Processing apparatus, processing system, and processing method

1. A processing apparatus, comprising:

processing circuitry configured to

acquire a distance image having pixels containing distance information;

predict an external scene situation based on a scene situation model stored in a memory;

determine a recognition method based on the predicted external scene situation;

detect, by analyzing the distance image using the determined recognition method, a moving object represented within the distance image; and

determine a danger level of the detected moving object by use of at least the distance image, and output the danger level to a controller that controls a device in accordance with the determined danger level.

2. The processing apparatus according to claim 1 , wherein the processing circuitry is further configured to

detect a motion vector of the moving object, and

determine the danger level of the moving object by use of the motion vector.

3. The processing apparatus according to claim 2 , wherein the processing circuitry is further configured to determine the danger level of the moving object based on a moving direction of the moving object and a moving speed of the moving object, the moving direction being indicated by a direction of the motion vector, the moving speed being indicated by a size of the motion vector.

4. The processing apparatus according to claim 2 , wherein the processing circuitry is further configured to determine the danger level of the moving object based on a distance to the moving object, a moving direction of the moving object, and a moving speed of the moving object, the moving direction being indicated by a direction of the motion vector, the moving speed being indicated by a size of the motion vector.

5. The processing apparatus according to claim 2 , wherein the processing circuitry is further configured to determine the danger level of the moving object based on a distance to the moving object, an angle formed with the moving object, a moving direction of the moving object, and a moving speed of the moving object, the moving direction being indicated by a direction of the motion vector, the moving speed being indicated by a size of the motion vector.

6. The processing apparatus according to claim 2 , wherein the processing circuitry is further configured to determine, as the danger level of the moving object, a danger level previously set in accordance with a distance to the moving object.

7. The processing apparatus according to claim 2 , wherein the processing circuitry is further configured to determine, as the danger level of the moving object, a danger level previously set in accordance with a distance to the moving object and an angle formed therewith.

8. The processing apparatus according to claim 1 , wherein the processing circuitry is further configured to

recognize an image associated with a danger level from within the distance image, and

determine the danger level of the moving object by use of a determination criterion that is changed in accordance with the recognized image.

9. The processing apparatus according to claim 8 , wherein the processing circuitry is further configured to recognize, as the image associated with a danger level, an image of a target.

10. A processing system, comprising:

processing circuitry configured to

acquire a distance image having pixels containing distance information;

predict an external scene situation based on a scene situation model stored in a memory;

determine a recognition method based on the predicted external scene situation;

detect, by analyzing the distance image using the determined recognition method, a moving object represented within the distance image;

determine a danger level of the detected moving object by use of at least the distance image; and

control a device in accordance with the determined danger level.

11. The processing system according to claim 10 , wherein the processing circuitry is further configured to perform, in accordance with the determined danger level, at least one kind of control selected from braking control of a vehicle, steering-wheel control of the vehicle, and display control of a display.

12. A processing method, comprising:

acquiring, by processing circuitry, a distance image having pixels containing distance information;

predicting an external scene situation based on a scene situation model stored in a memory;

determining a recognition method based on the predicted external scene situation;

detecting, by the processing circuitry by analyzing the distance image using the determined recognition method, a moving object represented within the distance image; and

determining, by the processing circuitry, a danger level of the moving object by use of at least the distance image, and control a device in accordance with the determined danger level.

13. The processing apparatus of claim 1 , wherein the processing circuitry is further configured to determine the recognition method based on a shape change rate of a previously detected object.

14. The processing circuitry apparatus of claim 1 , wherein the processing circuitry is further configured to determine the recognition method based on an object blockage rate of a previously detected object.

15. The processing apparatus according to claim 1 , wherein the scene situation model is described as a scene graph.

16. The processing apparatus according to claim 1 , wherein the scene situation model describes at least an express highway.

17. The processing apparatus according to claim 1 , wherein the scene situation mode is updated in accordance with a recognition result and stored.

18. The processing apparatus according to claim 1 , wherein the scene situation mode represents a positional relationship between the moving object and a stationary object in the distance image.

19. The processing apparatus according to claim 1 , wherein the scene situation mode represents a positional relationship between the moving object and a road surface on which the moving object is present, in the distance image.