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In most common cases, it's a handbrake signal, so make sure your handbrake or parking brake isn't slightly on, even if you can't hear it those sensors are on a hairline trigger. if that's not it look in your owner's manual.
I had the same problem. I unplugged the relays from the fuse/relay box under the bonnet. (Top left side) and replaced them. The problem disappeared. (2001 Prius 109,000 miles)
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