CODE U029A lost communication with hybrid battery pack sensor module

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CODE U029A lost communication with hybrid battery pack sensor module HELP!! Driving on Rt 80 car stops running. I can only go 15mph to move over to side. All lights are on dash and Check VSC and Check Hybrid system lights. Call AAA have it towed home. Next day reset the system and check engine light remains on along with Check VSC. Car can drive I take it to pep boys for diagnostic. Code is U029A-Communication issue. All lights reset. I drive home. Next morning get in car starts drive 6 miles and car dies completely at traffic light on Rt 10. Call AAA towed home. Get home start car and it drives. Has anyone had this issue. Any ideas what needs to be done to fix it? This is a 2008 Toyota Camry Hybrid. 150K miles