Work vehicle and method for controlling work vehicle

Abstract

An articulated work vehicle in which front and rear frames are linked includes a joystick lever configured to be operated by an operator, a hydraulic actuator driven by hydraulic pressure, a control valve, a force imparting component, and a controller. The joystick lever is usable to set a target steering angle. The hydraulic actuator performs an articulation to change an actual steering angle of the front frame with respect to the rear frame in response to operation of the joystick lever. The control valve controls flow of fluid supplied to the hydraulic actuator so as to make the actual steering angle coincide with the target steering angle. The force imparting component applies an assisting force or a counterforce to operation of the joystick lever. The controller controls the force imparting component so as to generate resistance to operation of the joystick lever based on a start timing of an articulation.

Dependencies are inferred from the claim text.