WORKING VEHICLE AUTOMATIC STEERING SYSTEM

To further easily set a route of automatic steering.SOLUTION: Position information acquisition means acquires the position information of a traveling machine body 5. Route setting means sets a plurality of round-trip routes 201 which are arranged in parallel with a reference azimuth at prescribed intervals, and an external peripheral route 202 extending in a direction intersecting with the reference azimuth. Turn detection means detects at least either of a turn start point P and a turn finish point Q of the traveling machine body 5 between the adjacent round-trip routes on the basis of the position information of the traveling machine body 5 by the position information acquisition means. Then, the route setting means acquires a plurality of end points of the plurality of round-trip routes 201 at one field end on the basis of the detection of at least either of the turn start point P and the turn finish point Q of the traveling machine body 5 by the turn detection means, and sets the external peripheral route 202 so as to progress along a direction in which the plurality of end points are aligned.SELECTED DRAWING: Figure 8 【課題】より簡易に自動操舵の経路を設定する。【解決手段】位置情報取得手段は、走行機体５の位置情報を取得する。経路設定手段は、基準方位と平行にかつ所定の間隔で配置された複数の往復経路２０１と、基準方位と交差する方向へ延びる外周経路２０２とを設定する。旋回検知手段は、位置情報取得手段による走行機体５の位置情報に基づいて、隣接する往復経路間での走行機体５の旋回開始地点Ｐと旋回終了地点Ｑの少なくとも一方の地点を検知する。そして、経路設定手段は、旋回検知手段による走行機体５の旋回開始地点Ｐと旋回終了地点Ｑの少なくとも一方の地点の検知に基づき、一方の圃場端における複数の往復経路２０１の複数の端点を取得し、複数の端点が並ぶ方向に沿うように外周経路２０２を設定する。【選択図】図８