AUTONOMOUS TRAVEL CONTROL SYSTEM, AUTONOMOUS TRAVEL CONTROL DEVICE, AUTONOMOUS TRAVEL DEVICE, AUTONOMOUS TRAVEL CONTROL METHOD, AND NON-TRANSITORY COMPUTER READABLE MEDIUM

A technic controls an autonomous travel device capable of communicating with a center and executing autonomous traveling. In the technic, It is determined whether to permit switching of control modes including an autonomous travel mode, a stop mode, and a user operation mode. An external abnormality that occurs outside the autonomous travel device is detected. The determination of whether to permit the switching includes permitting the switching from the stop mode to the user operation mode in response to acquisition of a permission regarding the switching from the stop mode to the user operation mode from the center when the external abnormality is not detected. The determination of whether to permit the switching includes permitting the switching from the stop mode to the user operation mode regardless of the acquisition of the permission when the external abnormality is detected.