To realize automatic traveling of a vehicle, whose follow-up ability and stability is very high by automatically performing steering and speed control when path information is given.

This apparatus is provided with a storage means 10 for holding data related to the specifications and data of a vehicle, a path information obtaining means 20 for obtaining the information of a path on which a vehicle should travel and which is constituted of position, attitude and speed data, and given with the information of points, a path arithmetic means 30 for calculating a path formula and speed pattern constituted of continuous straight formula and circular formula related to automatic traveling, based on the held data and the path information, an absolute position and attitude angle grasping means 40 for grasping the absolute position and absolute attitude angle of the vehicle, and a drive controller 50 for controlling a steering device, so that it follow up the path formula based on the path formula and the absolute position and attitude angle of the vehicle and controlling a drive device so that it can follow up the speed pattern, based on the speed pattern and the speed of the vehicle.