Radio/tape Cd Player problems of the 2002 Lexus RX300

Suddenly my gears began shifting into neutral, park, reverse and into !st and 2nd gear without locking into any of them. No matter what the shifter moves freely. My car only moves forward no matter which gear it's in, including reverse. I put it into park and it still keeps moving forward. In order to park and stop, I have to use my emergency brake and turn the car off. I do not know the cause (unknown) it just suddenly happened on a toll road at the pay station. Also, my internal lights do not come on when I open any door, including the trunk lights. My radio does not change stations and knob does nothing, reception is poor & comes and goes. I cannot get any am stations.