If you have an OD button on it, chances are the OD button is almost dead.. my dad's 84 LE Van used to do that.. the overdrive button was gone.. it used to piss me off when I was on the highway cuz it would do it like once every 5 minutes.
If you don't have an OD button (and even if you do) are you sure the car is not going to a lower gear because you're pressing the gas pedal too far?? I know SR5's are slow, specially with automatics.. so if you're trying to get the car to speed up, chances are the transmission is gonna keep doing that till it gets to a higher speed.