Relatives of a family killed in a high-speed crash that galvanized attention around safety flaws of Toyotas and led to the recalls of millions of cars have sued the world's largest automaker for product liability and negligence, according to a lawsuit filed Tuesday.

The lawsuit filed in San Diego County Superior Court names Toyota Motor Corp., Toyota Motor Sales U.S.A., other Toyota U.S. entities and El Cajon Luxury Cars, Inc. It seeks unspecified damages.

California Highway Patrol Officer Mark Saylor, 45, his wife, Cleofe, 45, their daughter Mahala, 13, and Cleofe's brother Chris Lastrella, 39, were traveling on a freeway near Santee, California, on Aug. 28 when their vehicle reached speeds of more than 120 mph (193 kph), hit a sport utility vehicle, launched off an embankment, rolled several times and burst into flames.

Investigators found that a wrong-sized floor mat that trapped the accelerator was the cause of the crash.

A haunting emergency call captured Lastrella telling the others to pray before the car launched off the embankment.

According to the lawsuit, the Lexus ES350 "began to accelerate on its own." Saylor attempted to apply the brakes and do everything possible to stop the car, but he was unable to do so, the lawsuit said.

Following that crash, Toyota recalled millions of cars to replace floor mats that it said could cause the accelerator to jam. The carmaker later recalled millions more vehicles to replace gas pedals that it said could stick.

Last week, company president Akio Toyoda apologized to Congress, millions of Toyota owners and to the Saylor family specifically during a hearing before the House Oversight and Government Reform Committee in Washington, D.C.

Fe Lastrella, the mother of Chris Lastrella and one of the plaintiffs in the lawsuit, testified at that hearing.

"I'm here to speak for my four children and for the safety of the consumers through the world," she told the committee. "You don't want another family to suffer like we are suffering."