That discovery, and the accident's grisliness, spurred a series of recalls involving more than 14 million vehicles and a flood of lawsuits soon followed, with numerous complaints of accelerations in several models, and brake defects with the Prius hybrid.
The Japanese automaker has blamed driver error, faulty floor mats and stuck accelerator pedals for the problems.
The runaway Lexus case was settled separately for $10 million in 2010, before the cases were consolidated by U.S. District Judge James Selna.
Selna divided them into two categories: economic loss and wrongful death. He needs to approve Wednesday's settlement, which only applies to the first group of lawsuits. The deal was filed Wednesday and Selna is expected to review it on Friday.
Toyota said it will take a one-time, $1.1 billion pre-tax charge against earnings to cover the estimated costs of the settlement. Berman said the total value of the deal is between $1.2 billion and $1.4 billion.
As part of the economic loss settlement, Toyota will offer cash payments from a pool of about $250 million to eligible customers who sold vehicles or turned in leased vehicles between September 2009 and December 2010.
The company also will launch a $250 million program for 16 million current owners to provide supplemental warranty coverage for certain vehicle components, and it will retrofit about 3.2 million vehicles with a brake override system. An override system is designed to ensure a car will stop when the brakes are applied, even if the accelerator pedal is depressed.
The settlement would also establish additional driver education programs and fund new research into advanced safety technologies.