PROBLEM TO BE SOLVED: To improve work efficiency by appropriately generating a target travel route within a range where a work vehicle can automatically travel. A work vehicle position information acquisition unit that acquires position information of a work vehicle by using a satellite positioning system and a work vehicle position information acquisition unit that travels around a boundary region S1 side of a travel region S when the work vehicle 1 travels around the boundary region S1 side. A height information acquisition unit that acquires height information of the boundary S1 and position information that is acquired by the work vehicle position information acquisition unit when the work vehicle 1 travels around the boundary S1 side of the traveling region S. A boundary information generation unit that generates boundary information including position information and height information regarding the boundary S1 of the traveling area S in association with the height information acquired by the height information acquisition unit, and the boundary information. A travel route generation unit that generates a target travel route in the travel region S based on the boundary information generated by the generation unit is provided. [Selection diagram] Fig. 9【課題】作業車両が自動走行可能な範囲に目標走行経路を適切に生成して、作業効率の向上を図ること。【解決手段】衛星測位システムを用いて作業車両の位置情報を取得する作業車両位置情報取得部と、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、走行領域Ｓの境界部Ｓ１の高さ情報を取得する高さ情報取得部と、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、作業車両位置情報取得部にて取得する位置情報と高さ情報取得部にて取得する高さ情報とを関連付けて、走行領域Ｓの境界部Ｓ１に関する位置情報及び高さ情報を含む境界部情報を生成する境界部情報生成部と、その境界部情報生成部にて生成された境界部情報に基づいて、走行領域Ｓ内に目標走行経路を生成する走行経路生成部とが備えられている。【選択図】図９
