Work vehicle, control method, and control system

A control method for a work vehicle performing self-driving, the control method comprising:

• detecting and classifying an object based on sensor data output from at least one sensor included in the work vehicle;
• determining a first influence degree indicating a magnitude of influence when the object contacts the work vehicle and a second influence degree indicating a magnitude of influence when the object contacts an implement linked to the work vehicle, in accordance with a result of the classification of the object;
• and
• executing, in accordance with at least one of the first influence degree or the second influence degree, at least one of an operation of avoiding contact with the object or an operation of continuing the self-driving without executing the operation of avoiding.

A control system for a work vehicle to perform self-driving, the control system comprising:

• at least one sensor to sense a surrounding environment of the work vehicle and output sensor data;
• and
• a controller configured or programmed to control the self-driving of the work vehicle based on the sensor data;
• wherein
• when the work vehicle is performing the self-driving in a state where an implement is linked thereto, the controller is configured or programmed to:
• detect and classify an object based on the sensor data;
• determine a first influence degree indicating a magnitude of influence when the object contacts the work vehicle and a second influence degree indicating a magnitude of influence when the object contacts the implement, in accordance with a result of the classification of the object;
• and
• execute, in accordance with at least one of the first influence degree or the second influence degree, at least one of an operation of avoiding contact with the object or an operation of continuing the self-driving without executing the operation of avoiding.