An image processing apparatus comprising: an input portion for entering an image signal from a camera that captures images of surroundings of a vehicle; an exposure timing determination portion which determines exposure timing of the camera according to one of a plurality of objects to be detected including lane, headlight or taillight and brightness; an output portion which outputs a signal to the camera to expose the camera according to said exposure timing determined by said exposure timing determination portion and outputs a signal to an illumination controller to vary state of an illumination system installed on the vehicle according to said exposure timing; and an image analysis portion which analyzes the image signal derived from the camera that captures images according to said exposure timing and outputs results of the analysis to an other controller via said output portion, wherein said other controller is configured to use the results of the image analysis for vehicle control purposes, wherein said output portion outputs a signal to said camera to expose the camera according to said exposure timing determined by said exposure timing determination portion and outputs a signal to the illumination controller to vary state of the illumination system installed on the vehicle at exposure starting timing and to return the illumination system to its original state at exposure ending timing, and wherein said state of said illumination system is varied in accordance with said exposure timing by a) turning off the illumination system, or b) by dimming at least some parts of the illumination system, or c) by varying optical axes of at least some parts of the illumination system based on the outputted signal of the output portion only in a state when the following conditions are simultaneously fulfilled: - said one of plurality of objects to be detected is headlight or taillight, - an illumination system ON-switch is set to auto, such that the illumination system is switched ON automatically if it is determined that the illumination system is necessary to be turned on, and - it is determined that the illumination system is necessary to be turned on. an input portion for entering an image signal from a camera that captures images of surroundings of a vehicle; an exposure timing determination portion which determines exposure timing of the camera according to one of a plurality of objects to be detected including lane, headlight or taillight and brightness; an output portion which outputs a signal to the camera to expose the camera according to said exposure timing determined by said exposure timing determination portion and outputs a signal to an illumination controller to vary state of an illumination system installed on the vehicle according to said exposure timing; and an image analysis portion which analyzes the image signal derived from the camera that captures images according to said exposure timing and outputs results of the analysis to an other controller via said output portion, wherein said other controller is configured to use the results of the image analysis for vehicle control purposes, wherein said output portion outputs a signal to said camera to expose the camera according to said exposure timing determined by said exposure timing determination portion and outputs a signal to the illumination controller to vary state of the illumination system installed on the vehicle at exposure starting timing and to return the illumination system to its original state at exposure ending timing, and wherein said state of said illumination system is varied in accordance with said exposure timing by a) turning off the illumination system, or b) by dimming at least some parts of the illumination system, or c) by varying optical axes of at least some parts of the illumination system based on the outputted signal of the output portion only in a state when the following conditions are simultaneously fulfilled: - said one of plurality of objects to be detected is headlight or taillight, - an illumination system ON-switch is set to auto, such that the illumination system is switched ON automatically if it is determined that the illumination system is necessary to be turned on, and - it is determined that the illumination system is necessary to be turned on. a) turning off the illumination system, or b) by dimming at least some parts of the illumination system, or c) by varying optical axes of at least some parts of the illumination system based on the outputted signal of the output portion only in a state when the following conditions are simultaneously fulfilled: - said one of plurality of objects to be detected is headlight or taillight, - an illumination system ON-switch is set to auto, such that the illumination system is switched ON automatically if it is determined that the illumination system is necessary to be turned on, and - it is determined that the illumination system is necessary to be turned on. - said one of plurality of objects to be detected is headlight or taillight, - an illumination system ON-switch is set to auto, such that the illumination system is switched ON automatically if it is determined that the illumination system is necessary to be turned on, and - it is determined that the illumination system is necessary to be turned on.