PROBLEM TO BE SOLVED: To solve the problems in which: when a service car 1 performs autonomous travel along a travel route P and when for example a farm field is inclined as a whole, measurement value of area of the farm field is estimated to be smaller than the actual area of the farm field to leave a region unworked during the autonomous travel.SOLUTION: A route generation device comprises: a position information acquisition unit 50 which can acquire position data of a machine body 2； an inclination angle information acquisition unit 50 which can acquire inclination angle data of the machine body 2； a controller 4 which can specify a travel area F where the machine body 2 is made to perform autonomous travel on the basis of a travel track of the machine body 2, generate a travel route P of the machine body 2 in the travel area F, and instruct the machine body 2 to travel along the travel route P； and a storage unit 51 which stores shape information of the travel area F based on the position information and area information mapping the inclination angle information with the position information.SELECTED DRAWING: Figure 3【課題】作業車１に走行経路Ｐに沿った自律走行を行わせるにあたり、例えば圃場が全体的に傾斜している場合、圃場面積の測定値を実際の圃場面積よりも小さく見積もり、自律走行時に未作業の領域を生ずるという問題を解消する。【解決手段】本発明の経路生成装置は、機体２の位置情報を取得可能な位置情報取得部５０と、機体２の傾斜角情報を取得可能な傾斜角情報取得部５０と、機体２の走行軌跡から機体２を自律走行させる走行領域Ｆを特定し、走行領域Ｆにおける機体２の走行経路Ｐを生成し、走行経路Ｐに沿った機体２の走行を指示可能な制御部４と、位置情報に基づく走行領域Ｆの形状情報並びに位置情報に対する傾斜角情報を対応付けた領域情報を記憶する記憶部５１とを備える。【選択図】図３
