ON THURSDAY 18 DECEMBER, MY WIFE AND I LEFT SPRINGFIELD, MISSOURI TO DALLAS, TEXAS TO VISIT OUR FAMILY FOR THE CHRISTMAS HOLIDAY. WE WERE DRIVING OUR RECENTLY PURCHASED 2012 RAV4 WITH APPROXIMATELY 33,000 MILES WHICH WE PURCHASED IN LATE SEPTEMBER 2014. WE STOPPED SEVERAL TIMES DURING OUR TRIP TO REFUEL AND ALLOW MY WIFE, WHO IS 6 MONTH PREGNANT, A CHANCE TO STRETCH HER LEGS. FOR MUCH OF THE TRIP, I USED CRUISE CONTROL WHEN POSSIBLE AT VARYING SPEEDS FROM 65 MPH (IN MISSOURI) TO 75 MPH (IN PARTS OF OKLAHOMA). AT APPROXIMATELY 4:30 PM, WHILE DRIVING THROUGH TUSHKA, OKLAHOMA WE APPROACHED A STOPLIGHT WHERE THE SPEED LIMIT DROPPED FROM 65 TO 45 MPH. THE LIGHT WAS RED, A SEMI WAS STOPPED AT THE LIGHT, AND I ATTEMPTED TO APPLY THE CAR'S BRAKES. AS I DID SO, THE CAR FELT AS IF IT WAS FIGHTING MY ATTEMPTS TO STOP IT. I HAD TO KEEP BOTH HANDS ON THE WHEEL, AND I DO NOT KNOW IF THE CRUISE CONTROL DISENGAGED. AS I APPROACHED THE SEMI, I PRESSED HARDER ON THE BRAKES IN ORDER TO STOP MY VEHICLE. FINALLY WITH LESS THAN A CAR LENGTH, MY CAR CAME TO A FULL STOP. WITH MY FOOT STILL PRESSED FIRMLY ON THE BRAKES, BOTH MY WIFE AND I HEARD THE CAR BEGIN TO MAKE A HIGH-PITCHED NOISE. I IMMEDIATELY PUT THE CAR INTO 'PARK,' AT WHICH POINT THE ENGINE BEGAN TO REV AND I SAW THAT THE RPM GAUGE ON THE CAR ROSE TO 7-8,000 RPM. AT THIS POINT, I TURNED THE CAR OFF AT THE IGNITION SWITCH. MY INTENT WAS TO RE-START THE CAR AND SAFELY PULL OVER AFTER WE PROCEEDED THROUGH THE INTERSECTION. HOWEVER, AT THI