We demonstrate dynamical topological phase transitions in evolving Su-Schrieffer-Heeger lattices made of interacting soliton arrays, which are entirely driven by nonlinearity and thereby exemplify an emergent nonlinear topological phenomenon. The phase transitions occur from the topologically trivial-to-nontrivial phase in periodic succession with crossovers from the topologically nontrivial-to-trivial regime. The signature of phase transition is the gap-closing and reopening point, where two extended states are pulled from the bands into the gap to become localized topological edge states. Crossovers occur via decoupling of the edge states from the bulk of the lattice.