4 warning lights come on

Potential problem with the wheel speed sensors or another braking system component. Find someone with an ABS code reader and see if there are any stored codes.

Thank you. I'll check at Auto Zone in the morning.

Good luck but I doubt their readers will do ABS codes.

check your brake fluid level, see if e-brake is partially engaged

my e-brake is not engage

Just curious, did it rain the night before the sensors came on? My 2012 RAV does that a couple of times a year, always after a heavy rain, and they go away by themselves a day or two later (presumably when whatever sensor got wet dries out). If you search this forum, you'll see it happens to a lot of RAVs. People seem to take two tracks - either they have parts replaced, which may or may not fix the problem, or they just accept it. I'm three years into this and going the latter route with no noticeable problems. Just my two cents...