The present invention has an object to provide a technology of determining whether a driver is prepared for transfer of driving authorization, and then determining whether transfer of driving authorization is acceptable or unacceptable. The present invention is intended for a driving authorization transfer determination device. The device includes a task request part that makes an output device inside the vehicle output a request for a task involving continuous speech or body movement for a predetermined period of time, a task acquisition part that acquires an accomplishment result of the task from an input device inside the vehicle, a transfer determination part that determines whether the transfer is acceptable or unacceptable based on the accomplishment result of the task, and a determination result output part that outputs a determination result of the transfer determination part to the automated driving controller.