Master Thesis – Tyre–Floor Friction Estimation for Autonomous Forklifts

At Toyota Material Handling Europe (TMHE), we create the technology that keeps the world moving. Diverse businesses across Europe depend on our logistics and material handling solutions. By pioneering technology such as automation, connectivity and productivity solutions, we create opportunities for our customers’ logistics operations to be as efficient as possible.

We firmly believe in setting ideas in motion. That is why we are investing more than ever in research and development. Our multidisciplinary teams work both conceptually and practically to develop the next generation of material handling products and solutions. By providing our Research and Development organisation with the creative freedom and resources needed to explore new technologies, we aim to stay at the forefront of innovation. At Toyota Material Handling Europe, we contribute to a smarter and more sustainable society, today and tomorrow.

Background and purpose

How can an autonomous forklift determine how much traction is available while driving?

The ability of an autonomous forklift to stop safely depends partly on the friction between its tyres and the floor. As floor conditions change, so can the vehicle's braking performance.

Autonomous forklifts use protective fields to detect people and initiate safety-related responses. These fields influence how the vehicle operates and can affect productivity.

At TMHE, we want to investigate whether existing vehicle signals, such as wheel speed and localisation data, could provide useful information about available traction and braking capability.

The purpose of this thesis is to evaluate the feasibility of friction estimation during operation and explore its potential relevance for future personnel protection concepts.

Thesis Description

Working with our Research & Innovation team, you will investigate how vehicle data could be used to estimate tyre–floor friction.

Explore methods for detecting wheel slip and estimating available traction using existing vehicle signals.Investigate under which operating conditions friction or braking capability can be estimated reliably.Use modelling, data analysis or simulation to explore the implications for future personnel protection concepts.Develop recommendations for further research, including technical limitations and safety validation requirements.

The expected outcome is a feasibility assessment and recommendations for further development, not a validated safety function or an approved change to protective fields.

We are looking for two Master’s students studying in at least one of the following fields:

Mechanical Engineering, with a focus on vehicle dynamics or mechatronicsAutomatic Control or Control EngineeringRobotics and Autonomous SystemsComputer Science or a related field with relevant experience in modelling or control systemsYou have an interest in vehicle dynamics, autonomous systems and safety-related engineering.

You thrive solving technical problems, working with mathematical models and analysing results critically. You can communicate your findings clearly in English.

Beneficial Skills (not Mandatory)

Experience with MATLAB, Simulink, Python or similar tools for modelling and simulation.Knowledge of system identification, sensor fusion or signal processing.Familiarity with vehicle dynamics, traction or braking systems.

At Toyota Material Handling Europe (TMHE), a global leader in the fast-evolving high-tech industry, we provide a dynamic and inclusive work environment where you can learn, contribute and grow. As a Master Thesis student, you will receive mentorship from experienced professionals who will guide you through your research journey.

We believe in a flexible work environment that allows you to balance both your professional and personal life. At TMHE, you will have the opportunity to build valuable skills, contribute to impactful projects and be part of a collaborative, diverse and welcoming workplace. You will also receive competitive compensation in two instalments: one when you start your work and the other upon successful completion of your thesis.

Time for you to make a MOVE!

Your application

A brief personal letterYour CVA recent transcript of records

For questions about the thesis, please contact one of your future mentors Jonas Klang [email protected] or Håkan Therén [email protected].

Applications are reviewed continuously and suitable candidates may be invited to interviews before the deadline.

Terms

Application: As soon as possible, or at the latest by 30th of October 2026.Start date: During January 2027.Scope: 30 hp.Suitable for: One or two students.Location: Linköping and Mjölby. Primary location and working arrangements to be confirmed.