Possible Causes
WARNING: This page is about a different car, the 2003 Toyota RAV4. However, it is still accessible from the selected car via links, so may be relevant.
This DTC uses two-trip detection logic. DTC is set after vehicle speed is more than 19 MPH once and TP sensor output voltage is out of range while vehicle speed is 0-19 MPH. Possible cause is defective TP sensor.