An image processing apparatus for a vehicle characterized in that the apparatus includes a first imaging section, a second imaging section, a switching section which switches exposure controls of the first imaging section and the second imaging section to an exposure control for recognizing an object placed on a road and a lamp or to an exposure control for recognizing a three-dimensional object, and a detection section which detects the object placed on a road and the lamp or the three-dimensional object from images captured by the first imaging section and the second imaging section, wherein under the exposure control for recognizing an object placed on a road and a lamp, exposure of the first imaging section and exposure of the second imaging section are different from each other.