ROUTE GENERATING METHOD

To properly and efficiently perform a spraying work with respect to spraying objects, such as trees and crops, arranged into multiple rows with a work vehicle that automatically travels.SOLUTION: A route generating method generates a target route P along which a work vehicle V automatically travels in a field where linearly arranged fruit trees Z are arrayed in multiple rows. The route generating method includes the steps of: locating a first fruit tree position Z1 of a fruit tree Z which is disposed on one end side of each of the rows of the multiple fruit trees Z and a second fruit tree position Z2 of a fruit tree Z which is disposed on the other end side of each of the rows of the multiple fruit trees Z; and generating a target route P on the basis of a line connecting the first fruit tree position Z1 to the second fruit tree position Z2 in each row.SELECTED DRAWING: Figure 19 【課題】複数列に並ぶ樹木や作物などの散布対象物に対する散布作業を、作業車両の自動走行で適切に効率よく行えるようにする。【解決手段】経路生成方法は、列状に配置された果樹Ｚが複数列に配置された圃場において作業車両Ｖが自動走行を行うための目標経路Ｐを生成する経路生成方法であって、各列の複数の果樹Ｚのうち一端側に配置される果樹Ｚの第１果樹位置Ｚ１と、各列の複数の果樹Ｚのうち他端側に配置される果樹Ｚの第２果樹位置Ｚ２とを特定し、各列における第１果樹位置Ｚ１及び第２果樹位置Ｚ２とを結ぶ直線に基づいて、目標経路Ｐを生成する。【選択図】図１９