Work vehicle and obstruction detection method for work vehicle

A work vehicle comprising:

• a vehicle body to which a work device is attachable;
• at least one obstruction sensor provided on the vehicle body to detect an obstruction;
• a vehicle speed sensor to detect travel speed of the work vehicle in a travel direction of the work vehicle;
• and
• circuitry configured to
• determine an obstruction detection area such that the obstruction detection area increases in the travel direction as the travel speed detected by the vehicle speed sensor increases, and
• determine whether the obstruction detected by the at least one obstruction sensor exists within the obstruction detection area.

A work vehicle comprising:

• a vehicle body to which a work device is attachable;
• a memory to store a travel route along which the work vehicle is to travel;
• at least one obstruction sensor provided on the vehicle body to detect an obstruction;
• at least one state sensor provided on the vehicle body and/or the work device to detect at least one state of the vehicle body and the work device;
• and
• circuitry configured to
• calculate, as the at least one state, a position of the work vehicle in the travel route based on satellite positioning data,
• determine an obstruction detection area based on the at least one state detected by the at least one state sensor to expand the obstruction detection area toward a side to which the work vehicle is to turn along the travel route,
• determine whether the obstruction detected by the at least one obstruction sensor exists within the obstruction detection area.