Possible Causes

WARNING: This page is about a different car, the 2003 Toyota Camry. However, it is still accessible from the selected car via links, so may be relevant.

Possible causes are:

When vehicle speed is greater than or equal to 12 mph (20 km/h), engine revolution is greater than or equal to 1000 RPM and STA signal is ON are satisfied with battery (+B) voltage 10.5 V or more for 20 seconds.
Defective park/neutral position switch (A/T).
Defective clutch start switch (M/T).
Defective ignition switch.
Defective wire harness.
Defective ECM.