PROBLEM TO BE SOLVED: To provide an automatic traveling device of a work vehicle capable of making the work vehicle travel while accompanying an accompanying target vehicle along a traveling line unlike the accompanying target vehicle.SOLUTION: An automatic traveling device of a work vehicle includes: a sensor 101 provided in the work vehicle 1, and measuring a distance to a subject and a direction where the subject is present in a measuring range C having the spreading of a predetermined angle in a plan view； a marker registration unit for registering a marker M provided in an accompanying target vehicle 401 as a monitoring target marker Mk； an automatic traveling control unit 18 for performing the accompanying traveling control for controlling a traveling speed and a steering angle of the work vehicle 1 so that a measurement distance Dd to the monitoring target marker Mk provided in the accompanying target vehicle 401 and a measurement direction Ad may be maintained to a setting distance Ds and a setting direction As based on the measurement information of the sensor 101； and an accompanying form setting unit capable of setting at least the setting direction As in the direction unlike the traveling direction A1 of the work vehicle 1 in a plan view in a measuring range C of the sensor 101.SELECTED DRAWING: Figure 16COPYRIGHT: (C)2020,JPO&INPIT【課題】随伴対象車両とは異なる走行ラインに沿って随伴対象車両を随伴する状態で作業車両を走行させることのできる作業車両の自動走行装置を提供する。【解決手段】作業車両１に設けられ、平面視で所定角度の広がりを有する測定範囲Ｃ内で被写体までの距離及び被写体の存在する方向を測定するセンサ１０１と、随伴対象車両４０１に設けられるマーカＭを監視対象マーカＭｋとして登録するマーカ登録部と、センサ１０１の測定情報に基づいて随伴対象車両４０１に設けられた監視対象マーカＭｋまでの測定距離Ｄｄ及び測定方向Ａｄが設定距離Ｄｓ及び設定方向Ａｓに維持されるように作業車両１の走行速度及び操舵角を制御する随伴走行制御を行う自動走行制御部１８と、少なくとも設定方向Ａｓを、センサ１０１の測定範囲Ｃ内において平面視で作業車両１の走行方向Ａ１とは異なる方向に設定可能な随伴形態設定部と、が備えられている。【選択図】図１６
