A control device for a work vehicle configured to travel autonomously along a target travel path, the control device comprising: a vehicle position calculating section configured to calculate a vehicle position of the work vehicle; a travel direction calculating section configured to calculate a travel direction of the work vehicle, the travel direction being a front-back direction of a vehicle body of the work vehicle; a steering state obtaining section configured to obtain data on a steering state of the work vehicle; a vehicle position estimating section configured to calculate an estimated vehicle position at which the work vehicle is to be present after performing predetermined travel from said vehicle position of the work vehicle a deviation calculating section configured to calculate a deviation of the work vehicle at the estimated vehicle position from the target travel path; an estimated lateral deviation calculating section configured to calculate an estimated lateral deviation, the estimated lateral deviation being a distance between the estimated vehicle position and the target travel path in a direction orthogonal to a direction of the target travel path, an estimated directional deviation calculating section configured to calculate an estimated directional deviation, the estimated directional deviation being an angle formed by an estimated travel direction of the work vehicle at the estimated vehicle position and the target travel path; a target steering amount calculating section configured to calculate a target steering amount on a basis of the estimated lateral deviation and the estimated directional deviation; and an autonomous travel control section configured to control steering of the work vehicle on a basis of the target steering amount. a vehicle position calculating section configured to calculate a vehicle position of the work vehicle; a travel direction calculating section configured to calculate a travel direction of the work vehicle, the travel direction being a front-back direction of a vehicle body of the work vehicle; a steering state obtaining section configured to obtain data on a steering state of the work vehicle; a vehicle position estimating section configured to calculate an estimated vehicle position at which the work vehicle is to be present after performing predetermined travel from said vehicle position of the work vehicle a deviation calculating section configured to calculate a deviation of the work vehicle at the estimated vehicle position from the target travel path; an estimated lateral deviation calculating section configured to calculate an estimated lateral deviation, the estimated lateral deviation being a distance between the estimated vehicle position and the target travel path in a direction orthogonal to a direction of the target travel path, an estimated directional deviation calculating section configured to calculate an estimated directional deviation, the estimated directional deviation being an angle formed by an estimated travel direction of the work vehicle at the estimated vehicle position and the target travel path; a target steering amount calculating section configured to calculate a target steering amount on a basis of the estimated lateral deviation and the estimated directional deviation; and an autonomous travel control section configured to control steering of the work vehicle on a basis of the target steering amount.