Work machine and method for controlling work machine

A work machine comprising:

• a vehicle body;
• a traveling wheel supported by the vehicle body;
• a steering member that is operable between a left steering range, a right steering range, and a neutral range between the left steering range and the right steering range;
• an actuator configured to, when the steering member is positioned in the neutral range,
• set a steering angle of the traveling wheel to a neutral angle and
• change the steering angle from the neutral angle to left or right in response to an operation of the steering member;
• an operation sensor configured to output an operation signal indicative of the operation of the steering member;
• a steering angle sensor configured to output an angle signal indicative of the steering angle;
• a direction sensor configured to output a direction signal indicative of a traveling direction of the vehicle body;
• and
• a controller configured to
• acquire the operation signal, the angle signal, and the direction signal, determine, based on the operation signal, whether the steering member has been operated from the left steering range or the right steering range to the neutral range,
• determine whether the steering angle has returned to the neutral angle based on the angle signal upon determining that the steering member has been operated from the left steering range or the right steering range to the neutral range,
• upon determining that the steering angle has returned to the neutral angle, set the traveling direction indicated by the direction signal
• as a target traveling direction of the vehicle body, and control the actuator so as to hold the traveling direction at the target traveling direction.