PROBLEM TO BE SOLVED: To provide an automatic travel control system capable of generating an optimal discharge route according to a position of an appliance body and a harvesting situation in a field.SOLUTION: An automatic travel control system for a harvester which automatically travels for harvesting crops in a field, and stores the harvested crops in a storage part, comprises: a route setting part for setting a travel route where the automatic travel is performed； an automatic travel control part for performing automatic travel control of an appliance body 10 on the basis of a position of the appliance body 10 and the travel route； a state detection part for detecting a state of the harvester； and a stop determination part for determining stop of the automatic travel on the basis of a detection result of the state detection part, when stop of the automatic travel is determined by the stop determination part, the route setting part generates a halfway work route Pt where the harvester moves to a halfway work position PD on the basis of a halfway work position DP where the harvester works after stop of the automatic travel in the field, the position WP of the appliance body 10 where stop of the automatic travel is determined, and the harvesting state of the field.SELECTED DRAWING: Figure 7COPYRIGHT: (C)2020,JPO&INPIT【課題】機体の位置や圃場の収穫状況に応じて最適な排出経路を生成可能な自動走行制御システムを提供する。【解決手段】自動走行しながら圃場の作物を収穫し、収穫された収穫物を貯留部に貯留する収穫機のための自動走行制御システムであって、自動走行を行う走行経路を設定する経路設定部と、機体１０の位置と走行経路とに基づいて機体１０の自動走行制御を行う自動走行制御部と、収穫機の状態を検出する状態検出部と、状態検出部の検出結果に基づいて自動走行の中断を判定可能な中断判定部と、が備えられ、経路設定部は、中断判定部によって自動走行の中断が判定されると、圃場内において自動走行の中断後に作業する途中作業位置ＤＰと、自動走行の中断が判定されたときの機体１０の位置ＷＰと、圃場の収穫状況と、に基づいて、途中作業位置ＤＰへ移動する途中作業経路Ｐｔを生成する。【選択図】図７
