PROBLEM TO BE SOLVED: To provide a route generation device preventing a complicated route from being generated by integrating a surplus space set in the periphery of an obstacle with a headland when the obstacle is near the periphery of a field so as to prevent reduction of work efficiency.SOLUTION: A route generation device can generate a route R comprising a work route Ra for travelling while performing work in a field H and a travel route Rb for traveling only. In setting a field, when an obstacle 400 is present in the field H, a first area where the work route Ra is generated, a second area set in the periphery of the first area, a third area located in the field H and inhibiting travel of a vehicle body part therein, and a fourth area where the work route Ra is not generated but the travel route Rb for traveling can be generated and which is set in the periphery of the third area can be set. When the second area and fourth area overlap with each other, the fourth area can be set while contained in the second area.SELECTED DRAWING: Figure 10【課題】障害物が圃場の周囲に近い場合には、障害物の周囲に設定される余裕の領域を枕地と統合させて複雑な経路が生成されず作業効率の低下防止できる作業走行経路生成装置を提供しようとする。【解決手段】圃場Ｈ内を作業を行いながら走行する作業経路Ｒａと走行のみ行う走行経路Ｒｂからなる経路Ｒを生成可能な経路生成装置は、圃場設定時に、圃場Ｈ内に障害物４００が存在する場合、前記作業経路Ｒａが生成される第１領域と、該第１領域の周囲に設定される第２領域と、前記圃場Ｈ内であって車体部の走行が禁止される第３領域と、作業経路Ｒａは生成されないが走行するための走行経路Ｒｂは生成可能とする該第３領域の周囲に設定される第４領域とを設定可能とするとともに、第２領域と第４領域とが重複する場合、第４領域を第２領域に含めて設定可能とする。【選択図】図１０
