Calculation processing device, calculation processing method

Abstract

Provided is an arithmetic processing device that can switch setting of an image processing unit in accordance with a situation while limiting increase in cost and power consumption. The arithmetic processing device to be connected to a plurality of sensing devices mounted on a vehicle is provided with: a microcomputer for performing an arithmetic operation for controlling the plurality of sensing devices; and a memory having stored therein a first arithmetic processing program and a second arithmetic processing program. The arithmetic processing device is characterized in that: the first arithmetic processing program is not redundant against failure of the sensing devices or the microcomputer, whereas the second arithmetic processing program is redundant against the failure of the sensing devices or the microcomputer; and the microcomputer has a program switching unit for switching, in accordance with the travel environment or control condition of the vehicle, an arithmetic processing program to be operated on the microcomputer, between the first arithmetic processing program and the second arithmetic processing program.

Description

Technical Field

[0001] The present invention relates to the configuration of an arithmetic processing device that performs arithmetic processing for controlling an in-vehicle device and its control, and particularly relates to a technique effective when applied to an arithmetic processing device of a stereo camera.

Background Art

[0002] The development of a driving support function for controlling a vehicle based on the sensing result of an in-vehicle external recognition device (in-vehicle camera) has been progressing. Partial automation control of accelerator and brake operations and steering operations, such as emergency brake control for a forward obstacle and a preceding vehicle following function, has been put into practical use. In addition, the development of an autonomous driving control that performs all driving operations by the system and does not assume driving operations by the driver and monitoring of the driving environment is also progressing.

[0003] When assuming driving operations by the driver and monitoring of the driving environment, a fail-safe is performed to stop the system and notify the driver of the failure in case of a failure. However, when not assuming driving operations by the driver and monitoring of the driving environment, it is necessary to perform a fail operation to safely control even in case of a failure.

[0004] Taking an in-vehicle external recognition device that performs forward sensing by a camera as an example, redundancy is achieved by mounting two imaging units and two image processing units of the camera respectively. When one imaging unit or image processing unit fails, external recognition is performed by the other normal imaging unit and image processing unit, and vehicle control is continued to ensure safety even in case of a failure. In such a redundancy method, although the functions during normal operation are the same, there is a problem that the cost increases due to an increase in hardware and the power consumption increases.

[0005] To improve such problems, for example, as described in Patent Document 1, there is an example of providing both two imaging units, a stereo image processing unit, and a monocular image processing unit, performing stereo image processing on images from the two imaging units during normal operation, and switching to monocular image processing when stereo image processing cannot be performed due to a failure. By this method, fail operation can be achieved, and the external recognition performance can be enhanced by performing stereo image processing during normal operation.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] By the way, when a vehicle is traveling on a general road, the distance between the vehicle and other vehicles traveling around is relatively close, and there are often obstacles such as bicycles traveling on the road shoulder or parked cars. Therefore, high external recognition performance by stereo image processing is required, and when a failure occurs in the in - vehicle external recognition device, it is necessary to perform a fail - safe operation to stop the function of the in - vehicle external recognition device and notify the driver of the failure.

[0008] On the other hand, when a vehicle is traveling on a highway, the distance between the vehicle and other vehicles is often relatively far, and there are few surrounding obstacles. Therefore, a fail operation is required to stop the function of the failed part of the in - vehicle external recognition device and utilize the function of the normal part to continue partial automatic driving control or driving support.

[0009] In order to satisfy both of these conditions, a configuration including two imaging units as in Patent Document 1 above, both a stereo image processing unit and a monocular image processing unit, or a redundant configuration in which two imaging units and two monocular image processing units are respectively mounted can be considered.

[0010] However, in the technology of Patent Document 1 described above, since stereo image processing and monocular image processing are run in parallel, a high-performance microcomputer is required, and the power consumption also increases.

[0011] Also, in the redundant configuration in which two imaging units and two monocular image processing units are respectively mounted, as described above, although the functions during normal operation are the same, the cost and power consumption increase.

[0012] Therefore, an object of the present invention is to provide an arithmetic processing apparatus and an arithmetic processing method capable of switching the setting of an image processing unit according to a situation while suppressing an increase in cost and power consumption.

Means for Solving the Problems

[0013] In order to solve the above problems, the present invention provides an arithmetic processing apparatus connected to a plurality of sensing devices mounted on a vehicle, including a microcomputer that performs an operation for controlling the plurality of sensing devices, a first arithmetic processing program, and a second arithmetic processing program. A memory in which the arithmetic processing program is stored, wherein the first arithmetic processing program is not redundant with respect to failures of the sensing device and the microcomputer, and the second arithmetic processing program is redundant with respect to failures of the sensing device or the microcomputer. The microcomputer has a program switching unit that switches an arithmetic processing program to be run on the microcomputer among the first arithmetic processing program and the second arithmetic processing program according to a running environment or a control state of the vehicle.

[0014] Further, the present invention is characterized in that, in an arithmetic processing method for controlling a plurality of sensing devices mounted on a vehicle, it includes: (a) a step of determining whether the vehicle is traveling on an ordinary road or an expressway based on the driving environment or control state of the vehicle; (b) a step of selecting either a first arithmetic processing program that is not redundant against failures of the sensing device and the microcomputer or a second arithmetic processing program that is redundant against failures of the sensing device or the microcomputer according to the determination result in the step (a); and (c) a step of rewriting the arithmetic processing program to be run on the microcomputer based on the arithmetic processing program selected in the step (b).

Advantages of the Invention

[0015] According to the present invention, it is possible to realize an arithmetic processing device and an arithmetic processing method capable of switching the setting of the image processing unit according to the situation while suppressing an increase in cost and power consumption.

[0016] Problems, configurations, and effects other than those described above will be clarified by the description of the following embodiments.

Brief Description of the Drawings

[0017]

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Figure 10

Embodiments for Carrying Out the Invention

[0018] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In each drawing, the same components are denoted by the same reference numerals, and detailed descriptions of overlapping parts will be omitted.

[0019] In addition, in each of the following embodiments, an arithmetic processing device that performs arithmetic processing for controlling an in-vehicle device will be described by taking an in-vehicle external recognition device (in-vehicle camera) as an example.

Embodiment

[0020] With reference to FIGS. 1 to 5, the in-vehicle external recognition device according to Embodiment 1 of the present invention will be described. FIG. 1 is a diagram showing the schematic configuration of the in-vehicle external recognition device of this embodiment.

[0021] As shown in FIG. 1, the in-vehicle external recognition device of this embodiment mainly includes a stereo camera 101 and a map data unit 105. The stereo camera 101 and the map data unit 105 are connected by an in-vehicle network such as CAN (Controller Area Network) or OTA (Over The Air), and the surrounding situation is notified from the map data unit 105 to the stereo camera 101.

[0022] The stereo camera 101 includes image sensors 102a and 102b that recognize the external world and obtain image data, an image processing microcomputer 103 that performs calculations based on the image data to obtain information necessary for vehicle control, and a memory 104 that stores the image processing settings of the image processing microcomputer 103.

[0023] The map data unit 105 transmits information on the driving environment including the surrounding situation to the stereo camera 101.

[0024] The image processing microcomputer 103 includes an image processing unit 201 that has calculation logic for image processing and can reconstruct the logic by dynamic reconfiguration, and a mode instruction unit 202 that receives the information of the map data unit 105 and determines the settings of the image processing unit 201.

[0025] Note that "configuration" means setting items and environment settings that can be specified and changed by the user regarding the operation and configuration of devices and software. Also, in this specification, "dynamic reconfiguration" means a process in which a microcomputer that performs image processing rewrites part of the calculation logic while starting up the system.

[0026] The memory 104 includes a stereo image processing setting 301 and a monocular image processing redundancy setting 302 that are written to the image processing unit 201.

[0027] In this embodiment, the switching process of the image processing unit 201 based on the surrounding situation acquired from the map data unit 105 and the process at the time of failure detection will be described.

[0028] The vehicle control in this embodiment performs partial automation control such as emergency braking control for a front obstacle, a following function for a preceding vehicle, and lane keep assist on ordinary roads. Under some conditions on highways or expressways, in addition to the above partial automation control, it performs control that automates all driving operations without requiring driving operations and monitoring of the driving environment by the driver. While performing control that automates all driving operations, the driver is allowed to perform operations other than driving operations such as navigation operations.

[0029] These all perform part or all of the vehicle control based on the output from sensing devices such as cameras and radars mounted on the vehicle to recognize the external environment. As described above, there are various levels of vehicle automatic control levels, from partial automation control (also referred to as driving assistance) to full automation control.

[0030] The vehicle in the present invention is to be controlled in at least one or a plurality of levels of predetermined automation control modes (including driving assistance) in addition to the full manual driving (i.e., non-automation control) mode.

[0031] In the present invention, not only the automatic driving levels determined by countries and industry groups, but also these are collectively referred to as "predetermined levels" of automatic control.

[0032] The ON or OFF of this automation control mode may be automatically set according to the external environment, or may be selectively set by the driver. Also, when multiple levels of the automation control mode are selectable in the vehicle, the setting of this level can also be set by the external environment or the driver's selection in the same way.

[0033] Using FIG. 2, the operation of the in-vehicle external environment recognition device of this embodiment on a general road will be described. FIG. 2 is a diagram conceptually showing the operation of the in-vehicle external environment recognition device of FIG. 1 on a general road.

[0034] As shown in FIG. 2, when the mode instruction unit 202 receives information on a general road from the map data unit 105, it reads the stereo image processing setting 301 from the memory 104 and rewrites the image processing unit 201.

[0035] The image processing unit 201 rewritten to the stereo image processing setting 301 will have a stereo image processing unit 204 and a stereo image processing time failure detection unit 203 that can detect a failure in any one of the imaging elements 102a, 102b and the stereo image processing unit 204.

[0036] When the stereo image processing setting 301 is written to the image processing unit 201, only partial automation control can be used, and control with all driving operations automated cannot be used.

[0037] When the stereo image processing failure detection unit 203 detects a failure, the system of the stereo camera 101 is stopped, and a fail-safe operation is performed to notify the vehicle of the failure. Since it is not control with all driving operations automated, safety can be ensured by the fail-safe operation.

[0038] Using FIG. 3, the above operation will be described. FIG. 3 is a flowchart showing the operation of the in-vehicle external recognition device of FIG. 1 on an ordinary road.

[0039] In step S101, when the operation of the in-vehicle external recognition device starts, first, in step S102, the map data unit 105 notifies the mode instruction unit 202 of the ordinary road determination.

[0040] Next, in step S103, the mode instruction unit 202 reads out the stereo image processing setting 301 of the memory 104 and rewrites the image processing unit 201.

[0041] Subsequently, in step S104, it is determined whether there is a failure in the imaging elements 102a, 102b and the stereo image processing unit 204.

[0042] If a failure in any of the imaging elements 102a, 102b and the stereo image processing unit 204 is detected, the process proceeds to step S106, the function of the stereo camera 101 is stopped, the vehicle is notified of the failure, and the process ends (step S107).

[0043] On the other hand, if it is determined that none of the imaging elements 102a, 102b and the stereo image processing unit 204 has failed, the process proceeds to step S105, partial automation control is performed, the process returns to step S104, and the processing after step S104 is repeated.

[0044] Using FIG. 4, the operation of the in-vehicle external recognition device of this embodiment on a highway will be described. FIG. 4 is a diagram conceptually showing the operation of the in-vehicle external recognition device of FIG. 1 on a highway.

[0045] As shown in FIG. 4, when the mode instruction unit 202 receives highway information from the map data unit 105, it reads out the monocular image processing redundancy setting 302 from the memory 104 and rewrites the image processing unit 201.

[0046] The image processing unit 201 rewritten with the monocular image processing redundancy setting 302 will have the monocular image processing units 206a and 206b, and the monocular image processing time failure detection unit 205 that can detect a failure in either the imaging devices 102a and 102b or the monocular image processing units 206a and 206b.

[0047] When the monocular image processing redundancy setting 302 is written to the image processing unit 201, control with all driving operations automated can be used.

[0048] When the monocular image processing time failure detection unit 205 detects a failure in the imaging device 102a or the monocular image processing unit 206a, vehicle control is continued based on the result of the normal monocular image processing 206b. Also, when a failure in the imaging device 102b or the monocular image processing unit 206b is detected, fail operation can be achieved by continuing vehicle control based on the result of the normal monocular image processing 206a.

[0049] Using FIG. 5, the above operation will be described. FIG. 5 is a flowchart showing the operation of the in-vehicle external recognition device of FIG. 1 on a highway.

[0050] In step S201, when the operation of the in-vehicle external recognition device starts, first, in step S202, the map data unit 105 notifies the mode instruction unit 202 of the highway determination.

[0051] Next, in step S203, the mode instruction unit 202 reads out the monocular image processing redundancy setting 302 of the memory 104 and rewrites the image processing unit 201.

[0052] Subsequently, in step S204, it is determined whether there is a failure in the imaging elements 102a and 102b and the monocular image processing units 206a and 206b.

[0053] If a failure in either the imaging element 102a or the monocular image processing unit 206a is detected, the process proceeds to step S205, where control is performed based on the result of the monocular image processing unit 206b, and the process ends (step S208).

[0054] Also, if a failure in either the imaging element 102b or the monocular image processing unit 206b is detected, the process proceeds to step S206, where control is performed based on the result of the monocular image processing unit 206a, and the process ends (step S208).

[0055] On the other hand, if it is determined that none of the imaging elements 102a and 102b and the monocular image processing units 206a and 206b have failed, the process proceeds to step S207, where control with all driving operations automated is performed, and the process returns to step S204 to repeat the processing after step S204.

[0056] As described above, the arithmetic processing unit that performs arithmetic processing for controlling the in-vehicle external recognition device of this embodiment is an arithmetic processing unit connected to a plurality of sensing devices (imaging elements 102a and 102b) mounted on the vehicle, and includes an image processing microcomputer 103 that performs arithmetic operations for controlling the plurality of sensing devices (imaging elements 102a and 102b), a first arithmetic processing program (stereo image processing setting 301), and a memory 104 in which a second arithmetic processing program (monocular image processing redundancy setting 302) is stored.

[0057] The first arithmetic processing program (stereo image processing setting 301) is not redundant with respect to failures of the sensing devices (imaging elements 102a and 102b) and the image processing microcomputer 103. That is, when either the sensing device (imaging elements 102a and 102b) or the image processing microcomputer 103 fails, stereo image processing cannot be executed.

[0058] Also, the second arithmetic processing program (monocular image processing redundancy setting 302) is redundant against failures of the sensing devices (image sensors 102a, 102b) or the image processing microcomputer 103. That is, when either the image sensor 102a or the monocular image processing unit 206a fails, the monocular image processing is executed by the image sensor 102b and the monocular image processing unit 206b. On the other hand, when either the image sensor 102b or the monocular image processing unit 206b fails, the monocular image processing is executed by the image sensor 102a and the monocular image processing unit 206a.

[0059] The image processing microcomputer 103 also has a program switching unit (mode instruction unit 202) that switches the arithmetic processing program to be run on the image processing microcomputer 103 between the first arithmetic processing program (stereo image processing setting 301) and the second arithmetic processing program (monocular image processing redundancy setting 302) according to the vehicle driving environment information acquired from the map data unit 105.

[0060] The first arithmetic processing program (stereo image processing setting 301) is an image processing configuration for stereo vision, and the second arithmetic processing program (monocular image processing redundancy setting 302) is an image processing configuration for monocular vision.

[0061] The vehicle is also automatically controlled at a predetermined automation control level using the sensing results of the sensing devices (image sensors 102a, 102b), and the program switching unit (mode instruction unit 202) switches the arithmetic processing program to be run on the image processing microcomputer 103 between the first arithmetic processing program (stereo image processing setting 301) and the second arithmetic processing program (monocular image processing redundancy setting 302) according to the predetermined automation control level.

[0062] According to the present invention, the microcomputer that performs image processing can perform dynamic reconfiguration to rewrite part of the arithmetic logic while starting up the system, and rewrite the settings of the image processing unit according to the surrounding situation. The image processing unit does not operate both stereo image processing and monocular image processing simultaneously, and always operates only one of them. Therefore, compared with the case of performing both stereo image processing and monocular image processing as in Patent Document 1, the processing load on the microcomputer can be reduced. Thus, it leads to cost reduction of the microcomputer and cost reduction of peripheral components due to power consumption reduction.

[0063] In addition, when a failure is detected in the non-redundant stereo image processing, a fail-safe operation can be performed, and when a failure is detected in the redundant monocular image processing, a fail-operation can be performed.

Embodiment

[0064] With reference to FIGS. 6 to 10, an in-vehicle external recognition device according to Embodiment 2 of the present invention will be described.

[0065] In Embodiment 1, an example was described in which the mode instruction unit 202 selects either the stereo image processing setting 301 or the monocular image processing redundancy setting 302 based on the information acquired from the map data unit 105. In contrast, in this embodiment, an example will be described in which the driving control mode is selected based on the information of external recognition sensors other than the stereo camera 101 acquired via the vehicle communication line.

[0066] FIG. 6 is a diagram showing a schematic configuration of the in-vehicle external recognition device of this embodiment.

[0067] As shown in FIG. 6, the in-vehicle external recognition device of this embodiment mainly includes a stereo camera 101, a central unit 106, and an external recognition sensor 107 connected to the central unit 106 via a vehicle communication line 108. The external recognition sensor 107 is an external recognition sensor other than the stereo camera 101, such as a millimeter-wave radar or a sonar sensor.

[0068] The stereo camera 101, the central unit 106, and the external environment recognition sensor 107 are connected by an in-vehicle network such as CAN or OTA, similar to those in the first embodiment, and can transmit and receive information to and from each other. The vehicle communication line 108 is part of the in-vehicle network.

[0069] The central unit 106 includes a surrounding situation determination unit 401 that determines the surrounding situation by receiving the detection results of the stereo camera 101 and the external environment recognition sensor 107. Other configurations are basically the same as those in the first embodiment (FIG. 1).

[0070] In this embodiment, it is determined whether it is possible to safely control only by the control of the system based on the determination of the surrounding situation determination unit 401, and it is determined whether to use the control that automates all driving operations.

[0071] Using FIG. 7, the operation of the in-vehicle external environment recognition device in this embodiment on a general road will be described. FIG. 7 is a diagram conceptually showing the operation of the in-vehicle external environment recognition device in FIG. 6 when automatic driving control is determined to be impossible.

[0072] As shown in FIG. 7, when the surrounding situation determination unit 401 determines that automatic driving control is impossible and notifies the mode instruction unit 202, only partial automation control can be used.

[0073] The switching method of the image processing unit 201 and the processing at the time of failure detection are the same as those in the case of a general road in the first embodiment (FIG. 2).

[0074] Using FIG. 8, the above operation will be described. FIG. 8 is a flowchart showing the operation of the in-vehicle external environment recognition device in FIG. 6 when automatic driving control is determined to be impossible.

[0075] In step S301, when the operation of the in-vehicle external environment recognition device starts, first, in step S302, the surrounding situation determination unit 401 determines the surrounding situation and notifies the mode instruction unit 202 of the determination that automatic driving control is impossible.

[0076] Next, in step S303, the mode instruction unit 202 reads the stereo image processing setting 301 of the memory 104 and rewrites the image processing unit 201.

[0077] Subsequently, in step S304, it is determined whether there is a failure in the imaging elements 102a and 102b and the stereo image processing unit 204.

[0078] If a failure in any of the imaging elements 102a and 102b and the stereo image processing unit 204 is detected, the process proceeds to step S306, where the function of the stereo camera 101 is stopped, a failure is notified to the vehicle, and the process ends (step S307).

[0079] On the other hand, if it is determined that none of the imaging elements 102a and 102b and the stereo image processing unit 204 have failed, the process proceeds to step S305, where partial automation control is performed, and then the process returns to step S304, and the processes after step S304 are repeated.

[0080] The operation of the in-vehicle external recognition device of this embodiment on a highway will be described with reference to FIG. 9. FIG. 9 is a diagram conceptually showing the operation of the in-vehicle external recognition device of FIG. 6 when automatic driving control is possible.

[0081] As shown in FIG. 9, when the surrounding situation determination unit 401 determines that it is a situation where safe driving is possible only by vehicle control by the system without monitoring the driving operation by the driver and the driving environment and notifies the mode instruction unit 202, control with all driving operations automated can be used.

[0082] The method of switching the image processing unit 201 and the processing at the time of failure detection are the same as those in the case of the highway in the first embodiment (FIG. 4).

[0083] The above operation will be described with reference to FIG. 10. FIG. 10 is a flowchart showing the operation of the in-vehicle external recognition device of FIG. 6 when automatic driving control is possible.

[0084] In step S401, when the operation of the in-vehicle external recognition device starts, first, in step S402, the surrounding situation determination unit 401 determines the surrounding situation and notifies the mode instruction unit 202 of the determination that automatic driving control is possible.

[0085] Next, in step S403, the mode instruction unit 202 reads the monocular image processing redundancy setting 302 of the memory 104 and rewrites the image processing unit 201.

[0086] Subsequently, in step S404, it is determined whether there is a failure in the image pickup devices 102a and 102b and the monocular image processing units 206a and 206b.

[0087] If a failure of either the image pickup device 102a or the monocular image processing unit 206a is detected, the process proceeds to step S405, and control is performed based on the result of the monocular image processing unit 206b, and the process ends (step S408).

[0088] Also, if a failure of either the image pickup device 102b or the monocular image processing unit 206b is detected, the process proceeds to step S406, and control is performed based on the result of the monocular image processing unit 206a, and the process ends (step S408).

[0089] On the other hand, if it is determined that none of the image pickup devices 102a and 102b and the monocular image processing units 206a and 206b have failed, the process proceeds to step S407, control with all driving operations automated is performed, and the process returns to step S404, and the processing after step S404 is repeated.

[0090] As described above, in the arithmetic processing device that performs arithmetic processing for controlling the in-vehicle external recognition device of this embodiment, the image processing microcomputer 103 switches the arithmetic processing program to be run on the image processing microcomputer 103 according to the vehicle running environment information and control state information obtained from the other external recognition sensors 107 other than the stereo camera 101, among the first arithmetic processing program (stereo image processing setting 301) or the second arithmetic processing program (monocular image processing redundancy setting 302).

[0091] The central unit 106 has a surrounding situation determination unit 401 that determines the driving environment of the vehicle, and the program switching unit (mode instruction unit 202) switches the arithmetic processing program to be run on the image processing microcomputer 103 between a first arithmetic processing program (stereo image processing setting 301) and a second arithmetic processing program (monocular image processing redundancy setting 302) based on the determination result of the surrounding situation determination unit 401.

[0092] Note that the surrounding situation determination unit 401 determines whether the vehicle is traveling on an ordinary road or a highway based on the map data acquired from the map data unit 105 of the first embodiment (FIG. 1), and the program switching unit (mode instruction unit 202) operates the first arithmetic processing program (stereo image processing setting 301) when the vehicle is traveling on an ordinary road, and controls to operate the second arithmetic processing program (monocular image processing redundancy setting 302) when the vehicle is traveling on a highway.

[0093] That is, the surrounding situation is determined based on the sensing results by cameras, radars, etc. and the information of the map data, and the image processing setting is switched. In a situation where automatic driving control cannot be performed based on the determination from the surrounding situation, the image processing unit is rewritten to stereo image processing, and in a situation where automatic driving control is possible, it is rewritten to the setting of monocular image processing.

[0094] Similar to the first embodiment, according to this embodiment, the processing amount of the microcomputer can be suppressed compared to the case where both stereo image processing and monocular image processing are performed as in Patent Document 1.

[0095] Note that the present invention is not limited to the above-described embodiments, and various modifications are included. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Also, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add, delete, or replace other configurations for a part of the configuration of each embodiment.

Explanation of Reference Numerals

[0096] 101... Stereo camera, 102a, 102b... Image pickup elements, 103... Image processing microcomputer, 104... Memory, 105... Map data unit, 106... Central unit, 107... Other external recognition sensors, 108... Vehicle communication line, 201... Image processing unit, 202... Mode instruction unit, 203... Stereo image processing failure detection unit, 204... Stereo image processing unit, 205... Monocular image processing failure detection unit, 206a, 206b... Monocular image processing units, 301... Stereo image processing setting, 302... Monocular image processing redundancy setting, 401... Peripheral situation determination unit.

Claims

1. In an arithmetic processing unit connected to a plurality of sensing devices mounted on a vehicle, a microcomputer that performs an operation for controlling the plurality of sensing devices, a memory storing a first arithmetic processing program and a second arithmetic processing program, and the first arithmetic processing program is not redundant against failures of the sensing device and the microcomputer, the second arithmetic processing program is redundant against failures of the sensing device or the microcomputer, and the microcomputer has a program switching unit that switches an arithmetic processing program to be run on the microcomputer among the first arithmetic processing program and the second arithmetic processing program according to a driving environment or a control state of the vehicle. The arithmetic processing unit is characterized by the above.

2. In the arithmetic processing unit according to Claim 1, the sensing device is a stereo camera, the first arithmetic processing program is an image processing configuration for stereo vision, and the second arithmetic processing program is an image processing configuration for monocular vision. The arithmetic processing unit is characterized by the above.

3. In the arithmetic processing unit according to Claim 1, the vehicle is automatically controlled at a predetermined level using a sensing result of the sensing device, and the program switching unit switches an arithmetic processing program to be run on the microcomputer among the first arithmetic processing program and the second arithmetic processing program according to the level. The arithmetic processing unit is characterized by the above.

4. In the arithmetic processing unit according to Claim 3, the automatic control at the predetermined level is an automatic driving control by system monitoring without depending on a driver's monitoring and driving operation. The arithmetic processing unit is characterized by the above.

5. In the arithmetic processing unit according to Claim 1, it has a peripheral situation determination unit that determines a driving environment of the vehicle, and the program switching unit switches an arithmetic processing program to be run on the microcomputer among the first arithmetic processing program and the second arithmetic processing program based on a determination result of the peripheral situation determination unit. The arithmetic processing unit is characterized by the above.

6. In the arithmetic processing unit according to Claim 5, the peripheral situation determination unit determines whether the vehicle is running on an ordinary road or a highway based on map data. The program switching unit operates the first arithmetic processing program when the vehicle is traveling on an ordinary road, and operates the second arithmetic processing program when the vehicle is traveling on a highway. An arithmetic processing device characterized by this.

7. In an arithmetic processing method for controlling a plurality of sensing devices mounted on a vehicle, (a) a step of determining whether the vehicle is traveling on an ordinary road or a highway based on the driving environment or control state of the vehicle; (b) According to the determination result in step (a), either a first arithmetic processing program that is not redundant for failures of the sensing device and the microcomputer or a second arithmetic processing program that is redundant for failures of the sensing device or the microcomputer is selected; (c) A step of rewriting the arithmetic processing program to be run on the microcomputer based on the arithmetic processing program selected in step (b). An arithmetic processing method characterized by having the above.

8. In the arithmetic processing method according to Claim 7, the sensing device is a stereo camera, the first arithmetic processing program is an image processing configuration for stereo vision, The second arithmetic processing program is an image processing configuration for monocular vision. An arithmetic processing method characterized by this.

9. In the arithmetic processing method according to Claim 7, the vehicle is automatically controlled at a predetermined level using the sensing result of the sensing device, In step (b), either the first arithmetic processing program or the second arithmetic processing program is selected according to the level. An arithmetic processing method characterized by this.

10. In the arithmetic processing method according to Claim 9, The automatic control at the predetermined level is automatic driving control by system monitoring without depending on the driver's monitoring and driving operations. An arithmetic processing method characterized by this.

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