[Object] To provide a work vehicle in the autonomous traveling of which contact with obstacles is avoided, and work is efficiently and safely performed.[Solution] The invention comprises: a positioning device 174 measuring the vehicle body's own position; an obstacle recognition means 105 recognizing an obstacle P, E, U; and a control unit having the vehicle autonomously travel on a planned travel path R1 preliminarily set; wherein the control unit 150 includes obstacle position information D4 preliminarily stored; while traveling on the planned travel path R1, when an obstacle P, E is recognized by the obstacle recognition means 105, at a position stored in the obstacle position information D4, avoidance driving is performed to avoid contact with the obstacle P, E; and when the position of an obstacle U recognized by the obstacle recognition means 105 is different from the stored obstacle position information D4, the traveling is stopped.
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