Vehicle-mounted control device, and three-dimensional information acquisition method

A vehicle-mounted control device that communicates with a plurality of cameras including at least two cameras, the at least two cameras including a first camera with a rolling-shutter type image sensor, the vehicle-mounted control device comprising:

• at least a computer comprising a memory, the computer configured to
• measure a distance to a ranging target using a plurality of images captured with the at least two cameras, the at least two cameras including the first camera and a second camera, the second camera being capable of capturing a same ranging target in at least part of an image capturing region of the first camera;
• and
• adjust an exposure timing of at least one of the first camera or the second camera based on a ranging position of at least one of the plurality of images;
• and
• set a plurality of divided regions on the image acquired by the first camera or the second camera, and adjust the exposure timing by sequentially selecting the divided regions, wherein
• the vehicle-mounted control device switches an order in which the divided regions are selected sequentially, according to a travel state of the vehicle including the vehicle-mounted control device.

A three-dimensional information acquisition method for acquiring three-dimensional information based on captured images from a plurality of cameras, the plurality of cameras including a first camera with a rolling-shutter type image sensor, the three-dimensional information acquisition method comprising:

• a step of measuring a distance to a ranging target using a plurality of images captured with a first camera and a second camera, the second camera being capable of capturing a same ranging target in at least part of an image capturing region of the first camera;
• and
• a step of adjusting an exposure timing of at least one of the first camera or the second camera based on a ranging position of at least one of the plurality of images;
• a step of selecting a portion prioritizing ranging accuracy as the ranging position of the image;
• a step of setting a plurality of divided regions on the image acquired by the first camera or the second camera, and adjusting the exposure timing based on a position of the divided region including the ranging target.