A construction machine control system for a construction machine that travels along a travel route, includes: a position detection unit that detects a position of the construction machine; a determination unit that determines whether an error in the position detected by the position detection unit is equal to or smaller than a predetermined error; a non-contact sensor that detects a position of an object around the construction machine; and a map information storage unit that extracts a detection result related to a vertical projection that protrudes vertically from a detection result of the non-contact sensor and stores the extracted detection result related to the vertical projection as map information when the determination unit determines that the error in the position detected by the position detection unit is equal to or smaller than the predetermined error.