An automatic driving control device for controlling an actuator of a vehicle in order to cause the vehicle to automatically travel comprising: an external surrounding recognition sensor configured to recognize external surroundings; a learning recording device configured to record positions of the vehicle on a map when a driver drives the vehicle, as well as external surrounding recognition information and vehicle condition information; an automatic driving control quantity calculation unit configured to receive the recorded information from the learning recording device, and to calculate an automatic driving control quantity based on the received information when automatic driving is performed; an external surrounding recognition information prediction calculation unit configured to calculate predicted traveling data when automatic driving is performed according to the automatic driving control quantity, wherein the information prediction calculation unit comprises a vehicle position difference calculation unit configured to calculate a difference between a predicted position calculated from predicted travelling data and a position provided by the learning recording device, and a relative position calculation unit configured to calculate relative positions of a peripheral object to the vehicle in a longitudinal direction and a lateral direction when the driving is automated from deviations of the vehicle between the predicted position calculated from predicted travelling data and the position provided by the learning recording device in a longitudinal direction and a lateral direction and the position of the peripheral object provided by the learning recording device; characterized by an output comparison device configured to integrate and compare differences in relative positions of the vehicle and differences in longitudinal distances between the vehicle and a peripheral object based on which control parameters for calculating the automatic driving control quantity are adjusted, wherein the relative positions and the longitudinal distances between the vehicle and the peripheral object are obtained from the learning recording device and the external surrounding recognition information prediction calculation unit respectively, and when the vehicle reaches a position on the map recorded by the learning recording device, both of the positions of the vehicle and of the peripheral object are reset and changed to the positions recorded when the driver drives the vehicle. an external surrounding recognition sensor configured to recognize external surroundings; a learning recording device configured to record positions of the vehicle on a map when a driver drives the vehicle, as well as external surrounding recognition information and vehicle condition information; an automatic driving control quantity calculation unit configured to receive the recorded information from the learning recording device, and to calculate an automatic driving control quantity based on the received information when automatic driving is performed; an external surrounding recognition information prediction calculation unit configured to calculate predicted traveling data when automatic driving is performed according to the automatic driving control quantity, wherein the information prediction calculation unit comprises a vehicle position difference calculation unit configured to calculate a difference between a predicted position calculated from predicted travelling data and a position provided by the learning recording device, and a relative position calculation unit configured to calculate relative positions of a peripheral object to the vehicle in a longitudinal direction and a lateral direction when the driving is automated from deviations of the vehicle between the predicted position calculated from predicted travelling data and the position provided by the learning recording device in a longitudinal direction and a lateral direction and the position of the peripheral object provided by the learning recording device; characterized by a vehicle position difference calculation unit configured to calculate a difference between a predicted position calculated from predicted travelling data and a position provided by the learning recording device, and a relative position calculation unit configured to calculate relative positions of a peripheral object to the vehicle in a longitudinal direction and a lateral direction when the driving is automated from deviations of the vehicle between the predicted position calculated from predicted travelling data and the position provided by the learning recording device in a longitudinal direction and a lateral direction and the position of the peripheral object provided by the learning recording device; characterized by an output comparison device configured to integrate and compare differences in relative positions of the vehicle and differences in longitudinal distances between the vehicle and a peripheral object based on which control parameters for calculating the automatic driving control quantity are adjusted, wherein the relative positions and the longitudinal distances between the vehicle and the peripheral object are obtained from the learning recording device and the external surrounding recognition information prediction calculation unit respectively, and when the vehicle reaches a position on the map recorded by the learning recording device, both of the positions of the vehicle and of the peripheral object are reset and changed to the positions recorded when the driver drives the vehicle.