Control system for work vehicle, control method, and work vehicle

A control system for a work vehicle having a work implement, the control system comprising:

• an actual topography acquisition device that acquires actual topography information, which indicates an actual topography of a work target;
• a storage device that stores design topography information, which indicates a final design topography that is a target shape of the work target;
• and
• a controller configured to
• acquire the actual topography information from the actual topography acquisition device,
• acquire the design topography information from the storage device,
• determine an intermediate design topography positioned above the actual topography and below the final design topography based on the actual topography information and the design topography information, and generate a command signal to move the work implement based on the intermediate design topography.

A control method for a work vehicle having a work implement, the control method comprising:

• acquiring actual topography information, which indicates an actual topography of a work target;
• acquiring design topography information, which indicates a final design topography that which is a target topography of the work target;
• and
• generating a command signal to move the work implement to a position
• between the actual topography and the final design topography and
• above the actual topography by a predetermined distance.

A work vehicle comprising:

• a work implement;
• and
• a controller configured to
• acquire actual topography information, which indicates an actual topography of a work target;
• acquire design topography information which indicates a final design topography that is a target topography of the work target;
• and
• control the work implement so as to move to a position
• between the actual topography and the final design topography and
• above the actual topography by a predetermined distance.