PROBLEM TO BE SOLVED: To provide an autonomous travel system capable of readily causing a work vehicle to move along a turn route even when a position of a positioning antenna is located away from a vehicle reference point of the work vehicle.SOLUTION: An autonomous travel system includes a position acquisition unit, a travel route creation unit, a travel route correction unit, and a steering angle control unit. The position acquisition unit acquires a positioning point P1, which is a position of a positioning antenna located at a position different from a vehicle reference point P2 that delineates an arc when a rice transplanter 1 is turned, through positioning arithmetic. The travel route creation unit creates a travel route that includes a turn route and is traced by the vehicle reference point P2. The travel route correction unit creates a corrected travel route 92 obtained by correcting the travel route on the basis of a relative position of the positioning antenna with respect to the vehicle reference point P2. The steering angle control unit autonomously steers a work vehicle so as to cause the rice transplanter 1 to travel in such a manner that the positioning point P1 traces the corrected travel route 92.SELECTED DRAWING: Figure 6COPYRIGHT: (C)2020,JPO&INPIT【課題】測位アンテナの位置が作業車両の車両基準点から離れている場合であっても、作業車両を旋回経路に沿って容易に移動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、位置取得部と、走行経路作成部と、走行経路補正部と、舵角制御部と、を備える。位置取得部は、田植機１が旋回時に円弧を描く部分である車両基準点Ｐ２とは異なる位置に配置された測位アンテナの位置である測位点Ｐ１を測位演算により取得する。走行経路作成部は、旋回経路を含み、車両基準点Ｐ２が通る経路である走行経路を作成する。走行経路補正部は、車両基準点Ｐ２に対する測位アンテナの相対位置に基づいて走行経路を補正した補正走行経路９２を作成する。舵角制御部は、作業車両の操舵を自律的に行うことで、測位点Ｐ１が補正走行経路９２に沿うように田植機１を走行させる。【選択図】図６
