Have seen this issue with dirty MAF or with poor tune as well. The proportional and integral tables for idle airflow are what control the majority of stall saving. 
 
Is it happening just sitting or is it coming to a stop: i.e. Rpms on their way down? 
 
If it's just sitting, 99% of the problems we run into are a electrical problem. Usually a 12v supply dies off. Poor connection or overheated circuit breaker etc 
 
 
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