AUTONOMOUS TRAVEL SYSTEM

An autonomous travel system (10) includes a road surface image acquisition device (30), a storage unit (60), an estimation unit (51), a ground satellite signal reception antenna (100), a ground wireless communication device (102) installed on a ground where the autonomous travel vehicle (20) travels, and a vehicle wireless communication device (91). The autonomous travel system (10) includes a vehicle satellite signal reception antenna (87, 88), and a mapping unit (70) configured to create the map image (61) of the road surface (Sr) with which the coordinates and the positional information are associated, from the image of the road surface (Sr) acquired by the road surface image acquisition device (30) based on the measurement information acquired through the ground satellite signal reception antenna (100) and the measurement information acquired through the vehicle satellite signal reception antenna (87, 88), in mapping outdoors.