To provide a control device for moving elements which is capable of reducing standby time for loading.

When the moving element 4b approaches another moving element 4a, a distance sensing means 10b senses the distance to the moving element 4a and a speed sensing means 11b senses the speed of travel. These measurement data are input to a speed checking means 12b, which in turns determines whether or not the current speed exceeds an allowable speeds, based on a function of a preregistered distance and the allowable speed needed to prevent collision; when the current speed exceeds the allowable speed, the means 12b outputs a stop command to a travel controller 8b to decelerate and stop a travel motor 9b to stop the moving element 4b. Thus, collision avoidance control which does not depend on the lengths of a loading area 2 and normal travel areas 5a and 5b is made possible and the standby time for loading can be reduced.