Toyota Lucida 4X4 2.2Td Eml Comes On Underload Please Help

[boltonlad28]

hi and thanks for reading this but im new to this club and ive been having a problem with my lucida the car starts and runs fine but when underload ie when going up hill or on motorways above 60mph it comes on then when i take my foot off the accelerator it goes back off ive tried blanking the egr valve off and changing the actuator also when i put my foot down then take it off i can hear a loud fluttering sound this is really doing my head in badly do i just think about changing the engine or do i fix this if its worth fixing thats if i can find out what wrong with it lol any help would be very good i would be most gratefull as i need my car to take kids to school and is always in use thanks.