Autonomous travel system

An autonomous travel system comprising:

• a road surface image acquisition device disposed on a lower surface of a vehicle body of an autonomous travel vehicle, and configured to acquire an image of a road surface below the vehicle body;
• a storage unit mounted on the autonomous travel vehicle, and configured to store a map image of the road surface with which coordinates and positional information of the autonomous travel vehicle are associated;
• an estimation unit mounted on the autonomous travel vehicle, and configured to estimate the coordinates and the positional information of the autonomous travel vehicle by comparing a feature extracted from the image of the road surface acquired by the road surface image acquisition device and a feature extracted from the map image;
• a ground satellite signal reception antenna installed on a ground where the autonomous travel vehicle travels, and configured to receive a radio wave from a satellite;
• a ground wireless communication device configured to transmit measurement information acquired through the ground satellite signal reception antenna to the autonomous travel vehicle wirelessly;
• a vehicle wireless communication device mounted on the autonomous travel vehicle, and configured to receive the measurement information from the ground wireless communication device;
• a vehicle satellite signal reception antenna mounted on the autonomous travel vehicle, and configured to receive the radio wave from the satellite;
• and
• a mapping unit mounted on the autonomous travel vehicle, and configured to create the map image of the road surface with which the coordinates and the positional information are associated, from the image of the road surface acquired by the road surface image acquisition device based on the measurement information acquired through the ground satellite signal reception antenna and the measurement information acquired through the vehicle satellite signal reception antenna, in mapping outdoors.