Our 2004 toyota sienna experienced a malfunction related to the abs vsc computer control. the car would get up to about 6 miles an hour and then the vsc light and warning bell would come on. you could feel the brakes trying to lock up the vehicle and bring it to a stop. my wife was fixing to get onto the highway when this occurred. i found the technical service bulletin # 10011806 related to this event, the vehicle is currently at the toyota dealership and i am waiting to hear back from them. *tr