A coroner has concluded the victims of Dartford-born terrorist Khalid Masood were killed unlawfully.

The three-and-a-half-week inquest at The Old Bailey has heard how Masood, born Adrian Elms, rented a 4x4 and drove over Westminster Bridge, ploughing into crowds and killing four people before disembarking and stabbing PC Keith Palmer to death at the gates of parliament.

The 52-year-old was fatally shot by police marksmen at the scene and an inquest into his death will begin shortly.

The victims' families and Chief Coroner Mark Lucraft QC previously were told how Masood scrawled a cryptic 'to-do list' on a road atlas found inside the vehicle used to carry out the attack last March.

'Hatred and motivation' were some of the last words written.

He also called the attack an 'exciting opportunity', while the words 'previous examples', 'this life right time', 'all outcomes are good so go ahead' and 'sheikh' were also found.

The hearing was also told Masood, who also lived in Tunbridge Wells, had researched the driving capabilities of the Hyundai Tucson two days before the attack.

'Isis' and other terrorist materials were also searched for on his computer.

Images of a knife believed to have been bought by Masood was shown, as was hire car documents and a picture of the terrorist at Islamic holy city Mecca.

His mother, Janet Ajao, was denied anonymity by Mr Lucraft.

She described her son's aggression and said he once turned into “the Incredible Hulk” during an argument over the dinner table.

She admitted Masood previously told her: "They'll say I'm a terrorist. I'm not," but said: "I know it sounds ridiculous but it didn't enter my head [that he might be]."

She added: "I'm utterly ashamed. I'm ashamed he's done this."

She turned to the victims' families after her evidence and said: "Please understand I continue to be deeply saddened by the hurt that my son has caused and want to offer my deepest sympathies and condolences."

Alongside PC Palmer, 48, Kurt Cochran, 54, Leslie Rhodes, 75, Aysha Frade, 44, and Andreea Cristea, 31, also died.