I also have this problem with a 2003 D4D RAV 4.
If somebody experienced this problem and fixed it, or has an idea ?
Thanks in advance.
Notice that it happens more often when the weather is cold and misty.

 

With my Smart Convertible i had likewise issues. There it was after some testing clearly a pressure tube as well as the turbo pressure sensor which malfunctioned. I had to stop in full and restart the engine. The engineer at my repair shop told me that i could also put the transmission in free, switch off the car and switch it on, then get into gear again and drive on. Haven't tested that, but he said it could work in a difficult situation of having no place to stop for instance.
That sensor was costly (75 euro (105 dollar) for a sensor which isn't even as big as your thumb) but replacing both parts was done within 2 minutes.

The turbo pressure sensor detects overpressured turbo and blows off the high pressure. If it malfunctions the engine automatically switches to safe drive out mode, which means only a fraction of the power of the engine remains to get you to stop at a safe spot. To prevent the engine to blow out of the hood of the car.
Greetz

Pim

 

Might be the SCV valves acting up. This seems to be very common on RAV4.2 D4D. Read more about it here: http://www.toyotaownersclub.com/forums/index.php?showtopic=87986

If there are any fault codes stored (check engine-light should light up when they are stored), get a garage to read them for you (or do it yourself) and look them up. If they are related to the SCV-valves that is most likely the problem.