An autonomous control system includes a state amount acquiring unit that acquires the information of a control target, a control target position identification unit, a control target reaching region calculation unit, an outside information acquiring unit, a target distinguishing unit, a non-control target position identification unit, a non-control target reaching region calculation unit, an intersection region calculation unit, a control parameter setting unit, and an operation amount calculation unit that calculates a control input such that the value of an objective function J becomes a smaller value than the previous value.