An imaging control device that causes an imaging device arranged in a vehicle to capture a periphery of the vehicle, the imaging control device comprising: a current location estimator that acquires spatial information from a global navigation satellite system (GNSS), and that estimates a current location of the vehicle based on the information from the GNSS; a future location estimator that acquires either a velocity vector, indicating an advancing direction and a speed of the vehicle, or route data, indicating a route to be traveled by the vehicle, and that estimates a future travel location of the vehicle using the acquired information, the future travel location being calculated in terms of either a location separated by a predetermined time, if a velocity vector was acquired, or a location which the vehicle passes after a predetermined distance, if route data was acquired; a road surface estimator that acquires either road surface information regarding a road surface including the future travel location of the vehicle or an image including the road surface, and that estimates a rate of change in a height of the road surface in the advancing direction at the future travel location of the vehicle, using the road surface information, if road surface information was acquired, and else using the image, if an image was acquired; a modifier that modifies a shutter speed or sensitivity of the imaging device according to the rate of change in the height; a controller that causes the imaging device to perform imaging using the shutter speed or sensitivity modified by the modifier, at a timing at which the vehicle passes the future travel location of the vehicle. a current location estimator that acquires spatial information from a global navigation satellite system (GNSS), and that estimates a current location of the vehicle based on the information from the GNSS; a future location estimator that acquires either a velocity vector, indicating an advancing direction and a speed of the vehicle, or route data, indicating a route to be traveled by the vehicle, and that estimates a future travel location of the vehicle using the acquired information, the future travel location being calculated in terms of either a location separated by a predetermined time, if a velocity vector was acquired, or a location which the vehicle passes after a predetermined distance, if route data was acquired; a road surface estimator that acquires either road surface information regarding a road surface including the future travel location of the vehicle or an image including the road surface, and that estimates a rate of change in a height of the road surface in the advancing direction at the future travel location of the vehicle, using the road surface information, if road surface information was acquired, and else using the image, if an image was acquired; a modifier that modifies a shutter speed or sensitivity of the imaging device according to the rate of change in the height; a controller that causes the imaging device to perform imaging using the shutter speed or sensitivity modified by the modifier, at a timing at which the vehicle passes the future travel location of the vehicle.