An environment information acquisition unit acquires a signal state of a traffic light. A self-position estimation unit estimates a self-position of the autonomous moving object. A traveling route decision unit calculates a first time necessary to move along a first route from the self-position to an end point of a crosswalk and a second time necessary to move along a second route from the self-point to a start point of the crosswalk in a case in which the signal state is changed from blue to red on the crosswalk after a predetermined time or in a case in which the signal state is changed from blue to red, and selects a route corresponding to a time smaller between the first time and the second time. A vehicle control unit controls autonomous movement of the autonomous moving object so that the autonomous moving object moves along the selected route.