Work vehicle and method for controlling work vehicle

A work vehicle, the work vehicle being articulated with a front frame and a rear frame linked to the front frame, the work vehicle comprising:

• a hydraulic actuator driven hydraulically and configured to change a steering angle of the front frame with respect to the rear frame;
• a joystick lever configured to be operated by an operator;
• a control valve linked to the joystick lever, the control valve being configured to
• control flow of fluid supplied to the hydraulic actuator according to an operation amount of the joystick lever, and
• restrict the operation amount of the joystick lever to a predetermined range;
• a force imparting component configured to impart an assist force or a counterforce to the operation of the joystick lever by the operator;
• and
• a controller configured to control the force imparting component so as to decrease the assist force or increase the counterforce before the operation of the joystick lever is restricted by the control valve.