Forklift and control method for forklift

A forklift, comprising:

• a vehicle body;
• a fork configured to mount a pallet, an opening into which the fork is inserted when the pallet is mounted on the fork being an insertion opening, the fork including an insertion portion that is inserted into the insertion opening, a surface that defines the insertion opening including a facing surface that faces the insertion portion in a thickness direction of the insertion portion;
• a moving device that is configured to move the fork in a first direction, the first direction being a front-rear direction of the vehicle body;
• a lift device that is configured to lift or lower the fork in a second direction, the second direction being orthogonal to the first direction and being an up-down direction of the vehicle body;
• a tilt device that is configured to tilt the fork with respect to the first direction;
• a sensor that is provided in the insertion portion and is configured to detect a proximity state, in which the insertion portion has approached the facing surface to such an extent that a distance between the insertion portion and the facing surface is less than or equal to a specified value;
• and
• processing circuitry that is configured to control the moving device, the lift device, and the tilt device, wherein
• the processing circuitry is configured to execute:
• a stopping process that stops the moving device, the lift device, and the tilt device when the sensor detects the proximity state;
• and
• an avoidance process that controls, after the stopping process, the tilt device and the lift device to separate the insertion portion away from the facing surface such that a position in the second direction of the insertion portion with respect to an entrance of the insertion opening does not change.