An object of the present invention is to appropriately detect an obstacle in a traveling region without erroneously detecting an object outside the traveling region as an obstacle. An automatic travel control unit that automatically travels a work vehicle in a travel area based on positioning information of the work vehicle acquired by a satellite positioning system, and the work vehicle are provided with a measurement object. A distance sensor 101 that can measure the distance of the object in three dimensions, and an obstacle detection unit that detects a measurement object within a predetermined distance as an obstacle based on measurement information of the distance sensor 101, The unit detects the distance to the end S1 of the travel region S in three dimensions based on the measurement information of the distance sensor 101, and sets the object to be measured farther than the end S1 of the travel region S as an obstacle. It has a part non-detection mode that does not detect as. [Selection] Figure 16【課題】走行領域外の物体を障害物として誤検知することなく、走行領域内の障害物を適切に検知すること。【解決手段】衛星測位システムにより取得される作業車両１の測位情報に基づいて、走行領域Ｓ内で作業車両１を自動走行させる自動走行制御部と、作業車両１に備えられ、測定対象物までの距離を３次元にて測定可能な距離センサ１０１と、その距離センサ１０１の測定情報に基づいて、所定距離内の測定対象物を障害物として検知する障害物検知部とを備え、障害物検知部は、距離センサ１０１の測定情報に基づいて、走行領域Ｓの端部Ｓ１までの距離を３次元にて検出し、走行領域Ｓの端部Ｓ１よりも遠方に位置する測定対象物を障害物として検知しない一部非検知モードを有している。【選択図】図１６
