My 2004 Prius started making a metallic rattle sounds at about 140k miles that was noticeable at idle and at speeds up to 30 or so MPH. As time has gone by the rattle has worsened and could be quite loud. It almost sounded like the engine was falling apart - but the car continued to run fine. Turns out this rattle was caused by a failing water/coolant pump. Replacing the water pump completely fixed the rattle noise on my 2004 Prius.
Was your car over heating also?
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Does the car make this sound when the car has just been turned off and engine is still hot? Lightly push the car back and forth while it's in park. Does it still make that sound?
SOURCE: Rattling Coming from Engine At low RPM (stopped) and when accl.
If this sounds like a tin can rattle it is likely a loose heat shield on top of the catalytic converter. They come loose after time and corrosion take their toll.
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