length of the section in a case where a slight change in course is required the section 222 parallel to the current travel direction is selected in a case where a large change direction is required in a change in course the section 223 having a slight angle change with respect to the current direction may be selected note that the angle change is performed for a short time so as to be small in order to cause the other party to easily predict the movement selection of the prediction facilitating movement is weighted in response to the above approach circumstances in a case of the facing 210 in order to define which the mobile object travels to the left side or the right side of the autonomous mobile system 100 a deceleration movement is performed for accelerating a change in route of the mobile object and the section 222 parallel to the current travel direction for shifting a route axis with respect to the facing mobile object is selected in a case of the above front crossing 211 a a deceleration for accelerating definition of the circumstances is performed in a case of the back crossing 211 b a forward movement without the deceleration for accelerating the definition of the circumstances is performed in a case of the overtaking 212 a deceleration and a stop for giving a route are performed.