An image processing apparatus includes an input portion for entering an image signal from a camera, an exposure timing determination portion for determining exposure timing of the camera according to an object to be detected, an output portion for outputting a signal to the camera to expose it according to the exposure timing and for outputting a signal to an illumination controller to vary the state of the illumination system installed on a vehicle according to the exposure timing, and an image analysis portion for analyzing the image signal captured by the camera according to the exposure timing and outputting the results of the analysis to another controller via the output portion.