PROBLEM TO BE SOLVED: To simplify a calculation for specifying the shape of a travel area while easily identifying obstacles, and to appropriately specify the shape of the travel area.SOLUTION: A travel area shape specification device comprises: a movement locus acquisition unit which acquires a movement locus M2 of a work vehicle 1 based on position information of the work vehicle 1 acquired by a position information acquisition unit； a distance sensor installed in the work vehicle 1, which measures a distance to a measuring object in three dimensions； an obstacle specification unit which specifies obstacles V1, V2 based on measurement information from the distance sensor when the work vehicle 1 travels around a boundary S1 side of a travel area S； and a shape specification unit which specifies the shape of the travel area S in a form that corrects the movement locus M2 of the work vehicle 1 acquired by the movement locus acquisition unit according to the obstacles V1, V2 specified by the obstacle specification unit while the work vehicle 1 travels around the boundary S1 side of the travel area S.SELECTED DRAWING: Figure 21COPYRIGHT: (C)2020,JPO&INPIT【課題】障害物を簡易に特定できながら、走行領域の形状を特定するための演算等の簡素化を図り、走行領域の形状を適切に特定すること。【解決手段】位置情報取得部にて取得する作業車両１の位置情報に基づいて、作業車両１の移動軌跡Ｍ２を取得する移動軌跡取得部と、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と、作業車両１を走行領域Ｓの境界部Ｓ１側を周回走行させた場合に、距離センサの測定情報に基づいて、障害物Ｖ１、Ｖ２を特定する障害物特定部と、作業車両１を走行領域Ｓの境界部Ｓ１側を周回走行させた場合に、移動軌跡取得部にて取得する作業車両１の移動軌跡Ｍ２を、障害物特定部にて特定された障害物Ｖ１、Ｖ２に応じて補正する形態で、走行領域Ｓの形状を特定する形状特定部とが備えられている。【選択図】図２１
