An autonomous traveling vehicle is controlled to faithfully reproduce a planned traveling route and to autonomously travel. The autonomous traveling vehicle includes a platform, a traveling unit, a teaching unit, a curvature calculation unit, and a control parameter adjustment unit. The traveling unit is mounted on the platform and controls the platform to travel. In a teaching travel mode, the teaching unit acquires subgoal points. The teaching unit stores planned traveling route data as an aggregate of the subgoal points. The curvature calculation unit calculates and stores a key curvature radius. In a reproduction travel mode, the control parameter adjustment unit adjusts a control parameter to determine an direction angle feedback control amount of the traveling unit based on the key curvature radius calculated by the curvature calculation unit.