Akio Toyoda said he was "deeply sorry" for any incidents which had occurred as a result of failures with accelerators and brakes on several models.

Mr Toyoda pledged his "full co-operation" with the US investigation. But, under questioning, he insisted no faults had been discovered with the electronics of any of its vehicles. He pledged that an independent, outside advisory board would look into the issue.

Toyota has recalled about 8.5 million vehicles worldwide.