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 joystick lever configured to be operated by an operator to allow a target steering angle to be set;
• a hydraulic actuator configured to be driven hydraulically to change an actual steering angle of the front frame with respect to the rear frame according to an operation of the joystick lever;
• a control valve configured to control flow of fluid supplied to the hydraulic actuator so that there is no deviation between the target steering angle and the actual steering angle, and to be in a neutral position in a state in which the target steering angle matches the actual steering angle;
• a force imparting component configured to impart an assist force or a counterforce to the operation of the joystick lever;
• a displacement sensor configured to sense displacement of the joystick lever;
• an angle sensor configured to sense the actual steering angle;
• and
• a controller configured to control the force imparting component so that a counterforce is imparted to the operation of the joystick lever when it is detected that the joystick lever has been operated in an opposite direction from a rotation direction of the front frame based on detections of the displacement sensor and the angle sensor.