EV with Robotic arm

My project includes a robotic arm mounted on an EV , the robotic arm would pick up items based on object detection mechanism. I want to know in order to control robotic arm with motors, sensors and for object detection and also for self driving system, which single board computer is good enough? I want all these things implemented using only one board.
if EV in driving condition then robotic arm would be at rest and when robotic arm starts working then EV would be in idle position.