PROBLEM TO BE SOLVED: To travel a work vehicle at an entrance of a travel area while preventing invasion into the travel area at an abrupt slope angle.SOLUTION: The travel control system for work vehicle includes: a distance sensor 101 which is provided on a work vehicle 1 and measures a distance to an object to be measured in a three-dimension； a slope angle calculation section which calculates a slope angle α5 of a travel surface S1a of the work vehicle 1 at an entrance S1 of a travel area S on the basis of measurement information of the distance sensor 101； and an invasion restraint section for restraining the work vehicle 1 from traveling at the entrance S1 of the travel area S and from invading into the travel area S when the slope angle α5 calculated by the slope angle calculation section is out of an invadable range.SELECTED DRAWING: Figure 17COPYRIGHT: (C)2020,JPO&INPIT【課題】急激な傾斜角度での走行領域内への進入を防止しながら、走行領域の入口にて作業車両を走行させること。【解決手段】作業車両１に備えられ、測定対象物までの距離を３次元にて測定する距離センサ１０１と、距離センサ１０１の測定情報に基づいて、走行領域Ｓの入口Ｓ１における作業車両１の走行面Ｓ１ａの傾斜角度α５を演算する傾斜角度演算部と、傾斜角度演算部にて演算された傾斜角度α５が進入可能範囲外である場合には、作業車両１が走行領域Ｓの入口Ｓ１を走行して走行領域Ｓ内へ進入するのを牽制する進入牽制部とが備えられている。【選択図】図１７
