Work vehicle and control method for work vehicle

A work vehicle, comprising:

• a hydraulic actuator configured to vary a steering angle;
• a control valve configured to control flow of fluid supplied to the hydraulic actuator;
• an operation member configured
• to be operated by an operator and
• to control the control valve when varying the steering angle;
• a pressure sensing unit configured to detect a pressure produced by the hydraulic actuator;
• a force imparting component having an electric motor arranged and configured to impart an assisting force or a counterforce to operation of the operation member;
• and
• a torque sensor configured to detect a torque generated by operation of the operation member;
• a speed sensor configured to detect a speed of the work vehicle;
• a target steering angle sensor configured to detect a target steering angle inputted with the operation member;
• an actual steering angle sensor configured to detect the actual steering angle changed by the hydraulic actuators;
• and
• a controller configured to control the force imparting component so as to generate resistance to operation of the operation member based on the pressure detected by the pressure sensing unit and the torque detected by the torque sensor,
• the controller including
• a calculator configured to calculate a force to be imparted to operation of the operation member by combining
• a first imparted force that is set based on the torque detected by the torque sensor and the speed detected by the speed sensor, a first imparted force set based on the torque detected by the torque sensor and the speed detected by the speed sensor, and
• a second imparted force that is set based on the pressure detected by the pressure sensing unit and a deviation angle calculated from the target steering angle detected by the target steering angle sensor and the actual steering angle detected by the actual steering angle sensor, and
• an actuation controller configured to actuate the force imparting component so as to impart the calculated force.

A control method for a work vehicle, comprising:

• acquiring a detection signal from a pressure sensing unit configured to detect a first pressure and a second pressure produced by a first hydraulic actuator and a second hydraulic actuator, respectively, the first and second hydraulic actuators being configured and arranged to vary a steering angle in response to an operating position of a control valve configured to control flow of fluid supplied to the first and second hydraulic actuators,
• the first hydraulic actuator contracting and the second hydraulic actuator expanding to change the steering angle toward a left side,
• the second hydraulic actuator contracting and the first hydraulic actuator expanding to change the steering angle toward the right side;
• calculating a pressure difference between the first pressure and the second pressure;
• based on the difference, generating a control signal to generate a resistance to operation of an operating member by an operator when varying the steering angle, the operating member being mechanically linked to the control valve, and the control signal being generated such that the resistance becomes larger as the pressure difference increases;
• and
• transmitting the control signal to a force imparting component configured to impart an assisting force or a counterforce to operation of the operation member.