PROBLEM TO BE SOLVED: To provide an autonomous traveling system capable of appropriately autonomously traveling a work vehicle in a headland area by creating an auxiliary line that can be used as a route in the headland area. An autonomous traveling system includes a field acquisition unit, a reference auxiliary line creation unit, an adjacent auxiliary line creation unit, and a travel control unit. The farm field acquisition unit acquires information on a farm field having a work area and a headland area. The reference auxiliary line creation unit creates the first reference auxiliary line in the headland region at a position spaced apart by the first reference interval inward from the field peripheral edge. The adjacent auxiliary line creating unit creates the first adjacent auxiliary line at a position spaced inward from the first reference auxiliary line by each auxiliary line interval. The total number of the first reference auxiliary lines and the first adjacent auxiliary lines created on the inner side of a predetermined side of the field edge is a value obtained by rounding up the fractional part of headland width L/auxiliary line interval S. The traveling control unit causes the work vehicle to autonomously travel along at least a part of the first reference auxiliary line and the first adjacent auxiliary line. [Selection diagram] Fig. 5【課題】枕地領域において経路として利用可能な補助線を作成することで、枕地領域において作業車両を適切に自律走行させることが可能な自律走行システムを提供する。【解決手段】自律走行システムは、圃場取得部と、基準補助線作成部と、隣接補助線作成部と、走行制御部と、を備える。圃場取得部は、作業領域及び枕地領域を有する圃場の情報を取得する。基準補助線作成部は、第１基準間隔だけ、圃場周縁を内側に離間した位置の枕地領域内に第１基準補助線を作成する。隣接補助線作成部は、補助線間隔ずつ、第１基準補助線を内側に離間した位置に第１隣接補助線を作成する。圃場周縁の所定の一辺の内側に作成される第１基準補助線と第１隣接補助線の合計の数は、枕地幅Ｌ／補助線間隔Ｓの小数点以下を切り上げた値である。走行制御部は、第１基準補助線及び第１隣接補助線の少なくとも一部に沿って作業車両を自律走行させる。【選択図】図５
