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

Abstract

A work vehicle control system includes an actual topography acquisition device, a storage device, a soil amount acquisition device, and a controller. The actual topography acquisition device acquires actual topography information, which indicates an actual topography of a work target. The storage device stores design topography information, which indicates a final design topography of the work target. The soil amount acquisition device generates a soil amount signal indicating a held soil amount of the work implement. The controller acquires the actual topography information from the actual topography acquisition device, the design topography information from the storage device, and the soil amount signal from the soil amount acquisition device. The controller determines an intermediate design topography positioned above the actual topography and below the final design topography in accordance with the held soil amount. The controller generates a command signal to move the work implement based on the intermediate design topography.