[Problem] To provide a driving route generating device that generates a driving route for moving efficiently even during autonomous driving, and that can maintain a high level of safety. [Solution] This driving route generating device 1 comprises: an entry prohibited area determining unit 21 that determines entry prohibited areas 81b to 85b of obstacles and the obstacle periphery based on the coordinate information of obstacles 81b to 85b; and a movement permitted area determining unit 22 that determines a movement permitted area 80i in which moving by a moving device 100 is possible inside a target area while ensuring safety, by excluding the entry prohibited area from a target area 80 to be acquired.