JP2002293196A - Method and device for displaying image of on-vehicle camera - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent false recognition of a sense of distance given to a driver when illustration data of distance indication or the like is superimposed on a picked up image of an on-vehicle camera and is displayed. SOLUTION: When a size and a scale of the picked up image change as a vehicle height changes, a size and a scale of the illustration data are changed in response to the change and are displayed in displaying the picked up image of the on-vehicle camera on a screen viewable from a driver seat, and superimposing the illustration data for the distance indication on the picked up image and displaying on the screen. Thereby, screen display which does not provide the false recognition to the driver can be achieved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an on-vehicle camera image display method and apparatus for displaying an image captured by a camera mounted on a vehicle, and more particularly to an on-vehicle camera image suitable for a change in vehicle height. The present invention relates to a display method and a display device.

[0002]

2. Description of the Related Art For example, vehicles equipped with a device capable of confirming safety by mounting a rear-view camera at a rear portion of the vehicle and displaying a captured image of the rear-view camera on a car navigation screen of a driver's seat when the vehicle is backed up. Have begun to do. The rear-view camera uses a wide-angle camera for the purpose of preventing collision with a rear obstacle when the vehicle is backed at the time of parking, so that a wide range is included in one screen.

[0003] However, if the image captured by the camera is displayed on the screen as it is, the driver may not be able to see the relative positional relationship with other obstacles or parking lots.
As shown in (1), a function is provided for converting a distorted captured image of a wide-angle camera into an image viewed from a virtual upper viewpoint behind the vehicle by performing mapping processing (coordinate conversion processing) and displaying the image on a screen.

In this case, a rear image of the vehicle (in this example,
If the image of the parking position represented by a checkered pattern) is converted into an image only from the virtual upper viewpoint position as shown in FIG. 6, the own vehicle is not shown in the camera. The positional relationship is difficult to understand. For this reason, as shown in FIG. 6, the illustration data 1 and the distance display data 2 of the car are superimposed on the converted image (parking position image) and displayed on the screen.

[0005]

The height of a vehicle fluctuates depending on the occupants and the weight of the load. Some vehicles have a vehicle height adjustment function. Since the on-vehicle camera is fixed to the vehicle, when the vehicle height changes, the captured image also changes. For example, as shown in FIG. 7, when the vehicle height of the vehicle 3 rises, the mounting position of the vehicle-mounted camera 4 also rises, the imaging range thereof becomes wider, and the coordinate-transformed rear parking position image becomes as shown in FIG. In addition, the size is smaller than that in FIG.

However, if the illustration data 1 of the car 3 to be superimposed on this is the same as that in FIG. 6, the driver will mistakenly recognize the relative positional relationship between the car 3 and the rear parking position. Further, if the illustration data 2 of the distance display is the same as that in FIG. 6, the distance data indicates an incorrect distance, which may cause a driver to make a mistake.

On the contrary, as shown in FIG.
When the vehicle height is lowered due to the sinking, the position of the vehicle-mounted camera 4 is also lowered, and the imaging range is reduced. Therefore, in this case, the image of the rear parking position becomes wide as shown in FIG. Also in this case, if the same illustration data as in FIG. 6 is used as the own vehicle illustration 1 ′ and the distance display illustration 2 ′, the driver will mistake the distance and the relative positional relationship.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described circumstances, and provides an image display method and an apparatus for an in-vehicle camera which do not misrecognize a relative positional relationship or a distance even when a vehicle height changes. Aim.

[0009]

An object of the present invention is to display an image captured by a vehicle-mounted camera on a screen visible from a driver's seat, and to superimpose illustration data on the captured image and display the image on the screen. The display is achieved by detecting a change in the height of the vehicle equipped with the on-vehicle camera and changing and displaying the illustration data in accordance with the change. With this configuration, accurate distance display can be performed even when the vehicle height is reduced due to loading of heavy luggage in the vehicle.

[0010] Preferably, in the above, the illustration data is image data including a part of a car, and the screen width is changed by changing a vehicle width of the image data according to a change in the height of the own vehicle. The illustration data is scale data of a distance display, and the distance display is changed according to a change in the height of the host vehicle. With this configuration, the driver can easily recognize the change in the vehicle height based on the change in the vehicle width and the change in the illustration data.

More preferably, in the above, a plurality of illustration data are prepared in advance, and the illustration data to be displayed on the screen is selected in accordance with the detected change in the vehicle height. In addition, the illustration data is changed according to the inclination of the own vehicle. With this configuration, it is possible to save the amount of memory and to prevent the screen from being frequently switched due to a slight change in vehicle height.

More preferably, in the above, the captured image is converted into an image from a virtual viewpoint and then displayed on the screen, and the conversion of the image is performed using a mapping table. Further, when it is determined that the change in the vehicle height is equal to or more than the predetermined change, the superimposition of the illustration data for distance display is omitted. With this configuration, inappropriate distance display can be prevented, and erroneous recognition by the driver can be prevented.

When the vehicle height changes, the image picked up by the camera also changes. Therefore, if the illustration data of the vehicle and the illustration data (scale image) of the distance display to be superimposed on the captured image are not changed, the driver may misunderstand the sense of distance and the relative positional relationship with the surroundings. Therefore, in the present invention, the size and scale display of the illustration data are changed and displayed according to the vehicle height and the inclination of the vehicle. Preferably, illustration data having an optimal size or scale display is selected from various illustration data prepared in advance, and is displayed in a superimposed manner on the screen, thereby avoiding erroneous recognition by the driver.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. In this embodiment, a rear-view camera will be described as an example. However, the present invention is not limited to a rear-view camera, but can be applied to in-vehicle cameras in general.

FIG. 1 is a configuration diagram of a vehicle to which one embodiment of the present invention is applied. A rear view camera 7 is attached to a rear portion of the vehicle 6, and a bottom of the rear portion is
An ultrasonic sensor (vehicle height detecting means) 8 for measuring a distance from the ground is attached. Although not shown in FIG. 1, other cameras for imaging the front side and both sides of the vehicle are also attached. When the vehicle height detecting means is built in the vehicle, the vehicle height information can be obtained from the built-in vehicle height detecting means.

FIG. 2 is a configuration diagram of an image display device according to one embodiment of the present invention. The image display device includes a system control unit 10, a display pattern storage unit 11, an image capturing unit 12, a display pattern setting unit 13, an image processing unit 14,
, A video signal generation unit 15 and a display unit (in the present embodiment,
LCD screen for car navigation) 16
The system control 10 includes an input signal from the operation unit 20 and
The vehicle height measurement signal from the ultrasonic distance sensor 8 attached to the bottom of the vehicle and the gear information 21 obtained from the gearbox are input.

In the illustrated example, the image photographing section 12 is provided with N (for example, 8) view cameras, which are provided on the front side of the vehicle 6, the left side, and the right side of the vehicle, respectively. This is because two view cameras are mounted, and the rear view camera 7 according to the present embodiment is one or two of them. Two frame memories 12a and 12b are mounted for each camera. The two frame memories 12a and 12b are used for writing image data captured from the camera to the frame memory and reading the image data written to the frame memory by the image processing unit 14. This is to alternately perform screen display processing to enable more real-time image display.

The display pattern storage section 11 is provided with an illustration data storage section 11a and a mapping table 11b. In the illustration data storage unit 11a, as the data to be displayed on the liquid crystal screen of the driver's seat, the image data of the view camera is not displayed as it is, but the image is replaced with the illustration data and displayed. Image data for displaying the image in FIG.

In this embodiment, a plurality of types of illustration data of the own vehicle having different vehicle widths, and illustration data of a distance display corresponding to each vehicle width are prepared. Of these illustration data, in accordance with an instruction from the system control unit 10, the own vehicle illustration data of the optimum vehicle width and the illustration data of the distance display are read out to the display pattern setting unit 13, and are superimposed on the image captured by the camera. Are displayed on the display unit 16.

The mapping table 11b is a table for converting the coordinates of the image captured by the view camera. Figure 1
The rear-view camera 7 shown in FIG. 1 captures a rear image of the vehicle 1 from obliquely above and is a wide-angle camera. Therefore, the actual captured image is a greatly distorted image, and it is difficult for the driver to understand the relative positional relationship as it is. It becomes an image.

Therefore, if the image picked up by the camera 7 is converted into an image viewed directly below from the virtual upper viewpoint A shown in FIG. 1, the image can be more easily viewed by the driver. A mapping table 11b for coordinate conversion is prepared in advance so that the coordinate conversion image does not need to be calculated in accordance with the coordinate conversion formula, and the captured image data of the camera is re-mapped according to the mapping table 11b. The image viewed from the virtual upper viewpoint A can be obtained.

The display pattern setting section 13 reads required illustration data and a required mapping table from the display pattern storage section 11 in accordance with an instruction from the system control section 10 and sends them to the image processing section 14. Then, the image processing unit 14 reads the image data from the corresponding frame memory of the image capturing unit 12, remaps the image data read from the frame memory according to the mapping table, and further maps the remapped image on the display pattern setting unit 13. Are superimposed and displayed on the car navigation liquid crystal display unit 16 through the video signal generation unit 15.

FIG. 3 is a flowchart showing a processing procedure of the system control unit 10 shown in FIG. When the control is started, the system control unit 10 determines whether the gear is the rear R based on the gear information 21 acquired from the gear box (step S1). If the gear is not at the rear R, the vehicle is stopped or traveling forward,
Proceeding to step S2, a navigation screen is displayed on the liquid crystal display screen.

If the result of determination in step S1 is that the gear is at the rear R, the process proceeds to step S3, where measurement data (distance to the ground) of the vehicle height sensor 8 is acquired. Then, in the following steps S4, S5 and S6, it is determined whether the measured vehicle height is within a standard range of, for example, 30 cm ± 2.5 cm or a higher range of 35 cm ± 2.5 cm. Is determined within the range of 25 cm ± 2.5 cm.

If the vehicle height is within the standard range, the process proceeds from step S4 to step S4a, where the standard vehicle width d1 is set.
And the illustration data of the standard distance display m1 are selected, and these illustration data are superimposed on the converted image viewed from the virtual viewpoint (step S9) and displayed on the screen (step S10).

If the vehicle height is higher than the standard range by about 5 cm, the process proceeds from step S5 to step S5a, where the illustration data of the vehicle width d1-Δd, which is slightly narrower than the standard, and the corresponding distance display m2 are displayed. The user selects the illustration data, superimposes the illustration data on the image from the virtual viewpoint (step S9), and displays it on the screen (step S10).

If the vehicle height is lower than the standard range by about 5 cm, the process proceeds from step S6 to step 6a, and the illustration data of the vehicle width d1 + Δd, which is slightly wider than the standard, and the corresponding illustration data of the distance display m3. And select
These illustration data are superimposed on the image from the virtual viewpoint (step S9) and displayed on the screen (step S10).

If the vehicle height is not in the determination range of steps S4, S5, and S6, the process proceeds to step S7, and the vehicle height is set to 37.
It is determined whether it exceeds 5 cm. If it exceeds, the process proceeds to step 7a, where the illustration data having a smaller vehicle width d1-2Δd is selected, and the illustration data is superimposed on the image from the virtual viewpoint (step S9) and displayed on the screen. (Step S10). In this case, distance display is not performed because the vehicle height is too high and the distance display may differ greatly from the actual distance.

If the vehicle height is not in the determination range of steps S4, S5, and S6 and does not exceed 37.5 cm, the measured vehicle height falls below 22.5 cm, so that the process proceeds to step S8. In this step S8, illustration data having a wide vehicle width d1 + 2Δd is selected, superimposed on an image from a virtual viewpoint (step S9), and displayed on the screen (step S9).
10). Also in this case, the distance display is not performed because the vehicle height is too low and the distance display and the actual distance may greatly differ.

In the embodiment described above, the vehicle height sensor 8 is
One is provided at the bottom of the rear part of the vehicle. However, the vehicle 6 does not increase or decrease in height while maintaining a horizontal state, and may lean obliquely as shown in FIGS. 4 and 5. In the case where the camera is tilted obliquely, the range to be imaged by the camera is different even if the camera position is the same height. When converting an image taken by a camera from a leaning vehicle into an image looking straight down from the virtual upper viewpoint position shown in FIG. 1, the mapping table can be used to look straight down at the oblique image from the virtual upper viewpoint. Unless another mapping table for converting the converted image is used, the converted image will be a distorted image.

Therefore, in the image display device with higher accuracy than the embodiment described with reference to FIGS. 1 to 3, ultrasonic distance sensors (vehicle height detecting means) 8 are attached to the bottoms of the four corners of the vehicle, respectively. , The mapping table corresponding to the inclination is read out from the display pattern storage unit 11 and used. At this time, a plurality of illustration data to be superimposed on the converted image are prepared in accordance with the amount of inclination, and the illustration data corresponding to the detected inclination is displayed on the screen. For example, even if the vehicle height is the same, the distance in the screen is different between the state shown in FIG. 1 and the state shown in FIG. 4, so that the illustration data of the distance display reads the corresponding illustration data from the display pattern storage unit 11. ,indicate.

It is also possible to prepare standard illustration data, convert the standard illustration data into coordinates according to the vehicle height detection value and the inclination detection value, and obtain illustration data to be displayed on a screen. However, a configuration in which various illustration data are prepared in advance and the corresponding illustration data is selected and displayed as in the above-described embodiment is preferable because high-speed display can be performed. However, if a higher-speed arithmetic processing device can be used as the arithmetic processing device used in the image display device shown in FIG. 2, it is necessary to perform coordinate conversion processing of standard illustration data to obtain the corresponding illustration data. It is also possible.

In the above-described embodiment, a case has been described in which a captured image of a camera is converted into a virtual upper-point viewpoint image and illustration data is superimposed on the image. However, the captured image of the camera itself is displayed on a screen. It is needless to say that the present invention can be applied to a case where the illustration data is displayed on the display. For example, even when a captured image of a camera itself is displayed on a screen and distance display data is superimposed on the image, distance display corresponding to the vehicle height and inclination can be performed.

[0034]

According to the present invention, the illustration data to be superimposed and displayed on the image picked up by the on-vehicle camera is changed in accordance with the vehicle height and the inclination of the vehicle. Easy screen display is possible.

[Brief description of the drawings]

FIG. 1 is a side view of a vehicle to which an embodiment of the present invention is applied.

FIG. 2 is a configuration diagram of an image display device according to an embodiment of the present invention.

FIG. 3 is a flowchart illustrating an example of a processing procedure in a system control unit illustrated in FIG. 2;

FIG. 4 is a diagram showing a state where the vehicle is tilted back and forth.

FIG. 5 is a diagram showing a state in which the vehicle is tilted left and right.

FIG. 6 is a diagram illustrating an example of a screen in which illustration data of a vehicle and illustration data of a scale display are superimposed on a captured image of a parking lot viewed from a virtual upper viewpoint and displayed.

FIG. 7 is a diagram showing a change in an imaging range of a rear-view camera when the height of the vehicle increases.

8 is a view exemplifying that a picked-up image of a parking lot when the vehicle height is increased becomes an image different from the image of FIG. 6;

FIG. 9 is a diagram illustrating a change in an imaging range of a rear-view camera when the height of the vehicle is reduced.

FIG. 10 is a view exemplifying that a picked-up image of a parking lot when the vehicle height becomes low is different from the image of FIG. 6;

[Explanation of symbols]

 1, 1 'vehicle illustration data 2, 2' distance display illustration data 3, 6 vehicle 7 in-vehicle camera (rear view camera) 8 ultrasonic distance sensor (vehicle height sensor) 10 system control unit 11 display pattern storage unit 14 image processing unit

────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] December 28, 2001 (2001.12.
28)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

6. The image display method of the vehicle-mounted camera according to claim 5, wherein the conversion of the image is performed using a mapping table.

7. An image captured by a vehicle-mounted camera from a virtual viewpoint.
An image display device of a vehicle-mounted camera that displays the converted image converted into an image on a screen visible from the driver's seat and superimposes the illustration data on the captured image and displays the image on the screen. An image display apparatus for a vehicle-mounted camera, comprising: a control unit that changes and displays the illustration data according to a vehicle height output from a vehicle height detection unit that detects a vehicle height.

Wherein said illustration data is image data including a part of the car, further comprising a control means for changing correspondingly the vehicle width of the car of the image data in the vehicle height change of the vehicle The image display device for a vehicle-mounted camera according to claim 7, wherein

Wherein said illustration data is scaled data of the distance display, vehicle according to claim 7, further comprising a control means for changing correspondingly the distance displayed on the height change of the vehicle Image display device for camera.

10. A control means for preparing a plurality of illustration data in a storage device in advance and reading out the illustration data to be displayed from the storage device in accordance with the detected change in vehicle height from the storage device and displaying the illustration data on the screen. vehicle camera image display device according to any one of claims 7 to 9, characterized in that the.

11. The image of the vehicle-mounted camera according to any one of claims 7 to 10, characterized in that a control means for changing the illustration data in accordance with the tilt in addition to the vehicle of the vehicle height change Display device.

12. The captured image of the vehicle-mounted camera according to any one of claims 7 to 11, characterized in that a control means for displaying after converted into an image from a virtual viewpoint on the screen Image display device.

13. The image processing apparatus according to claim 12, further comprising control means for converting the image using a mapping table.
13. The image display device for a vehicle-mounted camera according to item 12 .

14. the control unit, when the vehicle height change is determined to be greater than the predetermined change is claims 7 to 13, characterized in that it is omitted controller superimposition of the illustration data An image display device for a vehicle-mounted camera according to any one of the above.

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0009

[Correction method] Change

[Correction contents]

[0009]

SUMMARY OF THE INVENTION It is an object of the present invention to display a converted image obtained by converting an image captured by an on- vehicle camera into an image from a virtual viewpoint on a screen visible from a driver's seat and to display illustration data. In the image display of the vehicle-mounted camera to be superimposed on the captured image and displayed on the screen, detecting a change in the height of the own vehicle equipped with the vehicle-mounted camera and changing and displaying the illustration data in accordance with the change Is achieved. With this configuration, accurate distance display can be performed even when the vehicle height is reduced due to loading of heavy luggage in the vehicle.

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0012

[Correction method] Change

[Correction contents]

[0012] Further preferred, in the above, the conversion of pre-Symbol image is performed using a mapping table. Further or
If it is determined that the change in the vehicle height is equal to or more than the predetermined change, the superimposition of the illustration data for distance display is omitted. With this configuration, inappropriate distance display can be prevented, and erroneous recognition by the driver can be prevented.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0021

[Correction method] Change

[Correction contents]

Therefore, if the image picked up by the camera 7 is converted into an image viewed directly below from the virtual upper viewpoint A shown in FIG. 1, the image can be more easily viewed by the driver. The coordinate-converted image, so it is not necessary to the calculated one by one according to the coordinate conversion formula, preliminarily prepared mapping table 11b for the coordinate transformation, the captured image data of the camera is mapped according to the mapping table 11b, the high-speed Virtual viewpoint A
It is possible to obtain an image viewed from the computer.

[Procedure amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0022

[Correction method] Change

[Correction contents]

The display pattern setting section 13 reads required illustration data and a required mapping table from the display pattern storage section 11 in accordance with an instruction from the system control section 10 and sends them to the image processing section 14. Then, the image processing unit 14 reads the corresponding frame image from the memory data of the image capturing unit 12, an image data mapping according to the mapping table, the image further mapping of this read from the frame memory, display pattern The illustration data sent from the setting unit 13 is superimposed and displayed on the car navigation liquid crystal display unit 16 through the video signal generation unit 15. ────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] June 6, 2002 (2002.6.6)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

12. The mapping table according to claim 12, wherein said conversion means is a mapping table.
Claims, characterized in that for converting the image using the
An image display device for a vehicle-mounted camera according to any one of claims 7 to 11 .

Wherein said control means, when the vehicle height change is determined to be greater than the predetermined change is claims 7 to characterized in that it is a omitted controller superimposition of the illustration data 12 An image display device for a vehicle-mounted camera according to any one of the above.

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0009

[Correction method] Change

[Correction contents]

[0009]

SUMMARY OF THE INVENTION The above objects are achieved by a car mounting the camera image display that displays a viewable screen captured images from luck Utateseki vehicle camera, or the captured image virtual viewpoint
When the images are converted to those images and displayed on the screen,
Illustration data showing the vehicle equipped with the camera is displayed on the screen
This is achieved by superimposing and displaying the illustration data, detecting a change in the vehicle height of the own vehicle, and changing and displaying the illustration data in accordance with the change in the vehicle height. With this configuration, even if heavy load is loaded on the vehicle and the vehicle height is lowered , the relative positional relationship between the host vehicle and the surroundings is erroneously recognized.
Will not be done .

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0010

[Correction method] Change

[Correction contents]

[0010] Preferably, in the above, the illustration data is image data showing the rear portion of the vehicle, the vehicle width of the image data the varied in response to the vehicle height change in the vehicle window To be displayed . In addition, the illustration data
Superimposed on the mileage display also the screen scale data with
And changing the distance display in accordance with a change in the height of the host vehicle. With this configuration, the driver can easily recognize the change in the vehicle height based on the change in the vehicle width and the change in the illustration data.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0012

[Correction method] Change

[Correction contents]

[0012] Further preferred, in the above, the conversion of pre-Symbol image is performed using a mapping table. Further or
If it is determined that the change in the vehicle height is equal to or more than the predetermined change, the superimposition of the illustration data for distance display is omitted. With this configuration, inappropriate distance display can be prevented, and erroneous recognition by the driver can be prevented.

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (Reference) H04N 7/18 H04N 7/18 J (72) Inventor Eiji Mimura 3-1 Tsunashima Higashi 4-chome, Kohoku-ku, Yokohama-shi, Kanagawa No. Matsushita Communication Industrial Co., Ltd. (72) Inventor Kazuki Miyama 3-1, Tsunashimahigashi 4-chome, Kohoku-ku, Yokohama City, Kanagawa Prefecture F term (reference) 3D020 BA04 BB01 BC02 BD05 5C054 AA05 FA04 FD03 FE16 GB18 HA30

Claims (15)

[Claims] 1. An on-vehicle camera image display method for displaying a captured image of a vehicle-mounted camera on a screen visible from a driver's seat and superimposing illustration data on the captured image and displaying the image on the screen. An image display method for a vehicle-mounted camera, comprising: detecting a change in the height of a vehicle mounted on the vehicle; and changing and displaying the illustration data in accordance with the change in the vehicle height. 2. The method according to claim 1, wherein the illustration data is image data including a part of the vehicle, and that the width of the vehicle in the image data is changed according to a change in the height of the host vehicle and displayed on the screen. The image display method for a vehicle-mounted camera according to claim 1, wherein 3. The method according to claim 1, wherein the illustration data is scale data of a distance display, and the distance display is changed according to a change in the height of the host vehicle. . 4. The apparatus according to claim 1, wherein a plurality of illustration data are prepared in advance, and the illustration data to be displayed on the screen is selected according to the detected change in the vehicle height. The image display method of the vehicle-mounted camera described in the above. 5. The on-vehicle camera image display method according to claim 1, wherein the illustration data is changed in accordance with the inclination of the vehicle in addition to the change in the vehicle height. . 6. The method according to claim 1, wherein the captured image is converted into an image from a virtual viewpoint and then displayed on the screen. 7. The method according to claim 6, wherein the conversion of the image is performed using a mapping table. 8. An image display apparatus for a vehicle-mounted camera which displays a captured image of a vehicle-mounted camera on a screen visible from a driver's seat and superimposes illustration data on the captured image and displays the image on the screen. An image display device for a vehicle-mounted camera, comprising: a control unit that changes and displays the illustration data in accordance with a vehicle height output from a vehicle height detection unit that detects a vehicle height of the own vehicle. 9. The system according to claim 9, wherein the illustration data is image data including a part of a vehicle, and further includes control means for changing a vehicle width of the image data in accordance with a change in the height of the own vehicle. The image display device for a vehicle-mounted camera according to claim 8, wherein 10. The on-vehicle vehicle according to claim 8, wherein said illustration data is scale data of a distance display, and said control means changes said distance display in accordance with a change in the height of said own vehicle. Image display device for camera. 11. A control means for preparing a plurality of illustration data in a storage device in advance and reading out the illustration data to be displayed from the storage device in accordance with the detected change in vehicle height from the storage device and displaying the illustration data on the screen. The image display device of a vehicle-mounted camera according to any one of claims 8 to 10, wherein: 12. The image of the vehicle-mounted camera according to claim 8, further comprising control means for changing illustration data according to the inclination of the vehicle in addition to the change in vehicle height. Display device. 13. The vehicle-mounted camera according to claim 8, further comprising control means for converting the captured image into an image from a virtual viewpoint and displaying the image on the screen. Image display device. 14. The apparatus according to claim 13, further comprising control means for converting the image using a mapping table. 15. The control unit according to claim 8, wherein the control unit is configured to omit the superimposition of the illustration data when determining that the change in the vehicle height is equal to or more than a predetermined change. An image display device for a vehicle-mounted camera according to claim 1.