Toyota warned its dealers in 2002 of reports from Camry owners about unexpected accelerations, and the automakers recommended that an electronic control unit be adjusted to correct the problem.
A copy of the August 30, 2002 technical service bulletin, which was sent to U.S. Toyota dealerships, was obtained by CNN.
The document states that some 2002 model Camry vehicles with the 1MZ-FE engine "may exhibit a surging during light throttle input at speeds between 38-42 mph with lock-up (L/U) 'ON.' "
"The Engine Control Module (ECM) calibration has been revised to correct this condition," the bulletin states.
The internal Toyota document was given to CNN by a group of attorneys seeking to file a nationwide class-action lawsuit against the automaker.
Toyota has insisted publicly for years that electronics are not to blame when its cars surged, sometimes out of control. Instead, the world's largest automaker has blamed drivers, floor mats and sticky gas pedals.
Last month CBS News reported that as early as 2005 Toyota engineers were redesigning software in response to complaints of cars surging unexpectedly, and that the carmaker was tracking "monthly progress" in addressing "surging back-and-forth sensation at constant throttle" in 2006 Lexus hybrids.