An autonomous travel vehicle comprising: a traveling unit configured to travel in accordance with a travel control command; a storage unit configured to store travel route data, a plurality of subgoal points set on a planned travel route and arrival times when the autonomous travel vehicle reaches each of the subgoal points respectively being stored in association with each other in the travel route data; an elapsed autonomous travel time counting unit configured to count an elapsed autonomous travel time that is an elapsed time from a start of a reproduction travel mode, while adjusting progress of the elapsed autonomous travel time based on a predetermined condition, when executing the reproduction travel mode in which the autonomous travel vehicle autonomously travels along the travel route based on the travel route data; a reproduction travel command calculation unit configured to calculate a reproduction travel control command at the elapsed autonomous travel time as the travel control command when the reproduction travel mode is executed, based on a subgoal point stored in the travel route data in association with a target arrival time, which is an arrival time immediately after an arrival time corresponding to the elapsed autonomous travel time; a detection unit configured to detect a position of an obstacle that may hinder traveling; and a reproduction travel speed adjusting unit configured to adjust a reproduction traveling speed of the traveling unit based on the position of the obstacle when the reproduction travel mode is executed, wherein the elapsed autonomous travel time counting unit is configured to adjust the progress of the elapsed autonomous travel time based on the reproduction traveling speed adjusted by the reproduction travel speed adjusting unit, characterized in that the travel route data stores taught speeds, the taught speed being the speed of the autonomous travel vehicle when passing through each subgoal point, and the elapsed autonomous travel time counting unit is configured to adjust the elapsed autonomous travel time based on a ratio of the adjusted reproduction travelling speed to the taught speed associated with the subgoal point that corresponds to a current position. a traveling unit configured to travel in accordance with a travel control command; a storage unit configured to store travel route data, a plurality of subgoal points set on a planned travel route and arrival times when the autonomous travel vehicle reaches each of the subgoal points respectively being stored in association with each other in the travel route data; an elapsed autonomous travel time counting unit configured to count an elapsed autonomous travel time that is an elapsed time from a start of a reproduction travel mode, while adjusting progress of the elapsed autonomous travel time based on a predetermined condition, when executing the reproduction travel mode in which the autonomous travel vehicle autonomously travels along the travel route based on the travel route data; a reproduction travel command calculation unit configured to calculate a reproduction travel control command at the elapsed autonomous travel time as the travel control command when the reproduction travel mode is executed, based on a subgoal point stored in the travel route data in association with a target arrival time, which is an arrival time immediately after an arrival time corresponding to the elapsed autonomous travel time; a detection unit configured to detect a position of an obstacle that may hinder traveling; and a reproduction travel speed adjusting unit configured to adjust a reproduction traveling speed of the traveling unit based on the position of the obstacle when the reproduction travel mode is executed, wherein the elapsed autonomous travel time counting unit is configured to adjust the progress of the elapsed autonomous travel time based on the reproduction traveling speed adjusted by the reproduction travel speed adjusting unit, characterized in that the travel route data stores taught speeds, the taught speed being the speed of the autonomous travel vehicle when passing through each subgoal point, and the elapsed autonomous travel time counting unit is configured to adjust the elapsed autonomous travel time based on a ratio of the adjusted reproduction travelling speed to the taught speed associated with the subgoal point that corresponds to a current position.