To selectively control switching between a state in which a work body performs work and a state in which it does not work, in consideration of a position where a work body actually performs work in a working machine in an autonomous traveling work vehicle.SOLUTION: The distance storage section 30 provided in the tractor 1 is provided with a mounting position of the positioning antenna 6 in the traveling machine body of the tractor 1 and a working center position of the working body in the working machine 3 mounted on the tractor 1 (a claw axis of the tilling claw Position) of the image. When the traveling machine body moves from the work area to the non-work area, the autonomous travel control unit 32 sets the tilling claw such that the tilling claw is in a non-work state when the claw axis position crosses the boundary between the work area and the non-, And when the traveling machine body moves from the non-work area to the work area, the tilling claws are switched over to the working machine control unit 34 such that the tilling claws are in the working state when the claw shaft position exceeds the boundary .(FIG.【課題】自律走行作業車両において、作業機で作業体が実際に作業を行う位置を考慮して、作業体が作業を行う状態と、そうでない状態とを良好に切換制御する。【解決手段】トラクタ1が備える距離記憶部30は、トラクタ1の走行機体における測位アンテナ6の取付位置と、トラクタ1に装着される作業機3における作業体の作業中心位置(耕耘爪の爪軸位置)との水平距離を取得する。自律走行制御部32は、走行機体が作業領域から非作業領域に移動する場合は、爪軸位置が作業領域と非作業領域との境界を越えたときに耕耘爪が非作業状態であるように、また、走行機体が非作業領域から作業領域に移動する場合は、爪軸位置が前記境界を越えたときに耕耘爪が作業状態であるように、作業機制御部34に耕耘爪を切換制御させる。【選択図】図4
