PROBLEM TO BE SOLVED: To match the azimuth indicated by a planned traveling route with the traveling azimuth of a work vehicle (traveling vehicle). A control device for a work vehicle includes a first control unit that sets a steering angle for a steering device based on a planned travel route, and a braking device for a traveling vehicle based on the planned travel route. A second control unit that sets the braking of either the first wheel or the second wheel that is provided, and the first control unit is configured such that the positional deviation between the planned traveling route and the position of the traveling vehicle is a first threshold value. The steering angle is set as follows, and the second control unit determines that the azimuth deviation between the azimuth indicated by the planned travel route and the traveling azimuth of the traveling vehicle is the second azimuth when the positional deviation is equal to or less than the first threshold. The braking of either the first wheel or the second wheel is set so as to be equal to or less than the threshold value. [Selection diagram] Figure 1【課題】走行予定ルートで示された方位と作業車両（走行車両）の走行方位とを一致させる。【解決手段】作業車両の制御装置は、走行予定ルートに基づいて操舵装置に対して、操舵角の設定を行う第１制御部と、走行予定ルートに基づいて制動装置に対して、走行車両に設けられた第１輪及び第２輪のいずれかの制動の設定を行う第２制御部と、を備え、第１制御部は、走行予定ルートと走行車両の位置との位置偏差が第１閾値以下になるよう操舵角の設定を行い、第２制御部は、位置偏差が第１閾値以下である場合に、走行予定ルートで示された方位と走行車両の走行方位との方位偏差が第２閾値以下になるよう第１輪及び第２輪のいずれかの制動の設定を行う。【選択図】図１
