Travelling corresponding to characteristics of autonomous driving can be performed. An autonomous driving control device 3 mounted on a vehicle and controlling autonomous driving, includes a storage unit 32 that stores map data 32a, a route extraction unit 311 that extracts a plurality of routes from an origin O to a destination D based on the map data 32a, a determination unit 312 that determines whether or not to change to another route in response to a situation of an intersection when the vehicle approaches the intersection while the vehicle is traveling in one route of the routes extracted by the route extraction unit 311, and an autonomous driving control unit 313 that controls autonomous driving based on the determination of the determination unit 312.