Work machine, and method and system for controlling work machine

A method for controlling a work machine that includes a vehicle body including a rear frame and a front frame connected so as to be able to articulate left and right with respect to the rear frame, a traveling wheel supported by the vehicle body, a steering actuator configured to steer the traveling wheel left or right, and an articulation actuator configured to change an articulation angle between the rear frame and the front frame, the method comprising:

• performing an automatic steering control that automatically steers the traveling wheel by controlling the steering actuator;
• acquiring the articulation angle;
• and
• limiting travel of the vehicle body or limiting the automatic steering control according to the articulation angle.

A system for controlling a work machine that includes a vehicle body including a rear frame and a front frame connected so as to be able to articulate left and right with respect to the rear frame, a traveling wheel supported by the vehicle body, a steering actuator configured to steer the traveling wheel left or right, and an articulation actuator configured to change an articulation angle between the rear frame and the front frame, the system comprising:

• an articulation angle sensor configured to detect the articulation angle;
• and
• a controller configured to
• perform an automatic steering control that automatically steers the traveling wheel by controlling the steering actuator,
• acquire the articulation angle, and
• limit travel of the vehicle body or limit the automatic steering control according to the articulation angle.