Interior Lighting Related Problems of the 2002 Toyota RAV4

Interior Lighting problem

In the beginning of June I noticed my Rav4 would slightly pause when I pres the gas pedal and would jerk when it's suppose to automatically shift gears, my registration is due & of course I need a smog certificate. The "transmission would slip" only sometimes. I'm just guessing it's the transmission. Not sure yet. . . Of course my "extra care" expired 05/30/08 mileage 100,000 but my mileage is only 91,000. I figure this is going to cost me a load of money that I don't have and this car helps me get to work. With the economy being so bad this doesn't help out much at all it's always one thing after another especially when I thought I was buying a car that is actually worth it and I thought since I was buying it brand new I was making a good choice. My fiance and I were driving home and I was on the hwy 880 sb going about 65 mph my rpm seem a little high but I was on cruise control so I thought it was normal. When all of a sudden my engine light came on, than my car starting making a noise, than my oil light came on, battery light came on and something from underneath my car flew off and as I look in my rear mirror I saw pieces of an object went flying and I notice cars swerving to move from the flying objects that were burning and I was sooo scared as my fiance said to pull over slowly. I cut cars off and I couldn't press the gas pedal no longer the engine shut off and I stopped in the middle of the slow lane I called aaa and towed my car to my house and unfortunately I can't take it to the dealer/mechanic yet b/c I don't have that kind of money. I find it very strange that I had no warning lights before hand or no sensor. For example the oil light comes on when I need oil/change, etc. What type of paperwork do I need to send b/c I haven't took it to the shop yet and may I add that the lighter doesn't work. Once I find out what the actually problem is than I will mail copies. I I truly believe it's a manufacturer problem.