PROBLEM TO BE SOLVED: To make a working vehicle appropriately autonomous travel in any route when the working vehicle travels a working route, and travels a revolving route.SOLUTION: An autonomous travelling system, which makes a working vehicle implement autonomous travelling along a travelling route including a plurality of working routes where a work is implemented by the working vehicle, and a revolving route connecting each working route and revolving the working vehicle, comprises: a position information acquisition unit 23a that acquires position information on the working vehicle a travelling accuracy identification unit 23b that identifies reduction in traveling accuracy of the working vehicle and a burden alleviation processing execution unit 23d that, when the reduction in travelling accuracy of the working vehicle is detected by the travelling accuracy identification unit 23b, executes burden alleviation processing even when a current position of the working vehicle is present even on the working route or the revolving route.SELECTED DRAWING: Figure 2COPYRIGHT: (C)2018,JPO&INPIT【課題】作業車両が作業経路を走行するときも、旋回経路を走行するときも、どちらの経路においても適切に自律走行させること。【解決手段】作業車両により作業が行われる複数の作業経路と、各作業経路を接続するとともに作業車両を旋回させる旋回経路とを含む走行経路に沿って、作業車両を自律走行させる自律走行システムにおいて、作業車両の位置情報を取得する位置情報取得部23aと、作業車両の走行精度の低下を特定する走行精度特定部23bと、走行精度特定部23bにより作業車両の走行精度の低下が検知された場合に作業車両の現在位置が作業経路上であっても旋回経路上であっても負担軽減処理を実行する負担軽減処理実行部23dとを備える。【選択図】図2
