This thesis proposes a method of loading a hauler with an autonomous wheelloader efficiently and with high productivity in the short loading cycle. The mainidea behind the method is to raise the bucket with only the lift until the centerof gravity has reached the height that it will have just as the material will startto fall out of the bucket and on to the hauler. When the center of gravity hasreached that height both lift and tilt will be used simultaneously to keep thecenter of gravity at a constant height. This method is both faster and moreenergy efficient than loading a hauler using only one function at a time. The method has been successfully implemented and validated by loading ahauler with three buckets with the autonomous wheel loader that is developed byVolvo CE in Eskilstuna. / autonomous wheel loader VolvoCE