An image processing device includes an information acquisition unit, a condition determination unit, and an image change unit. The information acquisition unit acquires information indicating a position of an emergency vehicle. The condition determination unit determines, based on the information acquired by the information acquisition unit, (a) a first condition which is satisfied when the emergency vehicle is determined to be approaching the subject vehicle, and (b) a second condition which is satisfied when a distance from the emergency vehicle to the subject vehicle or an estimated reach time required for the emergency vehicle to reach the subject vehicle is equal to or less than a preset threshold. The image change unit changes the image in response to the first condition and the second condition being satisfied during an autonomous driving state of the subject vehicle. The image after change is an overhead view image.