An imaging control device includes a combiner configured to generate a combined image on the basis of a first image captured in a first exposure time and a second image captured in a second exposure time longer than the first exposure time and an exposure time controller configured to control at least one of the first exposure time and the second exposure time on the basis of a number of pixels of at least one of saturated pixels having pixels values equal to or larger than a predetermined value and black pixels having pixel values equal to or smaller than the predetermined value in the combined image and a value concerning a luminance value of the combined image.