PROBLEM TO BE SOLVED: To enable plural work vehicles to collaborate with a distance between work vehicles held at a designation distance while achieving simplification of a constitution and reduction of a cost.SOLUTION: Included are a first work vehicle 1A that autonomously travels, a second work vehicle 2A that travels behind the first work vehicle 1A, a forward obstacle sensor 101 and backward obstacle sensor 102 included in the first work vehicle 1A, an obstacle control unit 107 that detects an obstacle on the basis of measurement information of the forward obstacle sensor 101 in the event that the first work vehicle 1A is advancing, and detects an obstacle on the basis of measurement information of the backward obstacle sensor 102 in the event that the first work vehicle is backing, and an accompanying interval control unit 110 that, when the first work vehicle 1A is advancing, controls the traveling speed of the first work vehicle 1A on the basis of the measurement information of the backward obstacle sensor 102 so that a measurement distance to the second work vehicle 1B can be retained at a designation distance Ds.SELECTED DRAWING: Figure 17COPYRIGHT: (C)2020,JPO&INPIT【課題】構成の単純化とコストの削減を図りながら、作業車両間の距離を設定距離に維持する状態で複数台の作業車両にて協調して作業を行うことを可能にする。【解決手段】自動走行する第１作業車両１Ａと、第１作業車両１Ａの後方を走行する第２作業車両２Ａと、第１作業車両１Ａに備えられた前方側障害物センサ１０１及び後方側障害物センサ１０２と、第１作業車両１Ａが前進走行中である場合に前方側障害物センサ１０１の測定情報に基づいて障害物を検知し、第１作業車両１Ａが後進走行中である場合に後方側障害物センサ１０２の測定情報に基づいて障害物を検知する障害物用制御部１０７と、第１作業車両１Ａが前進走行中である場合に、後方側障害物センサ１０２の測定情報に基づいて第２作業車両１Ｂまで測定距離Ｄｔが設定距離Ｄｓに維持されるように、第１作業車両１Ａの走行速度を制御する随伴間隔制御部１１０が備えられている。【選択図】図１７
