An autonomous travel vehicle comprising: a platform portion; a traveling unit having wheels (21a, 21b) to travel the platform portion in accordance with a travel control command; a storage unit configured to store travel route data comprising a plurality of subgoal points (P i) set on a planned travel route, arrival times (T p) at which the autonomous travel vehicle reaches each of the plurality of subgoal points (P i), and traveling speeds (V 1, V 2) of the platform portion respectively at the plurality of subgoal points (P i) in association with each other; an arrival position prediction unit configured to predict a predicted arrival position (P O ') based on a current position of the platform portion, a current traveling speed associated with a current subgoal point (P p) in the travel route data, a current arrival time, and a next arrival time (T O) associated with an arrival target subgoal point (P O) in the travel route data, when the reproduction travel mode is executed to autonomously travel along the travel route based on the travel route data, the predicted arrival position (P O ') being a position at which the platform portion is predicted to reach at the next arrival time (T O) during the reproduction travel route is executed, the current subgoal point (P p) corresponding to the present position, the arrival target subgoal point (P O) corresponding to a target point to be reached by the platform portion; a corrected speed calculation unit configured to calculate a corrected traveling speed, which is a corrected speed of the current traveling speed, based on a predicted traveling distance (L e) and a required traveling distance (L r), when the reproduction travel mode is executed, the predicted traveling distance (L e) being a distance between the current position and the predicted arrival position (P O '), the required traveling distance (L r) being a distance that is necessary for the platform portion to reach the arrival target subgoal point (P O); and a reproduction travel command calculation unit configured to calculate a reproduction travel control command based on the corrected traveling speed as the travel control command, when the reproduction travel mode is executed. a platform portion; a traveling unit having wheels (21a, 21b) to travel the platform portion in accordance with a travel control command; a storage unit configured to store travel route data comprising a plurality of subgoal points (P i) set on a planned travel route, arrival times (T p) at which the autonomous travel vehicle reaches each of the plurality of subgoal points (P i), and traveling speeds (V 1, V 2) of the platform portion respectively at the plurality of subgoal points (P i) in association with each other; an arrival position prediction unit configured to predict a predicted arrival position (P O ') based on a current position of the platform portion, a current traveling speed associated with a current subgoal point (P p) in the travel route data, a current arrival time, and a next arrival time (T O) associated with an arrival target subgoal point (P O) in the travel route data, when the reproduction travel mode is executed to autonomously travel along the travel route based on the travel route data, the predicted arrival position (P O ') being a position at which the platform portion is predicted to reach at the next arrival time (T O) during the reproduction travel route is executed, the current subgoal point (P p) corresponding to the present position, the arrival target subgoal point (P O) corresponding to a target point to be reached by the platform portion; a corrected speed calculation unit configured to calculate a corrected traveling speed, which is a corrected speed of the current traveling speed, based on a predicted traveling distance (L e) and a required traveling distance (L r), when the reproduction travel mode is executed, the predicted traveling distance (L e) being a distance between the current position and the predicted arrival position (P O '), the required traveling distance (L r) being a distance that is necessary for the platform portion to reach the arrival target subgoal point (P O); and a reproduction travel command calculation unit configured to calculate a reproduction travel control command based on the corrected traveling speed as the travel control command, when the reproduction travel mode is executed.