A driving change control device in a vehicle equipped with an autonomous driving function for performing a driving operation on behalf of a driver and controlling an exchange of the driving operation between the autonomous driving function and the driver includes: a section setting unit that sets a change execution section where a driving change from the autonomous driving function to the driver is performed; and a parameter adjustment unit that changes a travel control parameter referred to by the autonomous driving function in a switching section before the change execution section, to adjust a traveling state of the vehicle to be a state with a driving load lower than a driving load before arrival at the switching section.