PROBLEM TO BE SOLVED: To provide a work vehicle for solving a problem in which, when a vehicle body is laterally displaced from a target movement path and the direction of the vehicle body is the same as a target orientation, it is desired to be quickly returned to a traveling state along the target movement path.SOLUTION: A work vehicle includes: a path setting unit 68 for setting a target movement path to be traveled by a vehicle body a position measurement unit 64 for detecting the position of the vehicle body an inertial measurement unit 66 for detecting the orientation of the vehicle body and a traveling control unit 69 for operating a steering motor 58 so that the detection position of the vehicle body may become the position on the target movement path and the detection orientation of the vehicle body may become the target orientation in the target movement path. The traveling control unit 69 changes the target orientation in the inclination target orientation inclined to the target movement path side and performs displacement correction processing for operating steering operation means, when the detection position is laterally deviated from the target movement path and the detection orientation is the same as the target orientation.SELECTED DRAWING: Figure 5COPYRIGHT: (C)2017,JPO&INPIT【課題】車体が目標移動経路から横方向に位置ずれし且つ車体の向きが目標方位と同じであるときに、迅速に目標移動経路に沿う走行状態に戻すことができるようにすることが望まれていた。【解決手段】車体が走行すべき目標移動経路を設定する経路設定部68と、車体の位置を検出する位置計測ユニット64と、車体の方位を検出する慣性計測ユニット66と、車体の検出位置が目標移動経路上の位置になるように、且つ、車体の検出方位が目標移動経路における目標方位になるように、操向モータ58を操作する走行制御部69とが備えられ、走行制御部69は、検出位置が目標移動経路から横方向にずれており、且つ、検出方位が目標方位と同じであるときは、目標方位を目標移動経路側に傾斜した傾斜目標方位に変更して操向操作手段を操作する位置ずれ修正処理を実行する。【選択図】図5
