Wheel loader

The wheel loader comprising;

• the wheel loader includes a vehicle body, an engine mounted on the vehicle body, a travel drive device driven by the engine to move the vehicle body, a travel operation device for operating the travel drive device, a hydraulic-driven loading work device attached to the vehicle body for excavating work objects, a hydraulic pump driven by the engine to supply hydraulic oil to the drive part of the loading work device, a loading operation device for operating the loading work device, a controller for controlling the engine, the travel drive device, and the loading work device respectively, a mode selection device for selecting a normal mode in which the controller controls the loading work device based on an operation signal output from the loading operation device, and a semi-automatic excavation mode in which the controller automatically controls the travel drive device and the loading work device based on an operation signal output from the travel operation device to assist the operator's operation;
• wherein
• the semi-automatic excavation mode includes a first excavation mode in which the controller does not limit the engine speed, and a second excavation mode in which the controller limits the engine speed so that the traction force by the travel drive device is smaller than in the first excavation mode;
• the controller switches between the first excavation mode and the second excavation mode based on the discharge pressure of the hydraulic pump just before the start of the excavation work, when the semi-automatic excavation mode is selected by the mode selection device, or when the semi-automatic excavation mode is selected by the mode selection device.