A work vehicle obtains determination information from information upon detecting inverting operation, the information upon detecting inverting operation indicating a traveling state of the work vehicle when an advancing direction detection device detects an inverting operation of an advancing direction switching device for inverting an advancing direction of the work vehicle while the work vehicle travels; decreases a first traveling instruction for allowing the work vehicle to travel in the advancing direction of the work vehicle upon the detection of the inverting operation, and increases a second traveling instruction for allowing the work vehicle to travel in the direction opposite to the advancing direction of the work vehicle upon the detection of the inverting operation, after detecting the inverting operation; and sets the first traveling instruction to 0 when speed information indicating a traveling state of the work vehicle becomes the determination information.