A method of determining wheel slippage condition in a work vehicle includes moving the work vehicle from a first position to a second position, determining a drivetrain ground speed of the work vehicle using a drivetrain component, determining a predicted ground speed of the work vehicle using a sensor, detecting a wheel slippage condition by comparing the drivetrain ground speed to the predicted ground speed, and generating a driveline modification command to adjust propulsion power of the drivetrain component until the wheel slippage condition reaches a specified target. A method of adjusting acceleration for a work vehicle includes measuring a drivetrain acceleration, measuring an absolute acceleration, using the absolute acceleration to predict a ground speed, determining a steady state condition based on the commanded machine motion, the drivetrain speed, and the absolute acceleration, and modifying the predicted ground speed based on determination of the steady state condition.