This range-finding control device is used for an image-capturing device which includes: a light source that emits invisible light; and a light receiving unit which receives reflection light that is invisible light reflected by a target. The range-finding control device includes a control unit and a measurement unit. The control unit controls the image-capturing device so that image-capturing conditions for measuring the distance from the image-capturing device to the target are different for each divided range obtained by dividing, into at least two, a range within a prescribed distance from the image-capturing device. The measurement unit measures the distance from the image capturing device to the target on the basis of the reflection light.