Automatic travel system, automatic travel method, and automatic travel program

The detection processing unit (122) detects an obstacle (B1) in the traveling direction of the work vehicle (10). An avoidance setting processing unit (113) sets an avoidance start position (Ps), which is the start position of an avoidance path (Rse), and an avoidance end position (Pe), which is the end position of the avoidance path (Rse), the avoidance path (Rse) being a path along which the work vehicle (10) travels away from the obstacle (B1) detected by the detection processing unit (122). The travel processing unit (112) causes the work vehicle (10) to travel on the avoidance path (Rse) when the obstacle (B1) is detected by the detection processing unit (122). 检测处理部(122)检测作业车辆(10)的行进方向上的障碍物(B1)。避让设定处理部(113)设定避让路径(Rse)的开始位置即避让开始位置(Ps)、以及避让路径(Rse)的结束位置即避让结束位置(Pe)，所述避让路径(Rse)是作业车辆(10)避开由检测处理部(122)检测出的障碍物(B1)而行驶的路径。行驶处理部(112)在由检测处理部(122)检测出障碍物(B1)的情况下使作业车辆(10)在避让路径(Rse)上行驶。