PROBLEM TO BE SOLVED: To solve the problem in which: an automatic travel working vehicle is demanded which executes steering control considering at least a working ground state and a working type in returning the vehicle body deviated from a target travel route to the target travel route.SOLUTION: An automatic travel working vehicle comprises: a work travelling information recording unit 45 which records work travelling information containing a working ground state and a working type of a working device； a steering mechanism 13 which changes a travelling direction of a vehicle body； an own vehicle position calculating unit 70 which calculates an own vehicle position； a travel route setting unit 51 which sets a target travel route； a control input value calculating unit 502 which calculates a control input value based on a route deviation, which is a deviation of the vehicle body to the target travel route, on the basis of the target travel route and the own vehicle position； a steering control unit 501 which calculates a controlled variable necessary to control the steering mechanism on the basis of the control input value and steering sensitivity； and a steering sensitivity setting unit 503 which derives the steering sensitivity from the working ground state and working type read from the work travelling information.SELECTED DRAWING: Figure 4【課題】目標走行経路から外れた車体を目標走行経路に戻す際に、少なくとも作業地の状態と作業種類とを考慮した操舵制御が実行される自動走行作業車が要望されている。【解決手段】自動走行作業車は、作業地の状態と作業装置の作業種類とを含む作業走行情報を記録する作業走行情報記録部４５と、車体の走行方向を変更する操舵機構１３と、自車位置を算出する自車位置算出部７０と、目標走行経路を設定する走行経路設定部５１と、目標走行経路と前記自車位置とに基づいて目標走行経路に対する車体のずれである経路ずれに基づく制御入力値を算出する制御入力値算出部５０２と、制御入力値と操舵感度とに基づいて操舵機構を制御する制御量を演算する操舵制御部５０１と、作業走行情報から読み出された作業地の状態や作業種類から操舵感度を導出する操舵感度設定部５０３とを備えている。【選択図】図４
