This is the second time this has happened. This time I was driving on an exit ramp from I5 to I8 in San Diego, CA at approximately 50 MPH when all of a sudden the brakes engaged and the steering wheel fought me to the right and the traction control light started flashing and beeping. I have had the Brakes changed and rotors replaced since the last incident just incase something in the brakes caused the last incident. Toyota says it may be a yaw rate sensor but they want entirely to much to repair something they should be responsible for