SYSTEM, METHOD, AND WORK VEHICLE

A route search unit searches for a series having elements of a position and posture of a vehicle, which is a route for moving from an initial position to a target position of the vehicle, based on a first restriction condition representing a position of an obstacle. A restriction condition generation unit generates a second restriction condition in which a penalty value increases according to a deviation distance from the route. A track search unit searches for a series having elements of a position, posture, speed, and steering angle of the vehicle, which is a track for moving from the initial position to the target position of the vehicle, based on the second restriction condition.