PROBLEM TO BE SOLVED: To flexibly determine a start route for starting autonomous traveling. A route generation unit that generates planned traveling routes K1 and K2 including a plurality of work routes K1 for autonomously traveling a work vehicle, and a work vehicle 1 that autonomously travels along the planned traveling routes K1 and K2. It is equipped with a possible control unit, an information acquisition unit that acquires position information and azimuth information of the work vehicle 1, and a specifying unit that specifies an autonomous traveling candidate route K3 in which the work vehicle 1 can travel autonomously. It is possible to set the candidate specifying region P based on the position information and the direction information of the vehicle 1 and specify the work route K1 included in the candidate specifying region P3 among the plurality of work routes K1 as the autonomous traveling candidate route K3. It is characterized by [Selection diagram] Fig. 3【課題】自律走行を開始する開始経路を柔軟に決定すること。【解決手段】作業車両を自律走行させる複数の作業経路Ｋ１を含む予定走行経路Ｋ１、Ｋ２を生成する経路生成部と、作業車両１を各予定走行経路Ｋ１、Ｋ２に沿って自律走行させることが可能な制御部と、作業車両１の位置情報及び方位情報を取得する情報取得部と、作業車両１が自律走行可能な自律走行候補経路Ｋ３を特定する特定部とを備え、特定部は、作業車両１の位置情報及び方位情報に基づいて候補特定用領域Ｐを設定し、複数の作業経路Ｋ１の内、候補特定用領域Ｐ３に含まれる作業経路Ｋ１を自律走行候補経路Ｋ３として特定可能であることを特徴とする。【選択図】図３
