The present invention relates to a vehicular headlamp driving control device comprising: an AFL function on/off check unit; a headlamp driving controller that reads an AFL function execution initiation message and then controls operations of a left/right driving actuator, an up/down driving actuator, and a beam pattern changing actuator, which have been connected to the headlamp, so as to correspond to a sensing value from a sensor; and an AFL function detailed adjustment controller configured such that the AFL function can be distinguished as belonging to an AFL detailed level of an upper level, a middle level, or a lower level according to AFL detailed distinction particulars, which have been preset in AFL function detailed setting particulars, and controlled accordingly.