Control system for work vehicle, method for setting trajectory of work implement, and work vehicle

A method executed by a processor for setting a trajectory of a blade of a work vehicle, the method comprising:

• setting a target orientation of the work vehicle, the target orientation being acquired as a travel direction of the work vehicle,
• acquiring current terrain data indicating a current terrain existing in the travel direction of the work vehicle;
• calculating a height of the current terrain at a plurality of reference points located in the travel direction of the work vehicle, the height of the current terrain at the plurality of reference points being acquired as the current terrain data,
• deciding a target surface profile of a work site based on the current terrain data,
• updating the travel direction of the work vehicle;
• and
• updating the target surface profile based on the updated travel direction.

A work vehicle comprising:

• a blade;
• and
• a controller programmed to
• set a target orientation for the work vehicle,
• acquire the target orientation as the travel direction of the work vehicle,
• acquire current terrain data indicating a current terrain existing in the travel direction of the work vehicle,
• calculate a height of the current terrain at a plurality of reference points located in the travel direction of the work vehicle,
• acquire the height of the current terrain at the plurality of reference points as the current terrain data,
• decide on a target surface profile of the work site based on the current terrain data,
• generate a command signal to operate the blade according to the target surface profile,
• update the travel direction of the work vehicle, and
• update the target surface profile based on the updated travel direction.