Check engine light

[reaso]

Hi going up the motorway the other day and check engine light came on got the lend off a code reader and it came up as an O2 Sensor P-0130.They turn the light out and has not come on again,this happened once before and seems to come on at motorway speeds after a few miles.Car is running fine and boosting correctly.I think the code is the lamba sensor in the exhaust but not sure anybody else had a similar problem