An imaging device according to the present invention includes an image sensor (244) having: a light receiving unit (244f) in which a plurality of pixels is provided in a matrix form, each of the pixels being configured to perform photoelectric conversion on received light to generate an electrical signal； a reading unit (244g) that sequentially reads, for each line, the electrical signal generated by each of the pixels； and an imaging controller (244e) that performs imaging control that alternately repeats read processing that causes the reading unit (244g) to read the electrical signal generated by at least a pixel as an image processing target among the plurality of pixels and exposure processing that exposes the light receiving unit, and includes a drive information generation unit (408a) that sets an exposure period of the exposure processing based on the electrical signal and generates the set exposure period as drive information. The imaging controller (408a) controls the exposure processing and the read processing based on the drive information.
