Hey, I don't know where in the world you are posting from but if you have an OBDII port, read the codes and see what's there if anything. If you don't have an OBDII port, the OBDI diagnostic port under the hood can be used, search the forums and you will find how to read the codes.
It could be on of the following:
Throttle Position Sensor (TPS)
The throttle position sensor (TPS) is linked from the accelerator pedal to the throttle body.
The TPS tells the ECM that the driver is pressing the accelerator pedal. The ECM can also verify this information with the MAP or MAF sensor readings, thus increasing the injector pulse width and spark (ignition) timing.
The TPS is located on the throttle body. Honda has an adjustable TPS sensor and if the initial if your RPM is high and cannot be controlled through the IACV, then the voltage readings of the TPS should be checked. The normal reading for a Honda is close to 0.6V at idle.
I remember playing with the TPS in my friend's car and adjusting his TPS to about 2.5 volts at idle. The result: The became a gas guzzler, consuming about 30 litres of petrol (about 7 gallons) in 30 km (about 18 miles). I guess we learned the hard way.
A newer system for the throttle control came in 2003-2005 and newer models of vehicles, in which a throttle cable is no longer used. A sensor has been placed in the accelerator pedal and the TPS sensor has been replaced with a throttle position motor.
This sensor never requires cleaning. If you do want to clean something on it then just clean the connector points with electrical contact cleaner and a toothbrush. That goes for all the sensors.
Symptoms of a Faulty Throttle Position Sensor
An unexplainable bucking and jerking in the vehicle
Sudden idle surges
Sudden engine stalling without any apparent reason
Hesitation while accelerating
Sudden surges in speed while driving on the highway
Intermittently flashing of check engine light for no apparent reason
Difficulties in changing gears
A drastic drop in fuel economy
BARO/Manifold Absolute Pressure Sensor (MAP) RAV4.1
The baro sensor measures the ambient air pressure, which tells the ECM the current altitude of the vehicle. If you're driving in the mountains you'll need less fuel, because there is less oxygen in the atmosphere and therefore less oxygen in the engine cylinder. The ECM will adjust the fuel injectors "throwing time" or pulse width accordingly.
The map sensor detects the vacuum pressure created inside the intake manifold of the vehicle and sends the engine load information to the ECM. The ECM will adjust the fuel injectors pulse width accordingly.
Note: Baro and MAP sensors look and work in a similar fashion, therefore only one of the two sensors will be found in one engine.
Usually found either bolted on the intake manifold or linked with a vacuum pipe from the intake manifold.
If mounted on intake manifold then should be cleaned every 6 months to 1 year, using carb cleaner (depends on fuel quality where you live; the lower the quality of fuel, the more carbon deposits found). I've had to clean some every three months.
Symptoms of a Faulty Manifold Pressure Sensor
A faulty manifold pressure sensor has symptoms that closely resemble a vehicle with injector problems or low compression problems. Here are some of the most common symptoms associated with a faulty manifold pressure sensor:
A rich or lean fuel mixture. You may notice a gas smell after the engine has warmed up. The engine will knock or ping at times for no apparent reason
Excessive fuel consumption
A rough idle
Hesitation or slight jerking during acceleration, or when putting the vehicle into drive
The vehicle stalls or dies immediately after you try to give the engine gas to start the car moving
Camshaft Position Sensor (CMP)
The camshaft position sensor (CMP) is electromagnetic and produces a voltage when a metal object moves past. This sensor is responsible for telling the ECM the current position of the camshaft. With this information the ECM can calculate which valve is open and throw fuel through the injector into that cylinder.
This sensor is found on one end of the camshaft, usually on the right side in a front wheel drive car. It's normally not very difficult to access.
Cleaning can be done with a simple dry cloth, but if the oil has been used for too long, a golden-brown stain is left on metal portion of the sensor. In some cases it even comes out black and gooey, which is basically old engine oil turned into sludge. if it's stained then you can use a wire-brush or very fine sandpaper to remove the stain. Make sure no metal bits remain on the sensor. If you need some liquid type material to get some stains off, try WD-40.
Failing camshaft position sensor (CMP sensor) can produce a confusing range of problems, depending on the way it fails and the model of the car:
On some vehicles, a failing camshaft sensor may lock the transmission in a single gear until you turn off and restart the engine. This cycle may repeat intermittently.
If the sensor begins to fail while your car is moving, you may feel the car jerking while losing power.
You may experience a noticeable loss of engine power. For example, the engine can't accelerate above 35mph.
The engine may stall intermittently.
You may notice poor engine performance including irregular acceleration, misfiring, hard starting, or surging.
On some car models, a failed CMP sensor will prevent the ignition from making a spark, so that the engine won't start at all, not usually applicable to the RAV4.1.
See this thread for more information on diagnostics for each sensor, Camshaft Position Sensor (CMP)
The camshaft position sensor (CMP) is electromagnetic and produces a voltage when a metal object moves past. This sensor is responsible for telling the ECM the current position of the camshaft. With this information the ECM can calculate which valve is open and throw fuel through the injector into that cylinder.
This sensor is found on one end of the camshaft, usually on the right side in a front wheel drive car. It's normally not very difficult to access.
Cleaning can be done with a simple dry cloth, but if the oil has been used for too long, a golden-brown stain is left on metal portion of the sensor. In some cases it even comes out black and gooey, which is basically old engine oil turned into sludge. if it's stained then you can use a wire-brush or very fine sandpaper to remove the stain. Make sure no metal bits remain on the sensor. If you need some liquid type material to get some stains off, try WD-40.
Failing camshaft position sensor (CMP sensor) can produce a confusing range of problems, depending on the way it fails and the model of the car:
On some vehicles, a failing camshaft sensor may lock the transmission in a single gear until you turn off and restart the engine. This cycle may repeat intermittently.
If the sensor begins to fail while your car is moving, you may feel the car jerking while losing power.
You may experience a noticeable loss of engine power. For example, the engine can't accelerate above 35mph.
The engine may stall intermittently.
You may notice poor engine performance including irregular acceleration, misfiring, hard starting, or surging.
On some car models, a failed CMP sensor will prevent the ignition from making a spark, so that the engine won't start at all, not usually applicable to the RAV4.1.
See this thread for more information on diagnostics for each sensor,
https://www.rav4world.com/forums/83-4-1-general/291247-sensors-their-descriptions-symptoms.html