System and method for automating travel ready and work ready sequences for a work machine

A method of automating preparation for each of a travel mode and a work mode for a work machine comprising a work implement, wherein the work implement is controllably movable relative to a frame of the work machine in association with at least the work mode, and a plurality of stabilization points are defined relative to the frame in association with at least the work mode, the method comprising:

• responsive to initiation of a first transition from a current travel mode to a desired work mode:
• capturing data sets from each of a plurality of perception sensors associated with the work machine and having respective fields of view including a ground surface traversed by the work machine, wherein a plurality of data sets are captured and fused in a common reference system for each of respective ground surface areas corresponding to the plurality of stabilization points;
• determining, from the fused data sets, a relative evenness of the respective ground surface areas;
• and
• selectively enabling or preventing initiation of the desired work mode based on the determined relative evenness of the respective ground surface areas;
• responsive to initiation of a second transition from a current work mode to a desired travel mode:
• capturing data sets from each of a plurality of perception sensors associated with the work machine and having respective fields of view corresponding to available ranges of movement for each of one or more available movement trajectories of the work implement, wherein a plurality of data sets are captured and fused in a common reference system for each of the one or more available ranges of movement;
• determining, from the fused data sets, an obstacle state for each of the one or more available ranges of movement, each obstacle state at least corresponding to an expected movement trajectory of the work implement to arrive at a travel position;
• and
• selectively enabling or preventing movement of the work implement to the travel position based on the determined one or more obstacle states.