PROBLEM TO BE SOLVED: To provide a farm field work vehicle capable of autonomously traveling to a work starting position in a farm field without deteriorating work efficiency.SOLUTION: A farm field work vehicle includes: shape information acquisition unit 30 for acquiring shape information indicating the shape of a farm field； an exit information acquisition unit 31 for acquiring exit information indicating an exit area of the farm field； a go-around travelling route calculation unit 33 for calculating a go-around travelling route to go around an outer peripheral area of the farm field by one lap or more based on the shape information； a central area route calculation unit 34 for calculating a central area route that covers a central area located inside the outer peripheral area with a straight route based on the go-around travelling route； and a starting position setting unit 35 for setting a travelling starting position of the central area route according to the exit information and the number of straight routes constituting the central area route.SELECTED DRAWING: Figure 2COPYRIGHT: (C)2020,JPO&INPIT【課題】作業効率を低下させることなく、圃場内における作業開始位置まで自律走行が可能な圃場作業車を提供する。【解決手段】圃場作業車は、圃場の形状を示す形状情報を取得する形状情報取得部３０と、圃場の出口領域を示す出口情報を取得する出口情報取得部３１と、形状情報に基づいて、圃場の外周領域を１周以上周回走行するための周回走行経路を算定する周回走行経路算定部３３と、周回走行経路に基づいて、外周領域の内側に位置する中央領域を直線経路で網羅する中央領域経路を算定する中央領域経路算定部３４と、出口情報と中央領域経路を構成する直線経路の数とに応じて、中央領域経路の走行開始位置を設定する開始位置設定部３５と、を備える。【選択図】図２
