Abstract: Provided is a work vehicle capable of excavating an excavation object efficiently and in various excavation patterns with appropriate fuel efficiency, regardless of the operator's skill level. The work vehicle includes a controller. The controller executes control including insertion control, acceleration control, and deceleration control. The insertion control keeps the tilt amount (stroke amount S2) of the bucket and increases the lift amount (stroke amount S1) of the lift arm in the insertion period Ph1 from the timing when the work vehicle meets an entry condition for object, where the acceleration ? of the vehicle becomes negative, to the timing when the acceleration ? first becomes positive.

Abstract: A wheel loader 100 includes a front working device 101, an automatic brake device that automatically applies braking to a vehicle body, a vehicle speed sensor 15 that detects a vehicle speed of the vehicle body, an angle sensor 37 that detects a height of the front working device 101, an obstacle detection sensor 29 that detects an obstacle present in surroundings of the vehicle body, and a brake controller 27 that controls operation of the automatic brake device on the basis of a detection signal from the obstacle detection sensor 29, wherein the brake controller 27 limits a braking force of the automatic brake device when the height h of the front working device 101 is equal to or greater than a predetermined height h1, or the vehicle speed v is equal to or greater than a predetermined vehicle speed v1, and the obstacle has been detected by the obstacle detection sensor 29.