A vehicle comprising a working equipment equipped with a movable loading arrangement comprising a first attachment member, said vehicle further comprises: - a sensor system configured to capture environmental data reflecting the environment around the vehicle and to determine, based on said data, image data representing an area at least partly surrounding the vehicle, - a control unit configured to receive said image data, and to determine and generate control signals for controlling said vehicle, wherein said control signals comprise operation instructions for the vehicle and working equipment, - the control unit is configured to receive a working task to be performed by the vehicle, wherein said working task includes information of an object for the vehicle to load when performing said working task, characterized in that said control unit is configured to: - determine that the vehicle has reached a target position, being a position based on the location of the object to load when performing said working task, using said image data representation from the sensor system, - in response to determining that the vehicle has reached the target position enable activation of an attachment mode of the working equipment in which: the sensor system is configured to detect and track positions of the first attachment member and a mating second attachment member of the object to load in said image data representation, and, the detected and tracked positions of the first and second attachment members (7, 9) are used to generate a first set of operation instructions for the loading arrangement of the working equipment that decreases the distance between said first and second attachment members such that said attachment members (7, 9) come into position to engage to each other, - verify that said attachment members (7, 9) are engaged based on the detected and tracked positions from the sensor system, - in response to verifying that said attachment members (7, 9) are engaged, enable activation of an object loading mode in which the control system generates a second set of operation instructions for the working equipment to move the loading arrangement so that the object to load is loaded on the vehicle. - a sensor system configured to capture environmental data reflecting the environment around the vehicle and to determine, based on said data, image data representing an area at least partly surrounding the vehicle, - a control unit configured to receive said image data, and to determine and generate control signals for controlling said vehicle, wherein said control signals comprise operation instructions for the vehicle and working equipment, - the control unit is configured to receive a working task to be performed by the vehicle, wherein said working task includes information of an object for the vehicle to load when performing said working task, - determine that the vehicle has reached a target position, being a position based on the location of the object to load when performing said working task, using said image data representation from the sensor system, - in response to determining that the vehicle has reached the target position enable activation of an attachment mode of the working equipment in which: the sensor system is configured to detect and track positions of the first attachment member and a mating second attachment member of the object to load in said image data representation, and, the detected and tracked positions of the first and second attachment members (7, 9) are used to generate a first set of operation instructions for the loading arrangement of the working equipment that decreases the distance between said first and second attachment members such that said attachment members (7, 9) come into position to engage to each other, the sensor system is configured to detect and track positions of the first attachment member and a mating second attachment member of the object to load in said image data representation, and, the detected and tracked positions of the first and second attachment members (7, 9) are used to generate a first set of operation instructions for the loading arrangement of the working equipment that decreases the distance between said first and second attachment members such that said attachment members (7, 9) come into position to engage to each other, - verify that said attachment members (7, 9) are engaged based on the detected and tracked positions from the sensor system, - in response to verifying that said attachment members (7, 9) are engaged, enable activation of an object loading mode in which the control system generates a second set of operation instructions for the working equipment to move the loading arrangement so that the object to load is loaded on the vehicle.