PROBLEM TO BE SOLVED: To simplify a calculation for specifying a shape of a travel area and to appropriately specify the shape of the travel area while easily specifying a boundary portion of the travel area.SOLUTION: A travel area shape specification device includes: a movement locus acquisition unit that acquires a movement locus M1 of a work vehicle 1 on the basis of position information of the work vehicle 1 acquired by a position information acquisition unit； a distance sensor that is provided in the work vehicle 1 and measures a distance to a measurement object in three dimensions； a distance acquisition unit that specifies a boundary portion S1 of a travel area S and acquires a distance to the boundary portion S1 of the specified travel area S on the basis of height information acquired from measurement information of the distance sensor, when the work vehicle 1 travels around the boundary portion S1 side of the travel area S； and a shape specifying unit that specifies a shape of the travel area S in a form in which the movement locus M1 of the work vehicle 1 acquired by the movement locus acquisition unit is corrected by the distance to the boundary portion S1 of the travel area S acquired by the distance acquisition unit.SELECTED DRAWING: Figure 16COPYRIGHT: (C)2020,JPO&INPIT【課題】走行領域の境界部を簡易に特定できながら、走行領域の形状を特定するための演算等の簡素化を図り、走行領域の形状を適切に特定すること。【解決手段】位置情報取得部にて取得する作業車両１の位置情報に基づいて、作業車両の移動軌跡Ｍ１を取得する移動軌跡取得部と、作業車両１に備えられ、測定対象物までの距離を３次元にて測定する距離センサと、作業車両１を走行領域Ｓの境界部Ｓ１側を周回走行させた場合に、距離センサの測定情報から取得される高さ情報に基づいて、走行領域Ｓの境界部Ｓ１を特定して、特定した走行領域Ｓの境界部Ｓ１までの距離を取得する距離取得部と、移動軌跡取得部にて取得する作業車両１の移動軌跡Ｍ１を、距離取得部にて取得した走行領域Ｓの境界部Ｓ１までの距離にて補正する形態で、走行領域Ｓの形状を特定する形状特定部とが備えられている。【選択図】図１６
