PROBLEM TO BE SOLVED: To generate a connection path according to a shape of a non-working area.SOLUTION: A path generation system includes a path generation unit for generating a travel path for autonomous travel by a working vehicle in a working area and a non-working area, and a direction setting unit for setting the traveling direction of the working vehicle in the working area. The path generation unit generates a path comprising multiple working paths P1, P2 where autonomous work is performed by the working vehicle in the working area, and multiple connection paths Q being a travel path where the autonomous travel is performed by the working vehicle in the non-working area and connecting respective working paths P1, P2. The path generation unit is capable of generating the paths comprising a first turning path Q1, a second turning path Q3 and a straight path Q2 being set between the first turning path Q1 and the second turning path Q3 as the connection paths Q, and is capable of generating the straight path Q2 so that the traveling direction may not be perpendicular to the straight path Q2.SELECTED DRAWING: Figure 6COPYRIGHT: (C)2018,JPO&INPIT【課題】非作業領域の形状に応じた接続経路を生成すること。【解決手段】作業領域及び非作業領域において作業車両により自律走行される走行経路を生成する経路生成部と、作業領域における作業車両の進行方向を設定する方向設定部とを備え、経路生成部は、作業領域内において作業車両により自律作業が行われる複数の作業経路Ｐ１、Ｐ２と、非作業領域において作業車両により自律走行が行われる走行経路であって各作業経路Ｐ１、Ｐ２を接続する複数の接続経路Ｑとを含む経路を生成するものであり、経路生成部は、接続経路Ｑとして、第１旋回経路Ｑ１と、第２旋回経路Ｑ３と、第１旋回経路Ｑ１と第２旋回経路Ｑ３との間に設定される直進経路Ｑ２とを含む経路を生成可能であって、且つ、進行方向と直進経路Ｑ２とが直交しないように直進経路Ｑ２を生成可能である。【選択図】図６
