This code is regarded as a secondary fault. Try pulling fuse 31 and then reinstalling to reset the adaptive system that is trying to maintian a Lamba value of 1 on the exhaust.
Fuel pressure can also contribute to this problem but I would think that the engine would have problems other than just at idle.
Check the EVAP(Evaporative Emission system)and make sure all connections are made.
Check all your vacuum hose connections.
Check the connection on the MAF(Mass Air Flow) for oxidiation.
This should at least give you a place to start.
The procedures to properly check out this code require test equipment normally only a shop or dealer would possess.
Good luck and hope this has helped.
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