Work vehicle

A work vehicle having at least a running motor, the work vehicle comprising:

• a first control part that generates a speed command value used to control the motor and adds an actual running speed of the work vehicle to a relationship between a torque command value as a command value for a torque to be generated in the motor and a running speed of the work vehicle to generate a first torque command value;
• and
• a second control part that generates a second torque command value based on the speed command value generated by the first control part and the actual running speed, controls the motor using a smaller one of the first torque command value and the second torque command value when the work vehicle moves forward, and controls the motor using a greater one of the first torque command value and the second torque command value when the work vehicle moves backward, wherein
• the first control part determines the speed command value based on an actual movement direction of the work vehicle and a movement direction command value used to define a movement direction of the work vehicle, determines, when the actual movement direction disagrees with the movement direction command used to define the movement direction of the work vehicle, the speed command value based on the speed generated when the disagreement occurs, and makes an absolute value of the speed command value greater than 0 when the actual running speed changes from 0.