An object detection system mounted on a work vehicle provides a technique capable of preventing erroneous detection of an obstacle and avoiding unnecessary stop of the work vehicle due to the erroneous detection of the obstacle. I do. A distance measuring unit mounted on a work vehicle for irradiating the surrounding area with measuring light, receiving reflected light of the measuring light, and measuring a distance to a distance measuring point at which the measuring light is reflected； An obstacle detection unit that detects an obstacle within a predetermined obstacle detection area based on the measurement result of the unit, and the obstacle detection unit is received by a distance measurement unit. It is determined whether or not the ranging point is a non-obstacle using at least one of the intensity of the reflected light from the ranging point and the distance to the ranging point measured by the ranging unit. [Selection diagram] FIG.【課題】作業車両に搭載される障害物検知システムにおいて、障害物の誤検知を抑制しながら、当該障害物の誤検知に起因する作業車両の無用な停止等を回避することができる技術を提供する。【解決手段】作業車両に搭載され、周囲に測定光を照射するとともに当該測定光の反射光を受光して当該測定光が反射した測距点までの距離を測定する測距部と、測距部の測定結果に基づいて所定の障害物検知領域内にある障害物を検知する障害物検知部と、を備えた障害物検知システムであって、障害物検知部が、測距部で受光された測距点からの反射光の強度及び測距部で測定された測距点までの距離の少なくとも一方を用いて、測距点が非障害物であるかを判定する。【選択図】図１８
