To solve the problem that playback control cannot be restarted because it is not determined whether return in the outward direction or return to a return path is to be performed in once stopping the playback control in the midway of moving along the going and returning route under the playback control and again restarting the playback control in the case of storing a going and returning route in the moving route under the playback control.

In this control device of a vehicle for high lift work, a control means 15 includes a retaining part 23 for storing and retaining the registered position on the moving path X to which the vehicle is directed at the time of stopping the playback control. A playback control part 22 of the control means 15 calculates a first control signal M for moving a work table 5 toward the registered position on the basis of the registered position stored in the retaining part 23 when the playback control is restarted, and outputs the first control signal M as the control signal to the respective driving means 10 to 13 of the vehicle for high lift work.