An autonomous traveling system includes: an information storage unit storing beforehand, for each of points on a target route from a departure place to a destination, turnability information indicating whether an autonomous traveling body traveling autonomously along the target route can turn to change a traveling posture thereof; and a travel planning unit determining the traveling posture with respect to each of traveling sections connecting the points, and determines, from among the points, a turn execution point at which the autonomous traveling body turns in order to take the determined traveling posture in each of the traveling sections, based on the turnability information, wherein the autonomous traveling body includes a travel control execution unit executing control for causing the autonomous traveling body to turn every time the autonomous traveling body reaches the turn execution point and to advance in each of the traveling sections in the determined traveling posture.