Self-propelled work vehicle for harvesting fruit, with a front axle, a rear axle, a steering column, an engine, a control pedal, a seat mounted in a driving position and a plurality of tools, with a control system for controlling the engine, the tools, the control pedal. The control system comprises an electronic joystick, which controls the progress of the self-propelled work vehicle for harvesting fruit so that acceleration and braking are proportional with respect to the angle is maintained when the electronic joystick is released.