VEHICLE CONTROL DEVICE

A vehicle control device capable of improving safety, even when abnormality in the operation of an arithmetic processing unit occurs. A second microcomputer receives trajectory information transmitted from a first microcomputer via a communication line and calculates control commands to actuators to synchronize the arithmetic processing unit allowing the first and second microcomputers to be synchronized. The second microcomputer performs a calculation and compares the result with the calculation result of the first microcomputer so that the second microcomputer can accurately determine whether or not the first microcomputer is abnormal. When the abnormality occurs in the first microcomputer based on the determination, the actuators are controlled by switching to the control commands calculated by the second microcomputer which is synchronized with the arithmetic processing unit. Thus, the device performs seamless self-driving control without the occurrence of abrupt control gaps.