A method for controlling a hydraulic hybrid vehicle, said hydraulic hybrid vehicle comprising: - a first pair of wheels, a second pair of wheels and a third pair of wheels; - an internal combustion engine connected to said first pair of wheels for propelling said hydraulic hybrid vehicle; and - a hydraulic propulsion system comprising a first hydraulic machine connected to the second pair of wheels, and a second hydraulic machine connected to the third pair of wheels, wherein the method comprises the steps of: - receiving a signal indicative of a driving condition, comprising vehicle speed, of said hydraulic hybrid vehicle; - comparing the vehicle speed of the driving condition of said hydraulic hybrid vehicle with an upper predetermined threshold speed limit and a lower predetermined threshold speed limit; - determining if the vehicle speed of the driving condition is higher than the upper predetermined threshold speed limit; and when the vehicle speed is higher than the upper predetermined threshold speed limit; - determining, based on the driving condition, control parameters for operating the first hydraulic machine; - controlling the control parameters of the first hydraulic machine for operating the first hydraulic machine; - determining if the vehicle speed of the driving condition is lower than the lower predetermined threshold speed limit; and when the vehicle speed is lower than the lower predetermined threshold speed limit; - determining, based on the driving condition, control parameters for operation the second hydraulic machine; and - controlling the control parameters of the second hydraulic machine for operating the second hydraulic machine as a motor by adding propulsion torque from the second hydraulic machine to said third pair of wheels. - a first pair of wheels, a second pair of wheels and a third pair of wheels; - an internal combustion engine connected to said first pair of wheels for propelling said hydraulic hybrid vehicle; and - a hydraulic propulsion system comprising a first hydraulic machine connected to the second pair of wheels, and a second hydraulic machine connected to the third pair of wheels, wherein the method comprises the steps of: - receiving a signal indicative of a driving condition, comprising vehicle speed, of said hydraulic hybrid vehicle; - comparing the vehicle speed of the driving condition of said hydraulic hybrid vehicle with an upper predetermined threshold speed limit and a lower predetermined threshold speed limit; - determining if the vehicle speed of the driving condition is higher than the upper predetermined threshold speed limit; and when the vehicle speed is higher than the upper predetermined threshold speed limit; - determining, based on the driving condition, control parameters for operating the first hydraulic machine; - controlling the control parameters of the first hydraulic machine for operating the first hydraulic machine; - determining, based on the driving condition, control parameters for operating the first hydraulic machine; - controlling the control parameters of the first hydraulic machine for operating the first hydraulic machine; - determining if the vehicle speed of the driving condition is lower than the lower predetermined threshold speed limit; and when the vehicle speed is lower than the lower predetermined threshold speed limit; - determining, based on the driving condition, control parameters for operation the second hydraulic machine; and - controlling the control parameters of the second hydraulic machine for operating the second hydraulic machine as a motor by adding propulsion torque from the second hydraulic machine to said third pair of wheels. - determining, based on the driving condition, control parameters for operation the second hydraulic machine; and - controlling the control parameters of the second hydraulic machine for operating the second hydraulic machine as a motor by adding propulsion torque from the second hydraulic machine to said third pair of wheels.