PROBLEM TO BE SOLVED: To provide an autonomous travel system capable of automatically and correctly registering a start point and an end point in a case of traveling along a straight path.SOLUTION: An autonomous travel system includes a reference path creation part, a position acquisition part, a travel control part, an elevation device, a float sensor, a ground sensor, an elevation control part, a start point registration part, and an end point registration part. The travel control part causes a rice transplanter to travel by autonomously performing at least steering along a straight path that is a path parallel to a reference path and connects a start point and an end point. The elevation control part calculates sinkage of a float on the basis of a detection result of the ground sensor to control the elevation device. The start point registration part registers, as the start point, a position when a grounding body contacts a field surface after a planting part descends after turning of the rice transplanter. The end point registration part registers, as the end point, an intersection of a line obtained by extending the start point in parallel with the reference path, and a line obtained by extending the start point of the straight path in one line before in perpendicular to the reference path.SELECTED DRAWING: Figure 8COPYRIGHT: (C)2020,JPO&INPIT【課題】直線経路に沿って走行する際の開始点及び終了点を自動的かつ正確に登録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、基準経路作成部と、位置取得部と、走行制御部と、昇降装置と、フロートセンサと、接地センサと、昇降制御部と、開始点登録部と、終了点登録部と、を備える。走行制御部は、基準経路に平行であって開始点と終了点を結ぶ経路である直線経路に沿って少なくとも操舵を自律的に行って田植機を走行させる。昇降制御部は、接地センサの検出結果に基づいてフロートの沈下量を算出して昇降装置を制御する。開始点登録部は、田植機の旋回後に植付部が下降した後に接地体が圃場表面に接触した時の位置を開始点として登録する。終了点登録部は、開始点を基準経路に平行に延長した線と、一本前の直線経路の開始点を基準経路に垂直に延長した線と、の交点を終了点として登録する。【選択図】図８
