The EE Times article is from 2013. Barr analyzed the source code and found numerous problems:
Having spent more than 18 months going in and out of the secure room to study Toyota's code, Michael Barr, CTO of the Barr Group, put together an 800-page report analyzing the 2005 Camry L4's software. On the witness stand, he walked a jury step by step through what the experts discovered in their source-code review. According to Barr's testimony, that review revealed:
Software bugs that specifically can cause memory corruption
Unmaintainable code complexity in Toyota's software
A multifunction kitchen-sink Task X designed to execute everything from throttle control to cruise control and many of the fail-safes
That all Task X functions, including fail-safes, are designed to run on the main CPU in the Camry's electronic control module
That the brake override that is supposed to save the day when there is an unintended acceleration is also in Task X
The use of an operating system in which there is no protection against hardware or software faults
A number of other problems
Single bit flips can also be caused by memory corruption, not to mention tasks crashing.