The 2001, 2002 and 2003 RAV4 came with the 148 - hp 2.0 - liter 4 - cylinder DOHC engine with Variable Valve Timing with intelligence (VVT - i). (samarins.com)
Both engines benefit from modern direct fuel injection and continuously variable valve timing for the optimum in efficiency and power. (kbb.com)
The boost comes mostly from a new variable valve timing system that lets the engine run at peak efficiency all the time. (articles.orlandosentinel.com)