Work machine, system including work machine, and method of controlling work machine

A system including a work machine, the system comprising:

• a work machine main body including a travel unit;
• a work implement attached in front of the work machine main body, the work implement including a bucket at a tip end;
• a work implement actuator that drives the work implement with respect to the work machine main body;
• a travel sensor that detects a state of travel of the travel unit;
• a work implement posture sensor that detects a posture of the work implement;
• an object sensor that detects an object around the work machine main body;
• and
• a controller that provides a command to drive the work implement actuator based on detection values from the travel sensor, the work implement posture sensor, and the object sensor, wherein
• the controller recognizes a loading target into which loads in the bucket are to be loaded, based on detection of the object, and controls the work implement actuator and the travel unit such that the bucket is in a full dump state while a feature point of the bucket is located above the loading target and such that the travel unit travels rearward with the full dump state being maintained.

A method of controlling a work machine, the method comprising:

• recognizing a loading target into which loads in a bucket are to be loaded, based on an object detection signal;
• moving a feature point of the bucket to above the loading target;
• setting the bucket into a full dump state while the feature point is located above the loading target;
• and
• controlling a travel unit to travel rearward with the full dump state being maintained.