An autonomous mode controller (61), which outputs an acceleration command (SAa), a braking command (SBa), and a torque command (Ta), is connected to a steering actuator (33) and a travel drive unit (52). The steering actuator (33) generates a combined torque (T1) on the basis of a steering torque (Tm), which comes from a steering wheel (32), and the torque command (Ta), and controls the steering angle (θ) of the vehicle on the basis of the combined torque (T1). The travel drive unit (52) selects, as acceleration command (SA), the greater of an acceleration command (SAm) received from an accelerator pedal (50) and the acceleration command (SAa) output from autonomous mode controller (61), and also selects, as braking command (SB), the greater of a braking command (SBm) received from a brake pedal (51) and the braking command (SBa) output from the autonomous mode controller (61). The travel drive unit (52) controls the vehicle speed on the basis of acceleration command (SA) and braking command (SB).
