Signal processing apparatus and signal processing method, program, and moving body

A signal processing method comprising:

• projecting, using a light projector, light with a plurality of wavelengths;
• receiving, using an object detector, reflected light of the projected light, from an object having a reflectance higher than a predetermined reflectance, to detect the object;
• selecting, using light projection adjusting circuitry, one of the plurality of wavelengths of the light;
• causing, using the light projection adjusting circuitry, the light projector to project the light with the selected wavelength;
• causing, using the light projection adjusting circuitry, the object detector to receive reflected light of the light with the selected wavelength to detect the object, the reflected light being obtained from the object;
• transmitting, using the light projection adjusting circuitry, to another signal processing apparatus, information related to a use wavelength candidate corresponding to a candidate for the wavelength used for the light projected by the light projector;
• receiving, using the light projection adjusting circuitry, information related to a use wavelength candidate for the another signal processing apparatus and transmitted by the another signal processing apparatus;
• and
• in a case where the use wavelength candidate for the signal processing apparatus in a subject vehicle matches the use wavelength candidate for the another signal processing apparatus, causing, using the light projection adjusting circuitry, the light projector to project light with a wavelength resulting from a change in the use wavelength candidate for the subject vehicle.

A non-transitory computer readable medium including executable instructions, which when executed by a computer cause the computer to execute a signal processing method, the method comprising:

• projecting, using a light projector, light with a plurality of wavelengths;
• receiving, using an object detector, reflected light of the projected light, from an object having a reflectance higher than a predetermined reflectance, to detect the object;
• selecting one of the plurality of wavelengths of the light;
• causing the light projector to project the light with the selected wavelength;
• causing the object detector to receive reflected light of the light with the selected wavelength to detect the object, the reflected light being obtained from the object;
• transmitting to another signal processing apparatus, information related to a use wavelength candidate corresponding to a candidate for the wavelength used for the light projected by the light projector;
• receiving information related to a use wavelength candidate for the another signal processing apparatus and transmitted by the another signal processing apparatus;
• and
• in a case where the use wavelength candidate for the signal processing apparatus in a subject vehicle matches the use wavelength candidate for the another signal processing apparatus, causing the light projector to project light with a wavelength resulting from a change in the use wavelength candidate for the subject vehicle.

A moving body comprising:

• a light projector configured to project light with a plurality of wavelengths;
• an object detector configured to receive reflected light of the light projected from the light projector, from an object having a reflectance higher than a predetermined reflectance, to detect the object;
• light projection adjusting circuitry configured to
• select one of the plurality of wavelengths of the light,
• cause the light projector to project the light with the selected wavelength, and
• cause the object detector to receive reflected light of the light with the selected wavelength to detect the object, the reflected light being obtained from the object,
• status analyzing circuitry configured to analyze a status on a basis of detection results from the object detector;
• scheduling circuitry configured to generate a behavior schedule on a basis of analysis results from the status analyzing circuitry;
• and
• action control circuitry configured to control an action on a basis of the behavior schedule, wherein
• the light projection adjusting circuitry is further configured to
• transmit, to another signal processing apparatus, information related to a use wavelength candidate corresponding to a candidate for the wavelength used for the light projected by the light projector,
• receive information related to a use wavelength candidate for the another signal processing apparatus and transmitted by the another signal processing apparatus, and
• in a case where the use wavelength candidate for the signal processing apparatus in a subject vehicle matches the use wavelength candidate for the another signal processing apparatus, cause the light projector to project light with a wavelength resulting from a change in the use wavelength candidate for the subject vehicle.