In an obstacle detection system mounted on a work vehicle, even if it is not possible to detect an actual measurement reference plane using a detection result of a distance measuring unit due to, for example, the ground surface being wet, an obstacle is detected. Provide technologies that can be continuously detected. A distance measuring unit mounted on a work vehicle and measuring a distance to a surrounding distance measuring point, and an obstacle for detecting an obstacle within a predetermined obstacle detecting area based on a measurement result of the distance measuring unit. An obstacle detection system comprising: an obstacle detection unit that detects an obstacle based on a height of a ranging point from a predetermined reference plane calculated using a measurement result of the ranging unit. When an object is detected and the distance measurement point corresponding to the ground surface can be detected as the actual measurement reference plane using the measurement result of the distance measurement unit in the reference plane setting processing, the actual measurement reference plane is set as the set reference plane At the same time, if the actual measurement reference plane cannot be detected, a predetermined virtual reference plane is set as the set reference plane. [Selection diagram] FIG.【課題】作業車両に搭載される障害物検知システムにおいて、地表面が濡れている等の理由で測距部の検出結果を用いた実測基準面の検出ができない場合であっても、障害物を継続して検知可能な技術を提供する。【解決手段】作業車両に搭載され、周囲の測距点までの距離を測定する測距部と、測距部の測定結果に基づいて所定の障害物検知領域内にある障害物を検知する障害物検知部と、を備えた障害物検知システムであって、障害物検知部が、測距部の測定結果を用いて算出した所定の設定基準面からの測距点の高さに基づいて障害物を検知し、基準面設定処理において、測距部の測定結果を用いて地表面に対応する測距点を実測基準面として検出できた場合には、当該実測基準面を設定基準面に設定すると共に、当該実測基準面の検出ができない場合には、予め定められた仮想基準面を設定基準面に設定する。【選択図】図１６
