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Take it to the dealer!
I think you are experiencing "knocking". That isn't right, so take it to the dealer for service! It will eventually damage your engine if not corrected.
You could right a book on octane ratings for gasoline, but (as defined in the Bosch Automotive Handbook... generally the rating defines the gasoline's anti-knock quality (resistance to pre-ignition). The higher the octane rating, the greater the resistance to engine knock.
Bottom line, your engine should not be experiencing these problems if you are running fuel with the Toyota recommended octane rating.
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