Engine shut off while driving will not start

Does the fuel pump even run for a few seconds after you first turn the key to run?
If not, check the fuel pump fuse and if okay, try a new fuel pump relay or swap one it.

Okay, does the fuel pump relay even click when you first turn the key to run, before you turn the key to start?
If you cannot reach the relay and put your finger tips on it to feel, then have someone else turn the key while you feel if the relay clicks.
If not, make sure any check engine lights or security lights go out after fifteen seconds or so and not stay on or flash.
If a security light stays on or flashes, try a spare key or clean that key where the pellet is and try again.
Check the fuses for the PCM as well.

That would be a no for both the crankshaft position sensor and the camshaft position sensor.
The fuel pump should run for two seconds when you first turn the key to run, before having to crank the engine over. Them sensors have nothing to do with it, because the engine is not cranking over.
The fuel pump relay is fed from a fuse #12 behind left side of dash, with the key on run/start as well as a fuse #24 in the PDC under the hood, that is hot all the time.
Although since the relay does not click I am concerned with that fuse #12 left side of dash.
Can I assume the pcm relay you are referring to is the asd relay? If so, then that fuse must have power going through it cause I was just going to ask you to test both sides of that fuse on both sides with the key on run.
That fuel pump relay is grounded by the PCM. A brown wire at pin #19. You could use a twelve volt test light and ground that brown wire, turn the key to run and listen if the fuel pump runs now for two seconds. If so, the problem is with the PCM, its powers/grounds. The are usually more than just one power and ground for the PCM, so check them all.
Also, just because that ASD relay clicks does not mean it is supplying power to the coils, injectors, and the PCM when the key is on run/start. If not, check them ASD relay fuses, the #6 in the PDC and the fuses after that ASD relay, #16 and #26 also in that PDC.

Yes, pin #19 on the PCM connector, look for a brown wire.
That probably just means the problem isn't with the relay itself. Ground that brown wire and see now if the relay works.

For what reason?

Yes, right side of firewall.
If you can access that brown wire leaving the fuel pump relay at the PDC, you could ground it there is that is easier.
Did you check all them fuses first?
Is there a check engine or security light remaining on or flashing?

Well then, there is no way to tell then if something new is making the check engine light come on. You should retrieve those codes but if you cannot, just continue with the testing anyhow.
Did you check all those fuses first?

Voltage.

Yes, twelve volts with key on run.