Abstract: A work vehicle includes a processor configured to: calculate a first posture parameter representing a start arm height and a second posture parameter representing a start implement direction; acquire a first reference parameter that is a second posture parameter associated with the first posture parameter representing the start arm height in first relational data; obtain a measurement value of the arm height; acquire a second reference parameter that is a second posture parameter associated with the first posture parameter representing the measurement value in the first relational data; determine a target direction when the arm height is the measurement value such that a difference between the second posture parameter representing the target direction and the second posture parameter representing the start implement direction is equal to a difference between the second reference parameter and the first reference parameter; and control such that the implement direction approaches the target direction.

Abstract: A work vehicle includes a memory configured to store first information corresponding to a reference direction which is a standard of an implement direction, and second information corresponding to a reference height which is a standard of an arm height, an input device configured to receive an instruction to perform automatic control for changing the implement direction and the arm height respectively to the reference direction and the reference height, and control circuitry configured to control the hydraulic circuit so that the arm height and the implement direction respectively approach the reference height and the reference direction in response to the instruction received by the input device. The control circuitry is configured to control a hydraulic circuit so that during the automatic control, the implement direction is changed to the reference direction when the arm height reaches a target height which is greater than the reference height.