2000 BMW 323 Engine Stalls Out While In Gear

I have a 2000 BMW 323i which sometimes stalls out when I give it gas after I was in a complete stop. If I dont give it enough gas it stalls out but if I give it a little bit more than regular the car jerks it into gear but stays running. This happens after everytime I come to a stop & start. But then some days I start it up and it runs fine. The Check Engine lights goes on and off occasionally as well. I have recently changed my spark plugs and fuel filter within the past year too. Im not sure if this is a minor or major problem but I was wondering if anybody had any insight on this matter. Thanks!