System and method for selective derating of self-propelled work vehicle parameters based on operating modes

A self-propelled work vehicle comprising:

• a plurality of ground engaging units, wherein at least one ground engaging unit is disposed on each of left and right sides of a work vehicle frame and driven by respective first and second drivetrains;
• at least one work attachment configured for controllably working terrain;
• and
• a controller configured to
• during a first operating mode, apply first drivetrain speed commands to the left-side ground engaging units and second drivetrain speed commands to the right-side ground engaging units, wherein an average speed of the at least one left-side ground engaging unit and the at least one right-side ground engaging unit corresponds to a propulsion command of the work vehicle and a difference between the respective speeds of the at least one left-side ground engaging unit and the at least one right-side ground engaging unit corresponds to a steering command of the work vehicle;
• determine a transition from a first operating mode to a second operating mode for the self-propelled work vehicle, and
• upon determining the transition to the second operating mode, derate at least a portion of the first and second drivetrain speed commands corresponding to the propulsion command of the work vehicle and accordingly the average speed of the respective left-side and right-side ground engaging units, while substantially maintaining a portion of the first and second drivetrain speed commands corresponding to the steering command of the work vehicle and accordingly the a difference between the speeds of the respective left-side and right-side ground engaging units.

A computer-implemented method of controlling a self-propelled work vehicle comprising a plurality of ground engaging units and at least one work attachment configured for controllably working terrain, wherein at least one ground engaging unit is disposed on each of left and right sides of a work vehicle frame and driven by respective first and second drivetrains, the method comprising:

• during a first operating mode, selectively applying first drivetrain speed commands for driving the left-side ground engaging units and second drivetrain speed commands for driving the right-side ground engaging units, wherein an average speed of the left-side ground engaging units and the right-side ground engaging units corresponds to a propulsion command of the work vehicle and a difference between the respective speeds of the left-side ground engaging units and the right-side ground engaging units corresponds to a steering command of the work vehicle;
• determining a transition from a first operating mode to a second operating mode for the self-propelled work vehicle;
• and
• during the second operating mode, selectively applying a first derate value to at least a portion of the first and second drivetrain speed commands corresponding to the propulsion command of the work vehicle and accordingly the average speed of the respective left-side and right-side ground engaging units, and selectively applying a second derate value to a portion of the first and second drivetrain speed commands corresponding to the steering command of the work vehicle and accordingly the difference between the speeds of the respective left-side and right-side ground engaging units.