalling when stopped/in park

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My Toyota Camry has not had any major issues, has 170k miles. Two days ago it shuddered, then stalled while sitting at a stoplight. I turned the car off and back on again to go. It continued to shudder at stoplights like it was about to do it again. Tonight it did the same thing at nearly every stop light on the way home. I turned the a/c off, tried putting car in park at stop light instead of sitting on the brake, and it still did the same thing. Also the dashboard lights would come on just before the stall.