Achieved is an autonomous traveling control device which generates a safety priority path for avoiding passage through or approach to a dangerous region where a contact with another mobile object is possible, and travels along the safety priority path. The autonomous traveling control device includes a traveling path determination unit that generates a safety priority path for avoiding passage through or approach to a dangerous region where a contact with another mobile object is possible; and a traveling control unit that executes control causing the own device to travel along the safety priority path generated by the traveling path determination unit. The traveling path determination unit generates a cost priority path in a metric map on the basis of a minimum cost path in a topology map, and generates a safety priority path bypassing the dangerous region by correcting the cost priority path in the metric map.