PROBLEM TO BE SOLVED: To provide a running route creating device that creates a running route enabling a smooth pass through entrance and exit.SOLUTION: A running route creating device includes: a work site data inputting unit 61 to input external shape data on a work site and work site data containing entrance and exit a go-around route determining unit 64 that determines a go-around running route to go around an outer circumference region of the work site a reference straight line determining unit 62 that determines a reference straight line which extends in parallel with a reference side of the work site and which occupies center regions located inwardly relative to the outer circumference region at a predetermined pitch an inward route determining unit 66 that determines an inward running route to run the center region including a straight line route based on the reference straight line and a U-turn route a running direction determining unit 63 that determines a running direction for the go-around running route on the basis of a passing direction for the entrance and exit and a transition route determining unit 65 that determines a transition route from the entrance and exit to the inward running route.SELECTED DRAWING: Figure 4COPYRIGHT: (C)2018,JPO&INPIT【課題】出入口をスムーズに通過することができる走行経路を生成する走行経路生成装置を提供することである。【解決手段】走行経路生成装置は、作業地の外形データ及び出入口を含む作業地データを入力する作業地データ入力部61と、作業地の外周領域を周回走行するための周回走行経路を決定する周回経路決定部64と、作業地の基準辺に平行に延びるとともに所定間隔で外周領域の内側に位置する中央領域を埋め尽くす基準直線を決定する基準直線決定部62と、基準直線に基づく直進経路とUターン経路とからなる中央領域を走行するための内側走行経路を決定する内側経路決定部66と、出入口の通過方向に基づいて周回走行経路の走行方向を決定する走行方向決定部63と、出入口から内側走行経路への移行経路を決定する移行経路決定部65を備えている。【選択図】図4
