I was riding along with a friend a while back and we had experienced the same problem that toyota is.  We had sit down and talked it over with a few friends.  We had used the Cruise Control on the trip and when we needed to we would cancle the cruise by tapping the breaks.  shortly after one of the times the engine reved and the car started to pick up speed.  

after a while talking about it we had decided to change out the cruse control stuff and never had a problem again.

i feel that the resume button on the crusie control is the problem, not the brake peddle.

have a great day