PROBLEM TO BE SOLVED: To provide a traveling support device for a work vehicle, which makes it easy to avoid locally compressing soil. A route determination unit (2) that determines a target traveling route based on a planned grounding region, which is a region where a traveling device is planned to contact the ground, is provided. [Selection diagram] Figure 2【課題】土壌が局所的に圧縮されることを回避しやすい作業車の走行支援装置を提供する。【解決手段】圃場において走行装置が接地する予定の領域である接地予定領域に基づいて目標走行経路を決定する経路決定部2を備える。【選択図】図2