PROBLEM TO BE SOLVED: To prevent occurrence of inconvenience such as a large deviation of a working vehicle from a target travelling route by taking measures with respect to a movement of a reference station from a reference point.SOLUTION: An autonomous travelling system comprises: a reference station 60 that is set at a predetermined reference point, and transmits correction information on the basis of position information on the reference point, and satellite positioning information a movement station that is loaded in a working vehicle 1, and computes position information on the working vehicle 1 on the basis of the correction information to be transmitted from the reference station 60 and the satellite positioning information and an autonomous travelling control unit that uses the position information on the working vehicle 1 computed by the movement station to make the working vehicle autonomously travel along a predetermined target travelling route, in which the reference station has a movement detection unit that detects a movement of the reference station 60. When the movement of the reference station 60 is detected by the movement detection unit, the autonomous travelling control unit is configured to make autonomous travelling of the working vehicle 1 to be stopped.SELECTED DRAWING: Figure 1COPYRIGHT: (C)2018,JPO&INPIT【課題】基準点からの基準局の移動に対する措置を講じることで、目標走行経路から作業車両が大きく外れてしまう等の不都合が生じるのを防止する。【解決手段】予め定められた基準点に設置されて基準点の位置情報と衛星測位情報に基づいて補正情報を送信する基準局60と、作業車両1に搭載されて基準局60から送信される補正情報と衛星測位情報に基づいて作業車両1の位置情報を演算する移動局と、移動局により演算された作業車両1の位置情報を用いて予め定められた目標走行経路に沿って作業車両を自律走行させる自律走行制御部と、を備えて自律走行システムであって、基準局60の移動を検知する移動検知部を有し、自律走行制御部は、移動検知部により基準局60の移動が検知された場合に、作業車両1の自律走行を停止させる。【選択図】図1
