PROBLEM TO BE SOLVED: To improve stability when a traveling vehicle for agricultural work travels along a ridge direction. A control device (5) is a direction formed by point cloud data corresponding to a predetermined range among acquired point cloud data indicating a position of a region including a ridge on a front side in a traveling direction of an agricultural traveling vehicle (S). A direction specifying data creating unit 523 that creates specifying data, a direction specifying unit 524 that specifies the direction of the ridges based on the direction specifying data, and a traveling vehicle S for agricultural work in the direction of the ridges specified by the direction specifying unit 524. A traveling control unit 525 that controls the traveling vehicle S for agricultural work so that the vehicle travels. [Selection diagram] Figure 2【課題】農作業用走行車が畝の方向に沿って走行する際の安定性を向上させる。【解決手段】制御装置５は、農作業用走行車Ｓの走行方向の前方側における畝を含む領域の位置を示す取得点群データのうち、所定の範囲に対応する点群データにより構成される方向特定用データを作成する方向特定用データ作成部５２３と、方向特定用データに基づいて畝の方向を特定する方向特定部５２４と、方向特定部５２４が特定した畝の方向に農作業用走行車Ｓが走行するように農作業用走行車Ｓを制御する走行制御部５２５と、を有する。【選択図】図２
