The present invention relates to a work vehicle including an engine, a hydraulic pump, a hydraulic motor to drive wheels, an HST circuit in which the hydraulic pump and the hydraulic motor are connected to each other in the form of a closed circuit, a reducing agent sensor that detects the state of a reducing agent used to clean exhaust gas from the engine, and an engine restrictor that restricts the rotational speed of the engine based on the output from the reducing agent sensor, and the work vehicle further includes a control unit that changes the tilting angle of the hydraulic pump or the hydraulic motor independently of the rotational speed of the engine to a tilting angle associated with minimum travel drive force necessary for self-travel of the work vehicle when the control unit determines that the engine restrictor has restricted the rotational speed of the engine.