Image processing apparatus, image processing method, and vehicle control system to determine the presence of an object from an image of a peripheral area of a moving body

A vehicle control system comprising:

• a discrimination information generation unit configured to generate analysis object discrimination information by using a polarization image indicating a peripheral area of a vehicle;
• an image analysis unit configured to perform discrimination of an object by using an image of an image analysis area set on the basis of the analysis object discrimination information generated by the discrimination information generation unit to a non-polarization image indicating the peripheral area of the vehicle;
• and
• a driving system control unit configured to perform control of the vehicle on the basis of a discrimination result of the object in the image analysis unit, wherein
• the discrimination information generation unit generates, as the analysis object discrimination information, information related to a braking distance of the vehicle in the peripheral area of the vehicle by using the polarization image, and
• the image analysis unit sets an area within the braking distance as the image analysis area.