A control device for changing screen and audio of an AVN system includes a surrounding-state-information acquisition unit that acquires surrounding state information of a vehicle, an output unit that outputs the surrounding state information acquired by the surrounding-state-information acquisition unit, a gear-shifting-state sensing unit that senses a shifting state of a gear of the vehicle, a booting execution unit that performs an initial booting process for booting the AVN system when a system power is applied with a start of an engine of the vehicle, and a control unit that outputs the surrounding state information acquired by the surrounding-state-information acquisition unit from the output unit with priority over the initial booting screen and audio outputted by the booting execution unit when a reverse gear state is sensed by the gear-shifting-state sensing unit while the initial booting process is being performed by the booting execution unit.