2007 Toyota RAV4 fuel system problems

While driving on an expressway I attempted to slow my vehicle. The brakes began to engage but then I felt the car accelerate and the car "stuttered". It may have been the brake assist kicking in. It accelerated. After a few seconds, the brakes finally engaged. About 2 miles down the road, the same thing happened except that the brakes did not engage until a few seconds later and I rear-ended someone. Thankfully there were no injuries.

The vehicle makes a clunking noise turning at low speeds. Looking at similar complaints it would appear the problem is with the rav4's manufactured in japan. There is also a loud intermittent moaning sound coming from the rear of the vehicle, was told it could be the fuel pump. I have had it in to toyota service several times while it was still under warranty but the cause could not be found.