PROBLEM TO BE SOLVED: To provide a traveling route generating device capable of appropriately generating a traveling route even when an outline of a field has a recess locally entering an inside.SOLUTION: A traveling route generating device is comprised of: a circulating traveling route calculating unit 621 for calculating a circulating traveling route for traveling around a circumference area of a field one or more times a reference straight line calculating unit 622 for calculating a reference straight line group which extends in parallel to a reference side of the field and covering a central area located at an inner side of the circumference area in a predetermined interval an effective reference straight line portion calculating unit 623 for calculating an effective reference straight line portion group by excluding a reference straight line portion intersecting an outermost circumferential traveling route from the reference straight line portion group composed of straight line portions corresponding to the central area in the reference straight line group and a central traveling route calculating unit 624 for calculating a central traveling route for traveling in the central area including the straight traveling route based on an effective reference straight line portion group and an U-turn route connecting the straight traveling routes.SELECTED DRAWING: Figure 4【課題】圃場の外形線が内側に局部的に入り込んだ凹部を有する場合でも、適切に走行経路が生成できる走行経路生成装置の提供。【解決手段】走行経路生成装置は、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出する周回走行経路算出部621と、圃場の基準辺に平行に延びるとともに、所定間隔で外周領域の内側に位置する中央領域を網羅する基準直線群を算出する基準直線算出部622と、基準直線群における中央領域に対応する直線部分からなる基準直線部分群から、最外周の周回走行経路と交差する基準直線部分を除外して有効基準直線部分群を算出する有効基準直線部分算出部623と、有効基準直線部分群に基づく直進経路と、直進経路同士をつなぐUターン経路とからなる中央領域を走行するための中央走行経路を算出する中央走行経路算出部624とを備えている。【選択図】図4
