Method for control of a vehicle with a drive system comprising an output shaft in a combustion engine, a first electrical machine, comprising a stator and a rotor, a planetary gear comprising three components in the form of a sun wheel, a ring gear and a planetary wheel carrier, wherein the combustion engine's output shaft is connected with a first of said components in the planetary gear, so that a rotation of such shaft leads to a rotation of such component, wherein an output shaft of the planetary gear is connected with a second of said components in the planetary, gear so that a rotation of such shaft leads to a rotation of this component, and the electrical machine's rotor is connected with a third of said components in the planetary gear, for transmission of torque for the propulsion of the vehicle, so that a rotation of the rotor leads to a rotation of such component, wherein the planetary gear's sun wheel is said first component and its ring gear is said third component, wherein the drive system also comprises a first locking means, which may be moved between a locked position in which two of said components are locked together so that the three components rotate with the same rotational speed, and a release position in which the components are allowed to rotate at different rotational speeds, a vehicle being controlled, whose drive system also comprises a second electrical machine with a stator and a rotor, connected with the output shaft of the combustion engine, between the combustion engine and said first component, the method comprising the following steps carried out by starting with the first locking means in a release position: a) controlling the first electrical machine to achieve a torque thereof, so that the requested torque is transmitted to the planetary gear's output shaft, b) controlling the combustion engine towards and to its idling engine speed, c) controlling the second electrical machine to achieve a torque, so that the desired power to electrical auxiliary units and/or loads in the vehicle, and/or the first electrical machine and/or electric energy storage devices, if existing in the vehicle, for exchange of electric power with the first and second electrical machine is achieved, and d) moving the first locking means to a locked position, when the output shaft of the planetary gear, the first electrical machine's rotor and the combustion engine's output shaft rotate with the same rotational speed, characterized in that the steps a)-d) are carried out in order to, when the vehicle is at standstill, move the vehicle off with power balance, and that, in step b) the engine speed of the combustion engine is controlled, in the event the torque available at idling speed is insufficient to counteract both the reaction torque from the first electrical machine and the torque applied from the second electrical machine, in order to increase the engine speed of the combustion engine, so that the torque available from the combustion engine increases. a) controlling the first electrical machine to achieve a torque thereof, so that the requested torque is transmitted to the planetary gear's output shaft, b) controlling the combustion engine towards and to its idling engine speed, c) controlling the second electrical machine to achieve a torque, so that the desired power to electrical auxiliary units and/or loads in the vehicle, and/or the first electrical machine and/or electric energy storage devices, if existing in the vehicle, for exchange of electric power with the first and second electrical machine is achieved, and d) moving the first locking means to a locked position, when the output shaft of the planetary gear, the first electrical machine's rotor and the combustion engine's output shaft rotate with the same rotational speed, characterized in that the steps a)-d) are carried out in order to, when the vehicle is at standstill, move the vehicle off with power balance, and that, in step b) the engine speed of the combustion engine is controlled, in the event the torque available at idling speed is insufficient to counteract both the reaction torque from the first electrical machine and the torque applied from the second electrical machine, in order to increase the engine speed of the combustion engine, so that the torque available from the combustion engine increases.