A mirror control device configured to output a signal that indicates a first frame immediately after the angle-of-view change and a shift change amount, generate a shift correction amount and a scanning angle range correction amount that correspond to an expected deviation amount in the first frame using the shift change amount, output a corrected angle-of-view parameter and a corrected scanning angle range, drive the scanning mirror in the first direction to drive the scanning mirror, based on output of the angle-of-view parameter correction means, drive the scanning mirror in the second direction to drive the scanning mirror through a low-pass filter.