An object of the present invention is to provide a combine that can efficiently perform a mowing operation. A self-propelled vehicle is controlled while executing a harvesting operation based on a traveling work route set in a field, a storage unit for storing a dischargeable position at a field edge, and position information acquired by a positioning unit. A traveling control unit, a tank for storing the harvested kernels, a first harvesting amount detection unit for detecting the harvesting amount of the kernels stored in the tank, and a harvesting amount per unit traveling distance of the harvested kernels. Based on the output of the second crop detecting section to be detected and the output of both crop detecting sections, a full position is predicted as a full position at which position on the straight traveling path in the traveling work path the tank will be full. A position estimating unit for interrupting the harvesting operation at the turning position immediately before the full estimating position and autonomously moving to the dischargeable position. [Selection diagram] FIG.【課題】刈取作業を効率よく実施できるコンバインを提供する。【解決手段】圃場内に設定される走行作業経路と、圃場端の排出可能位置を記憶する記憶部と、測位部により取得される位置情報に基づいて刈取作業を実行しつつ自律走行を制御する走行制御部と、収穫した穀粒を貯留するタンクと、タンク内に貯留された穀粒の収穫量を検出する第１収穫量検出部と、収穫した穀粒の単位走行距離当たりの収穫量を検出する第２収穫量検出部と、両収穫量検出部の出力に基づいて、走行作業経路内の直線走行経路上のいずれの位置で前記タンクが満杯状態になるかを満杯位置として予測する満杯位置予測部とを備え、満杯予測位置の直前にある転回位置において刈取作業を中断して排出可能位置に自律走行させる。【選択図】図６
